CN112439715A - Goods sorting system and method of crossed belt sorting equipment - Google Patents
Goods sorting system and method of crossed belt sorting equipment Download PDFInfo
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- CN112439715A CN112439715A CN202011217482.8A CN202011217482A CN112439715A CN 112439715 A CN112439715 A CN 112439715A CN 202011217482 A CN202011217482 A CN 202011217482A CN 112439715 A CN112439715 A CN 112439715A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
Abstract
The invention relates to a goods sorting system and method of crossed belt sorting equipment, which comprises a main conveying track and sorting tracks arranged on one side or two sides of the main conveying track, and is characterized in that: a mechanical arm is arranged on one side or two sides of the main conveying track; the main conveying track conveys a trolley loaded with goods along the conveying direction, and a camera is arranged above the main conveying track along the conveying direction; the output end of the camera is connected with the identification module, the identification module is connected with the scheduling module, the identified information is transmitted to the scheduling module, the control end of the scheduling module outputs control signals of the trolley and the mechanical arm and is used for controlling the action of the corresponding trolley or the mechanical arm on the main conveying track, so that the goods on the corresponding trolley are conveyed to the sorting track, and the mechanical arm sorts the goods on the main conveying track according to the sorting rule provided by the scheduling module. According to the invention, through the transformation of the crossed belt sorting equipment, the flexible allocation of the operation efficiency of the sorting system is improved, and the sorting effect is improved.
Description
Technical Field
The invention belongs to the technical field of logistics sorting, and particularly relates to a goods sorting system and method with crossed sorting equipment.
Background
Among the prior art, carry out commodity circulation letter sorting to the goods and carry and rely on the manual work to sort mostly, especially to the great condition of single volume under the electricity merchant platform, also sort the kind of goods through the mode of artifical supplementary goods bar code generally, have that sorting speed is slow, produce the high scheduling problem of poor rate. At present, a commonly used article sorting system is a cross belt sorting system, which is a closed conveying sorting system composed of a group of trolleys, generally in a ring shape, and is formed by connecting a main driving belt conveyor and trolleys carrying small belt conveyors together, wherein the trolleys move along a track, the surfaces of the trolleys carry articles to be sorted, and when the trolleys move to a specified sorting position, a belt is rotated to complete the task of sorting the articles to corresponding grids.
Because the sorting capacity of the sorting system has a direct relation with the running speed of the sorting system, the running speed of the existing sorting system is generally a set fixed value, the sorting system operates according to the coming goods, and the goods amount is uneven. When the amount of the goods is less, the energy is wasted due to the fact that the running speed is kept; when the goods volume increases, the letter sorting bin of letter sorting system is small in quantity, and the functioning speed of letter sorting system can not satisfy the goods volume increase rate, causes goods letter sorting volume inhomogeneous, and the goods overstock, the operating efficiency allotment is inflexible.
Therefore, the operation mode of the sorting system in the prior art is inflexible, and the problem that the operation efficiency is influenced is to be solved.
Disclosure of Invention
The invention aims to solve the technical problem of providing a goods sorting system and method of cross belt sorting equipment, which improve the flexible allocation of the operation efficiency of the sorting system and improve the sorting effect by improving the cross belt sorting equipment.
In order to solve the technical problems, the invention adopts a technical scheme that: the goods sorting system of the cross belt sorting equipment comprises a main conveying track and sorting tracks arranged on one side or two sides of the main conveying track, and is characterized in that: a mechanical arm is arranged on one side or two sides of the main conveying track; the main conveying track conveys a trolley loaded with goods along the conveying direction, and a camera is arranged above the main conveying track along the conveying direction; the output end of the camera is connected with the identification module, the identification module is connected with the scheduling module, the identified information is transmitted to the scheduling module, the control end of the scheduling module outputs control signals of the trolley and the mechanical arm and is used for controlling the action of the corresponding trolley or the mechanical arm on the main conveying track, so that the goods on the corresponding trolley are conveyed to the sorting track, and the mechanical arm sorts the goods on the main conveying track according to the sorting rule provided by the scheduling module.
