CN113019943B - Management method of sorting system, control device and storage medium - Google Patents

Management method of sorting system, control device and storage medium Download PDF

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Publication number
CN113019943B
CN113019943B CN202110173498.1A CN202110173498A CN113019943B CN 113019943 B CN113019943 B CN 113019943B CN 202110173498 A CN202110173498 A CN 202110173498A CN 113019943 B CN113019943 B CN 113019943B
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China
Prior art keywords
sorting
article
sorted
image
area
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CN202110173498.1A
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Chinese (zh)
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CN113019943A (en
Inventor
陈德平
王银学
徐庆才
金琦
童孝康
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Beijing Megvii Technology Co Ltd
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Beijing Megvii Technology Co Ltd
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Priority to CN202110173498.1A priority Critical patent/CN113019943B/en
Publication of CN113019943A publication Critical patent/CN113019943A/en
Priority to PCT/CN2021/132843 priority patent/WO2022166324A1/en
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Publication of CN113019943B publication Critical patent/CN113019943B/en
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Classifications

    • 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
    • B07C3/00—Sorting according to destination
    • B07C3/10—Apparatus characterised by the means used for detection ofthe destination
    • B07C3/14—Apparatus characterised by the means used for detection ofthe destination using light-responsive detecting means
    • 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
    • B07C1/02—Forming articles into a stream; Arranging articles in a stream, e.g. spacing, orientating
    • 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
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • 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
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B07C3/04—Drum-type sorting machines or having circularly arranged sorting compartments
    • 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
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Control Of Conveyors (AREA)

Abstract

The application provides a management method of a sorting system, the sorting system, a control device and a storage medium, wherein the management method is applied to the control device of the sorting system, the sorting system comprises a camera and a sorting device which are in communication connection with the control device, and the method comprises the following steps: acquiring an image of an area where a sorting device shot by a camera is located; determining whether a sorting abnormality exists in a sorting process of the sorting device based on an image of an area where the sorting device is located; if the abnormal condition exists, a sorting abnormal notification is generated. According to the application, the sorting abnormality notification is generated when abnormality exists, and the sorting abnormality condition can be processed in time, so that the sorting efficiency can be improved.