Furthermore, the mechanical arm is arranged on the moving guide rail, and the mechanical arm is controlled by the scheduling module to move along the moving guide rail.
Further, the control end of the mechanical arm receives a control signal of the mechanical arm grabbing control unit; the robot arm grabbing control unit comprises:
the image acquisition module acquires continuous images shot by the cameras in real time and judges the positions of the corresponding trolleys and cargos according to the continuous images and the conveying speed of the main conveying track;
the grabbing object selection module selects corresponding goods entering the grabbing range of the mechanical arm to grab according to the goods types which are determined by the scheduling module and used for the mechanical arm to participate in sorting;
the grabbing pose adjusting module receives images shot by the cameras, determines the size and the central position of goods in the images, and calculates the deflection angle of the goods according to the position relation between the outline of the goods in the images and the identification feature block; the grabbing pose adjusting module controls the clamping jaws of the mechanical arms to adjust to corresponding angles and corresponding opening sizes according to the deflection angles, sizes and central positions of the goods;
and the grabbing control module receives continuous images of the goods to be grabbed and the trolley thereof shot by the cameras in real time, calculates the time point of the mechanical arm grabbing the goods according to the conveying speed of the main conveying track, and controls the mechanical arm to move.
Furthermore, the side frame of the trolley is provided with identification characteristic blocks, and each trolley is provided with a group of identification characteristic blocks which only correspond to the trolley.
Furthermore, the identification feature block is composed of a plurality of salient points with different positions or shapes and is in one-to-one correspondence with each trolley.
Further, a receiving container for receiving the sorted articles is provided at a rear side of the robot arm.
The invention also provides a goods sorting method of the crossed belt sorting equipment, which is characterized by comprising the following steps:
step S1, the camera shoots the images of the goods and the trolley on the main conveying track, the identification module identifies the information in the images of the goods and the trolley and sends the identified information to the dispatching module;
step S2, the dispatching module controls the corresponding trolley to distribute the goods to the corresponding sorting track at the corresponding sorting point according to the received identified information based on the set sorting rule;
step S3, setting a sorting index for each sorting track, monitoring the sorting index of each sorting track by the scheduling module, controlling the mechanical arm at one side of the sorting track to act and participate in sorting by the scheduling module when the sorting index of a certain sorting track reaches a set condition, and sorting the goods corresponding to the sorting track on the main conveying track; or when the dispatching module receives a sorting instruction beyond the sorting rule of the sorting track;
and step S4, after the goods on the main conveying rail are grabbed by the mechanical arm, placing the grabbed goods in a sorting rail or a receiving container.
Further, the specific process of step S3 includes:
s301, an image acquisition module acquires continuous images shot by a plurality of cameras in real time and judges the positions of corresponding trolleys and cargos according to the continuous images and the conveying speed of a main conveying track;
step S302, the captured object selection module selects corresponding goods entering the capturing range of the mechanical arm according to the goods types which are determined by the scheduling module and used for the mechanical arm to participate in sorting;
step S303, the capturing pose adjusting module receives images shot by a plurality of cameras, selects an image of a cargo to be captured, determines the size and the central position of the cargo in the image, and calculates the deflection angle of the cargo according to the position relation between the contour of the cargo in the image and the identification feature block; the grabbing pose adjusting module controls the clamping jaws of the mechanical arms to adjust to corresponding angles and corresponding opening sizes according to the deflection angles, sizes and central positions of the goods;
and step S304, a grabbing control module receives continuous images of the goods to be grabbed and the trolley thereof shot by the plurality of cameras in real time, calculates the time point of the mechanical arm grabbing the goods according to the conveying speed of the main conveying track, and controls the mechanical arm to move.
Further, the specific selection policy of step S302 is: the recognition module transmits information of goods of corresponding categories which are about to enter the grabbing positions of the mechanical arms to the grabbing object selection module, and the goods to be grabbed are respectively set as a first goods to be grabbed X1, a second goods to be grabbed X2 and a third goods to be grabbed X3 … … and an Nth goods to be grabbed Xn according to the sequence of reaching the grabbing positions; the grabbed object selection module controls the mechanical arm to recover the to-be-grabbed state, and according to the position of the to-be-grabbed goods determined by the image acquisition module, if the first to-be-grabbed goods X1 does not reach the grabbing position, the first to-be-grabbed goods X1 is selected as the to-be-grabbed goods; if the first load X1 has reached or left the pick position, the next load is selected, and so on until the appropriate load is selected.
Furthermore, the sorting index in step S3 is a threshold of the sorting amount, the scheduling module compares the sorting amount of each sorting track with the threshold, and when the sorting amount of a certain sorting track is greater than the threshold, the scheduling module controls the mechanical arm on one side of the sorting track to act to participate in sorting, so as to sort the goods corresponding to the sorting track on the main conveying track, and the mechanical arm picks up the goods meeting the sorting rule of the sorting track on the main conveying track.
The advantages of the invention are as follows:
according to the invention, the mechanical arm is controlled by the mechanical arm grabbing control unit, so that the mechanical arm participates in sorting of the sorting tracks, and the sorting amount of each sorting track is adjusted; or the goods beyond the sorting category of the sorting track are separately sorted, so that the flexible allocation of the operation efficiency of the sorting system is improved, and the sorting effect is improved; the principle is simple, convenient and practical, the development time is greatly shortened, and the efficiency of industrial production is greatly improved.
Drawings
Fig. 1 is a schematic view of a goods sorting system of the cross-belt sorting apparatus of the present invention.
Fig. 2 is a schematic view of an image of a cart carrying goods photographed by a photographing module.
Fig. 3 is a block schematic diagram of the article sorting system of the cross-belt sorting apparatus.
Description of reference numerals: 10-a main conveying track, 11-a sorting track, 12-a mechanical arm, 13-a trolley, 14-an identification characteristic block, 15-a camera, 16-a recognition module, 17-a scheduling module, 18-a receiving container, 19-a moving guide rail, 20-a mechanical arm grabbing control unit, 201-an image acquisition module, 202-a grabbing object selection module, 203-a grabbing pose adjustment module and 204-a grabbing control module.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be embodied in other specific forms than those described herein, and it will be apparent to those skilled in the art that the present invention may be practiced without departing from the spirit and scope of the present invention.
The first embodiment is as follows:
the goods sorting system of the cross belt sorting equipment comprises a main conveying rail 10 and sorting rails 11 arranged on one side or two sides of the main conveying rail 10, wherein one side or two sides of the main conveying rail 10 are provided with mechanical arms 12; the main conveying track 10 conveys the trolley 13 loaded with goods along the conveying direction, and the conveying direction can be from left to right in the figure 1 or from right to left in the figure 1; the label of the goods is provided with bar code information and sending information. Arranging a camera 15 upwards along the conveying direction of the main conveying track 10, and sequentially shooting images of the goods and the trolleys 13 on the main conveying track 10 by the plurality of cameras 15 when the goods and the trolleys 13 are conveyed along the main conveying track 10; the side frames of the trolleys 13 are provided with identification characteristic blocks 14, each trolley 13 is provided with a group of identification characteristic blocks 14 which are uniquely corresponding to the trolley 13, and each identification characteristic block 14 is composed of a plurality of salient points with different positions or shapes and is in one-to-one correspondence with each trolley 13. The camera 15 transmits the shot image to the recognition module 16, the recognition module 16 recognizes information (barcode information or character information) in the shot image, the recognized information is transmitted to the dispatching module 17, the dispatching module 17 classifies the goods according to the recognition information, and controls the movement of the corresponding trolley 13 on the main conveying track 10, so that the goods on the corresponding trolley 13 are conveyed to the sorting track 11. Because the quantity of the goods on the sorting tracks 11 is not consistent, during the operation of the main conveying track 10, there will be less goods sorted on some sorting tracks 11 and greater goods sorted on some sorting tracks 11; at this time, the robot arm 12 is used to sort the goods having a large sorting amount on the side of the main conveying rail 10, and helps to reduce the pressure of the sorting rail 11 having a large sorting amount.