Description

Management method of sorting system, control device and storage medium
Technical Field
The application relates to the technical field of logistics, in particular to a management method of a sorting system, the sorting system, control equipment and a storage medium.
Background
In the field of logistics, sorting of goods is often involved. Traditional mode inefficiency and letter sorting error rate that adopts manual sorting are higher. In order to realize sorting automation, cargo sorting systems have been developed in the prior art. However, existing cargo sorting systems cannot timely learn the progress of sorting, so that operators cannot timely learn and process abnormal sorting conditions, thereby resulting in poor sorting accuracy.
Disclosure of Invention
An object of the embodiments of the present application is to provide a management method of a sorting system, a control device and a storage medium, so as to solve the problem that in the prior art, an operator cannot learn about abnormal sorting conditions in time and process the abnormal sorting conditions, resulting in poor sorting accuracy.
The application provides a management method of a sorting system, which is applied to control equipment of the sorting system, wherein the sorting system comprises a camera and a sorting device which are in communication connection with the control equipment, and the method comprises the following steps: acquiring an image of an area where the sorting device is located, wherein the image is shot by the camera; determining whether a sorting abnormality exists in a sorting process of the sorting device based on an image of an area where the sorting device is located; if the abnormal condition exists, a sorting abnormal notification is generated.
According to the management method of the sorting system, provided by the application, the sorting process of the sorting device can be monitored by acquiring the image of the area where the sorting device is located, whether the sorting process of the sorting device is abnormal or not is determined based on the image of the area where the sorting device is located, and when the abnormal sorting process is determined to be abnormal, a sorting abnormal notification is generated, so that an operator can timely know and process the abnormal sorting condition, and the sorting accuracy is improved to a certain extent.
Optionally, the abnormal notification includes an image in which the sorting abnormality is detected and/or article information in which the sorting abnormality occurs.
In the embodiment of the application, the abnormal notification comprises the image of the detected abnormal sorting and/or the article information of the abnormal sorting, so that an operator can quickly determine the article with the abnormal sorting.
Optionally, the image with the abnormal sorting detected comprises an indication of the article with abnormal sorting; and/or the image with abnormal sorting detection comprises an indication of a correct feed port corresponding to the article with abnormal sorting.
In the embodiment of the application, the image in which the abnormal sorting is detected comprises the indication of the article with abnormal sorting and/or the indication of the correct feed opening corresponding to the article with abnormal sorting, so that on one hand, an operator can quickly determine the article with abnormal sorting, and on the other hand, the operator can determine the type of abnormal sorting, such as stacking, missing, casting or clamping of the articles.
Optionally, each article to be sorted is allocated with a target position, and if it is determined that the actually arrived position of at least one article to be sorted on the sorting device is inconsistent with the corresponding target position based on the image of the area where the sorting device is located, it is determined that sorting abnormality exists, wherein the target position is a target receiving opening, and the actually arrived position is an actually arrived position receiving opening; alternatively, the target location is a target container, and the actually arrived location is an actually arrived location container.
In the embodiment of the application, when the position actually reached by at least one article with sorting on the sorting device is determined to be inconsistent with the corresponding target position based on the image of the area on the sorting device, the abnormal sorting is determined, so that an operator can know the article throwing condition in time during sorting.
Optionally, in the process of transferring each article to be sorted, the image of the area where the sorting device is located includes a label of the target position of the article to be sorted, and if it is determined after the transfer of the article to be sorted is completed that the actually reached position of the article to be sorted is inconsistent with the labeled target position, it is determined that sorting abnormality exists.
According to the embodiment of the application, the target positions of the articles to be sorted are marked in the image of the area where the sorting device is located, and after the transfer of the articles to be sorted is completed, the abnormal sorting condition caused by the article throwing deviation during sorting can be determined simply, conveniently and intuitively by determining whether the actual arrival positions of the articles to be sorted are consistent with the marked target positions.
Optionally, if it is determined, based on the image of the area where the sorting device is located, that the residence time of at least one article to be sorted on the sorting device on the sorting trolley exceeds a preset time, it is determined that sorting abnormality exists.
In the embodiment of the application, based on the image of the area where the sorting device is located, when the residence time of at least one article to be sorted on the sorting device on the sorting trolley is determined to exceed the preset time, the existence of sorting abnormality is determined, and the operator is helped to learn the sorting abnormality caused by the residence of the article on the sorting device in time.