Furthermore, due to the site limitation of the cross belt sorting equipment, the arrangement number of the sorting tracks 11 is limited, the sorting categories of the goods on the corresponding main conveying tracks 10 are limited, the mechanical arms 12 are arranged on one side of the main conveying tracks 10, the sorting categories can be increased, and on the basis of sorting the goods on the sorting tracks 11, the mechanical arms 12 sort the new sorting categories; also, a receiving container 18 for receiving the sorted articles is provided at the rear side of the robot arm 12.
The main process of the mechanical arm 12 for sorting the goods is as follows:
(1) the camera 15 shoots images of the goods and the trolley 13 on the main conveying track 10, the identification module 16 identifies barcode information and character information in the images of the goods and the trolley 13 and sends the identified information to the dispatching module 17;
(2) the dispatching module 17 is based on the set sorting rule according to the received identified information, and the corresponding trolley 13 is accurately controlled by the identification characteristic block 14 on the trolley 13 in the image, and the goods are distributed on the corresponding sorting track 11 at the corresponding sorting point;
(3) the method comprises the steps that a threshold value of sorting quantity is set for each sorting track 11, the scheduling module 17 compares the sorting quantity of each sorting track 11 with the threshold value, when the sorting quantity of a certain sorting track 11 is larger than the threshold value, the scheduling module 17 controls the mechanical arm 12 on one side of the sorting track 11 to act and participate in sorting, goods corresponding to the sorting track 11 on the main conveying track 10 are sorted, the mechanical arm 12 grabs the goods on the main conveying track 10, and the grabbed goods are placed in the sorting track 11 or the receiving container 18.
As an embodiment of the present invention, the robot arm 12 is disposed on the moving guide 19, and the robot arm 12 can be controlled to move along the moving guide 19 by the dispatching module 17, so as to adjust the position of the robot arm 12 between the two sorting tracks 11. When the sorting amount of one of the sorting tracks 11 exceeds the threshold value and the robot arm 12 is required to participate in the sorting of the one sorting track 11, the robot arm 12 may move along the moving guide 19 to a position close to the one sorting track 11.
As an embodiment of the present invention, when the goods to be sorted on the main conveying track 10 are classified more, and the sorting track 11 of the existing cross sorting equipment cannot meet the requirement of the sort of the goods, the mechanical arm 12 may also be used to participate in sorting, and then the corresponding goods are captured into the receiving container 18 according to the set sorting rule.
The mechanical arm 12 controls the grabbing angle, position and release position of the grabbed goods by a mechanical arm grabbing control unit 20; the robot gripping control unit 20 includes:
the image acquisition module 201 is used for acquiring continuous images shot by the cameras 15 in real time and judging the positions of the corresponding trolleys 13 and cargos according to the continuous images and the conveying speed of the main conveying track 10;
the grasping object selecting module 202, the grasping object selecting module 202 selects the corresponding goods entering the grasping range of the mechanical arm 12 according to the sort of the goods which are determined by the scheduling module 17 and are participated in sorting by the mechanical arm 12; the specific selection strategy is: the recognition module 16 transmits information of goods of the corresponding category that will enter the grabbing position of the robot arm 12 to the grabbing object selection module 201, and before the grabbing position, there may exist a plurality of goods that meet the grabbing rule of the robot arm 12, and the goods X to be grabbed are respectively set as the first goods X to be grabbed according to the sequence of the grabbing positions1The second goods X to be grabbed2The third goods X to be grabbed3… … Nth goods X to be grabbednThe captured object selection module 201 controls the mechanical arm to recover the state to be captured, and according to the position of the goods to be captured determined by the image acquisition module 201, if the first goods to be captured X1When the first goods X to be grabbed is not reached, the first goods X to be grabbed is selected1As goods to be grabbed; if the first goods X to be grabbed1When the goods arrive or leave the grabbing position, selecting the next goods to be grabbed, and so on until the proper goods to be grabbed are selected;
the grabbing pose adjusting module 203 receives the images shot by the cameras 15, selects the images of the goods to be grabbed according to the identification feature blocks 14 on the trolley 13 in the images, determines the size and the central position of the goods in the images, and calculates the deflection angle of the goods according to the position relation between the outline of the goods in the images and the identification feature blocks; the grabbing pose adjusting module 203 controls the clamping jaws of the mechanical arms 12 to adjust to corresponding angles and corresponding opening sizes according to the deflection angles, sizes and central positions of the goods;
and the grabbing control module 204 is used for receiving the continuous images of the goods to be grabbed and the trolley 13 thereof shot by the cameras 15 in real time, calculating the time point of the goods grabbed by the mechanical arm 12 according to the conveying speed of the main conveying track 10 and controlling the mechanical arm 12 to act.
According to the invention, the mechanical arm 12 is controlled by the mechanical arm grabbing control unit 20, so that the mechanical arm 12 participates in sorting the sorting tracks 11, and the sorting amount of each sorting track 11 is adjusted; or the goods beyond the sorting category of the sorting track 11 are separately sorted, so that the flexible allocation of the operation efficiency of the sorting system is improved, and the sorting effect is improved; the principle is simple, convenient and practical, the development time is greatly shortened, and the efficiency of industrial production is greatly improved.
Example two: a method of sorting goods in a cross-belt sorting facility, the method comprising the steps of:
step S1, the camera 15 shoots the images of the goods and the trolley 13 on the main conveying track 10, the identification module 16 identifies the bar code information and the character information in the images of the goods and the trolley 13 and sends the identified information to the dispatching module 17;
step S2, the dispatching module 17, based on the received identified information, precisely controls the corresponding cart 13 by the identification feature block 14 on the cart 13 in the image according to the set sorting rule, and distributes the goods to the corresponding sorting track 11 at the corresponding sorting point;
step S3, setting a threshold value of sorting quantity for each sorting track 11, comparing the sorting quantity of each sorting track 11 with the threshold value by the dispatching module 17, when the sorting quantity of a certain sorting track 11 is greater than the threshold value, controlling the mechanical arm 12 on one side of the sorting track 11 to act and participate in sorting by the dispatching module 17, and sorting the goods corresponding to the sorting track 11 on the main conveying track 10; the specific process of the mechanical arm 12 participating in sorting is as follows:
step S301, the image acquisition module 201 acquires continuous images shot by a plurality of cameras 15 in real time, and judges the positions of corresponding trolleys 13 and cargos according to the continuous images and the conveying speed of the main conveying track 10;
step S302, the grabbed object selection module 202 selects corresponding goods entering the grabbing range of the mechanical arm 12 according to the goods category determined by the scheduling module 17 and participated in sorting by the mechanical arm 12;
step S303, the capturing pose adjusting module 203 receives the images shot by the plurality of cameras 15, selects the image of the goods to be captured according to the identification feature block 14 on the trolley 13 in the image, determines the size and the central position of the goods in the image, and calculates the deflection angle of the goods according to the position relation between the outline of the goods in the image and the identification feature block; the grabbing pose adjusting module 203 controls the clamping jaws of the mechanical arms 12 to adjust to corresponding angles and corresponding opening sizes according to the deflection angles, sizes and central positions of the goods;
step S304, the grabbing control module 204, where the grabbing control module 204 receives the continuous images of the goods to be grabbed and the trolley 13 thereof shot by the multiple cameras 15 in real time, calculates a time point when the robot arm 12 grabs the goods according to the conveying speed of the main conveying track 10, and controls the robot arm 12 to operate.
In step S4, after the robot arm 12 grabs the goods on the main conveying rail 10, the grabbed goods are placed on the sorting rail 11 or the receiving container 18.