Optionally, if it is determined, based on the images of the areas where the continuous plurality of sorting devices are located, that at least one of the articles to be sorted has a position change smaller than a preset value after being transferred to one of the receiving ports, it is determined that there is a sorting abnormality.
In the embodiment of the application, based on the images of the areas where the continuous multiple sorting devices are located, when the position change of at least one article to be sorted is smaller than the preset value after being transferred to one receiving port, the existence of sorting abnormality is determined, so that an operator can learn the sorting abnormality caused by article clamping in time.
Optionally, the method further comprises: and recording the image of the area where the sorting device is located in real time.
In the embodiment of the application, the images of the area where the sorting device is located are recorded in real time, so that a basis is provided for analyzing whether sorting abnormality exists or not based on the images of the area where the sorting device is located, and on the other hand, the sorting abnormality can be recovered, traced and the like after a follow-up operator is informed of the sorting abnormality.
Optionally, the method further comprises: positioning each article to be sorted based on an image of an area where the sorting device is located; when any article to be sorted is smaller than the preset distance from the corresponding target connector opening, marking the target connector opening of the article to be sorted in the image of the area where the sorting device is located; and determining that the sorting abnormality exists when the interface for actually transferring the articles to be sorted is inconsistent with the marked target interface for the articles to be sorted.
According to the embodiment of the application, each article to be sorted is positioned based on the image of the area where the sorting device is located, and when any article to be sorted is smaller than the preset distance from the corresponding target connector opening, the target connector opening of the article to be sorted is marked in the image of the area where the sorting device is located, so that an operator can more intuitively learn the progress condition of the sorting process.
Optionally, the number of cameras is a plurality, each camera captures an image of a different area of the sorting device, and the method further includes: and acquiring images shot by the corresponding cameras according to the positions of the articles to be sorted so as to determine whether the sorting process of the articles to be sorted is abnormal or not.
In the embodiment of the application, images of different areas of the sorting device are shot by different cameras, so that the positioning of the articles to be sorted is facilitated.
Optionally, the method further comprises determining an item for which a sorting anomaly occurred based on the anomaly notification; determining theoretical transfer information of the article, wherein the theoretical transfer information comprises theoretical transfer time and theoretical transfer speed of the article; acquiring actual transfer information of the article based on the PLC log information, wherein the actual transfer information comprises actual transfer time and actual transfer speed of the article; and generating an anomaly analysis report based on the theoretical transfer information and the actual transfer information.
In the embodiment of the application, the generation of the abnormality analysis report is helpful for operators to further know the reason of abnormal sorting.
Optionally, the sorting system further includes a container conveyor communicatively connected to the control device and disposed corresponding to each of the interface ports, the containers disposed corresponding to each of the interface ports being respectively placed on the corresponding container conveyors, the method further comprising: acquiring images of areas where all container conveyors are located, wherein the images are shot by the cameras; determining whether a container is fully loaded based on an image of the area in which each container conveyor is located; if a container is full, the full container is replaced.
According to the embodiment of the application, the images of the areas of the container conveyors are obtained through the cameras, and when the containers are determined to be fully loaded based on the images of the areas of the container conveyors, the containers in the Gaeman are replaced, so that the sorting process is continuously and smoothly carried out.
Optionally, if it is determined that a plurality of containers on at least one of the container conveyors are full based on an image of the area in which each container conveyor is located, all of the full containers on the at least one container conveyor are replaced.
Optionally, the method further comprises: determining the full load condition of a plurality of containers on the same container conveyor based on the image of the area where each container conveyor is located; the frequency of transferring articles to be sorted to a plurality of containers on the same container conveyor is controlled based on the full loading of the plurality of containers.
The application also provides a sorting system comprising: a control device; the camera and the sorting device are in communication connection with the control equipment; the control device comprises a memory and a processor, wherein the memory stores computer readable instructions, and the computer readable instructions, when executed by the processor, cause the processor to execute the management method of the sorting system.
The application also provides a control device applied to a sorting system, the control device comprises a memory and a processor, wherein the memory stores computer readable instructions, and the computer readable instructions, when executed by the processor, cause the processor to execute the management method of the sorting system.