The above detailed description is made on the goods sorting system and method of the cross belt sorting equipment provided by the present application, and specific examples are applied in the present application to explain the principle and the implementation manner of the present application, and the description of the above embodiments is only used to help understand the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. A goods sorting system of a cross belt sorting apparatus, comprising a main conveying rail (10) and sorting rails (11) arranged at one side or both sides of the main conveying rail (10), characterized in that: a mechanical arm (12) is arranged on one side or two sides of the main conveying track (10); the main conveying track (10) conveys a trolley (13) loaded with goods along the conveying direction, and a camera (15) is arranged above the main conveying track (10) along the conveying direction; the output end of the camera (15) is connected with the identification module (16), the identification module (16) is connected with the scheduling module (17), the identified information is transmitted to the scheduling module (17), the control end of the scheduling module (17) outputs control signals of the trolley (13) and the mechanical arm (12) and is used for controlling the action of the corresponding trolley (13) or the mechanical arm (12) on the main conveying track (10), so that the goods on the corresponding trolley (13) are conveyed to the sorting track (11), and the mechanical arm (12) sorts the goods on the main conveying track (10) according to the sorting rule provided by the scheduling module (17).
2. The goods sorting system of the cross belt sorting apparatus of claim 1, wherein: the mechanical arm (12) is arranged on the moving guide rail (19), and the mechanical arm (12) is controlled by the dispatching module (17) to move along the moving guide rail (19).
3. The goods sorting system of the cross belt sorting apparatus of claim 1, wherein: the control end of the mechanical arm (12) receives a control signal of a mechanical arm grabbing control unit (20); the robot arm gripping control unit (20) includes:
the image acquisition module (201) acquires continuous images shot by the cameras (15) in real time, and judges the positions of the corresponding trolleys (13) and cargos according to the continuous images and the conveying speed of the main conveying track (10);
the grabbing object selecting module (202) selects corresponding goods entering the grabbing range of the mechanical arm (12) to grab according to the goods types, which are determined by the scheduling module (17), of the mechanical arm (12) and participate in sorting;
the grabbing pose adjusting module (203) receives images shot by the cameras (15), determines the size and the central position of goods in the images, and calculates the deflection angle of the goods according to the position relation between the outline of the goods in the images and the identification feature block; the grabbing pose adjusting module (203) controls the clamping jaws of the mechanical arms (12) to adjust to corresponding angles and corresponding opening sizes according to the deflection angles, sizes and central positions of the goods;
and the grabbing control module (204) is used for receiving continuous images of the goods to be grabbed and the trolley (13) thereof shot by the cameras (15) in real time, calculating the time point of the goods grabbed by the mechanical arm (12) according to the conveying speed of the main conveying track (10), and controlling the mechanical arm (12) to act.
4. The goods sorting system of the cross belt sorting apparatus of claim 1, wherein: the side frames of the trolleys (13) are provided with identification characteristic blocks (14), and each trolley (13) is provided with a group of identification characteristic blocks (14) which are uniquely corresponding to the trolley (13).
5. The goods sorting system of the cross belt sorting apparatus of claim 4, wherein: the identification characteristic block (14) is composed of a plurality of salient points with different positions or shapes and corresponds to the trolleys (13) one by one.
6. The goods sorting system of the cross belt sorting apparatus of claim 1, wherein: a receiving container (18) for receiving the sorted goods is arranged on the rear side of the mechanical arm (12).
7. A method for sorting goods by cross belt sorting equipment is characterized by comprising the following steps:
step S1, the camera (15) shoots images of the goods and the trolleys (13) on the main conveying track (10), the identification module (16) identifies information in the images of the goods and the trolleys (13), and sends the identified information to the scheduling module (17);
step S2, the dispatching module (17) controls the corresponding trolley (13) to distribute the goods to the corresponding sorting track (11) at the corresponding sorting point according to the received identified information based on the set sorting rule;
step S3, setting a sorting index for each sorting track (11), monitoring the sorting index of each sorting track (11) by the scheduling module (17), controlling the mechanical arm (12) on one side of the sorting track (11) to act and participate in sorting by the scheduling module (17) when the sorting index of a certain sorting track (11) reaches a set condition, and sorting the goods corresponding to the sorting track (11) on the main conveying track (10); or when the dispatching module (17) receives a sorting instruction beyond the sorting rule of the sorting track (11);
and step S4, after the mechanical arm (12) grabs the goods on the main conveying track (10), placing the grabbed goods in the sorting track (11) or the receiving container (18).
8. The goods sorting method of the cross belt sorting apparatus as claimed in claim 7, wherein: the specific process of step S3 includes:
step S301, an image acquisition module (201) acquires continuous images shot by a plurality of cameras (15) in real time, and judges the positions of corresponding trolleys (13) and cargos according to the continuous images and the conveying speed of a main conveying track (10);
step S302, a grabbing object selection module (202) selects corresponding goods entering a grabbing range of a mechanical arm (12) according to the goods types which are determined by a scheduling module (17) and used by the mechanical arm (12) to participate in sorting;
step S303, the capturing pose adjusting module (203) receives images shot by the plurality of cameras (15), selects an image of a cargo to be captured, determines the size and the central position of the cargo in the image, and calculates the deflection angle of the cargo according to the position relation between the contour of the cargo in the image and the identification feature block; the grabbing pose adjusting module (203) controls the clamping jaws of the mechanical arms (12) to adjust to corresponding angles and corresponding opening sizes according to the deflection angles, sizes and central positions of the goods;
and step S304, a grabbing control module (204), wherein the grabbing control module (204) receives continuous images of the goods to be grabbed and the trolley (13) thereof shot by the plurality of cameras (15) in real time, calculates the time point of the goods grabbed by the mechanical arm (12) according to the conveying speed of the main conveying track (10), and controls the mechanical arm (12) to act.
9. The method of sorting goods by the cross belt sorting apparatus as claimed in claim 8, wherein: the specific selection strategy of step S302 is: the recognition module (16) transmits information of goods of corresponding categories which are about to enter the grabbing position of the mechanical arm (12) to the grabbing object selection module (201), and the goods to be grabbed are respectively set as first goods X to be grabbed according to the sequence of the grabbing positions1The second goods X to be grabbed2The third goods X to be grabbed3… … Nth goods X to be grabbedn(ii) a The grabbing object selection module (201) controls the mechanical armRecovering the state to be grabbed, and determining the position of the goods to be grabbed according to the image acquisition module (201), if the first goods to be grabbed X1When the first goods X to be grabbed is not reached, the first goods X to be grabbed is selected1As goods to be grabbed; if the first goods X to be grabbed1And when the goods reach or leave the grabbing position, selecting the next goods to be grabbed, and so on until the proper goods to be grabbed are selected.
10. The goods sorting method of the cross belt sorting apparatus as claimed in claim 7, wherein: the sorting index in the step S3 adopts a threshold value of sorting quantity, the scheduling module (17) compares the sorting quantity of each sorting track (11) with the threshold value, when the sorting quantity of a certain sorting track (11) is greater than the threshold value, the scheduling module (17) controls the mechanical arm (12) on one side of the sorting track (11) to act to participate in sorting, the goods corresponding to the sorting track (11) on the main conveying track (10) are sorted, and the mechanical arm (12) captures the goods on the main conveying track (10) which meet the sorting rule of the sorting track (11).
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113894061A (en) * | 2021-10-23 | 2022-01-07 | 绍兴文理学院元培学院 | Automatic cargo sorting method and system |
| CN114130673A (en) * | 2021-10-14 | 2022-03-04 | 浙江菜鸟供应链管理有限公司 | Control method, device and equipment of sorting equipment and storage medium |
| CN115569851A (en) * | 2022-10-11 | 2023-01-06 | 广东飞流智能科技有限公司 | Cross belt intelligent cargo sorting system and method based on Internet of things |
| CN114130673B (en) * | 2021-10-14 | 2024-05-14 | 浙江菜鸟供应链管理有限公司 | Control method, device, equipment and storage medium of sorting equipment |
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| CN114130673B (en) * | 2021-10-14 | 2024-05-14 | 浙江菜鸟供应链管理有限公司 | Control method, device, equipment and storage medium of sorting equipment |
| CN113894061A (en) * | 2021-10-23 | 2022-01-07 | 绍兴文理学院元培学院 | Automatic cargo sorting method and system |
| CN115569851A (en) * | 2022-10-11 | 2023-01-06 | 广东飞流智能科技有限公司 | Cross belt intelligent cargo sorting system and method based on Internet of things |
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| CN112439715B (en) | 2022-03-25 |
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