The present application also provides a non-volatile readable storage medium storing computer readable instructions that, when executed by a processor, cause the processor to perform the method of managing a sorting system as described above.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the application will be apparent from the description and drawings, and from the claims.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block diagram of a sorting system according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a sorting system according to an embodiment of the present application.
Fig. 3 is a block diagram of a control device according to an embodiment of the present application.
Fig. 4 is a flowchart of a method for managing a sorting system according to an embodiment of the present application.
Icon: a sorting system 100; a sorting device 10; a camera 20; a control device 30; a connector device 40; a docking device 50; a supply device 60; a first upper cargo space 61; a first discharge location 62; a supply waiting position 63; a second upper cargo space 101; a second discharge location 102; a conveying device 11; sorting trolley 12; a connector assembly 41; a rotating device 42; a connector slot 411; a container conveyor 412; a container 413; a processor 31; a memory 32.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
In order to facilitate understanding of the technical scheme of the management method of the sorting system provided by the application, before the management method of the sorting system provided by the application is developed and introduced, the sorting system to which the management method provided by the application is applicable is introduced. It should be understood that the sorting system described herein is merely an example of a sorting system to which the management method provided by the present application is applicable, and the present application is not limited thereto.
Referring to fig. 1 and 2, an embodiment of the present application provides a sorting system 100, which includes a sorting device 10, a camera 20 and a control device 30. The control device 30 is connected in communication with the sorting device 10 and the camera 20, respectively. The sorting device 10 is used for sorting articles to be sorted. The camera 20 is used to capture images and/or video of the area in which the sorting system 100 is located. By arranging the image pick-up device in the sorting system, the operation process of the sorting equipment can be monitored by utilizing the image and/or video shot by the image pick-up device, and the position condition of the articles to be sorted in the sorting system can be determined according to the acquired image.
Optionally, in another embodiment, the sorting system may further comprise a connector device 40. The interface device 40 may be disposed around the sorting device 10. The receiving means 40 is adapted to receive containers for receiving articles sorted by the sorting apparatus 10.
Optionally, in another embodiment, the sorting system 100 may further comprise a docking device 50, the control apparatus 30 being communicatively connected to the docking device 50. The docking device 50 is used to interface with the interface device 40, receive full containers from the interface device 40, or transfer empty containers to the interface device 40 under the control of the control apparatus 30. Through setting up the device of plugging into in the letter sorting system, can accomplish the change of container voluntarily, improve the operating efficiency, saved the cost of labor.
Optionally, in another embodiment, the sorting system 100 may further comprise a supply device 60, the control apparatus 30 being communicatively connected to the supply device 60. The feeder device 60 is arranged adjacent to the sorting device 10 under the control of the control device 30 for conveying articles to be sorted to the sorting device 10.
The supply device 60 may include a first loading bay 61, a first unloading bay 62, and a supply waiting bay 63. The first loading locations 61 and the first unloading locations 62 are located at opposite ends of the conveyor structure. The supply waiting space 63 is located between the first loading space 61 and the first unloading space 62. Articles to be sorted are placed into the feeder device 60 from the first upper cargo space 61. The feeder device 60 serves to convey articles to be sorted from a first loading location 61 to a first unloading location 62. The supply means 60 may be a conveyor belt structure, which may be realized by rollers, belts, chains, rollers, conveyor wheels or the like, for example.
In one embodiment, the first upper cargo space 61 may be provided with weighing means for detecting the weight of the item placed on the first upper cargo space 61.
The sorting device 10 is arranged adjacent to the feeder device 60 for sorting articles to be sorted after receiving articles to be sorted transferred from the feeder device 60.
The sorting device 10 has a second loading location 101 and a second unloading location 102. The second upper cargo space 101 is disposed adjacent to the first cargo space 62. The number of the second discharging places 102 is plural, and the plural second discharging places 102 may be arranged at intervals. Alternatively, the plurality of second discharge sites 102 are disposed at equal intervals. The sorting device 10 is configured to receive the articles to be sorted transferred from the article loading device 60 at the second loading location 101, and to transfer the articles to be sorted to the second unloading location 102 corresponding to the articles to be sorted for sorting.
In this embodiment, the sorting device 10 may include a conveyor 11 and a sorting cart 12. Sorting carts 12 are arranged on the conveyor 11. The sorting trolley 12 is intended to carry articles to be sorted. The conveyor 11 is used for conveying sorting carts 12. When the conveyor 11 conveys the sorting trolley 12 to the second upper cargo space 101, the feeder device 60 transfers the articles to be sorted from the first unloading place 62 onto the sorting trolley 12 to the second upper cargo space 101. The conveyor 11 conveys the sorting trolley 12, which receives the articles to be sorted transferred from the first discharge station 62, to the second discharge station 102 corresponding to the articles to be sorted, in order to sort the articles to be sorted.
It is understood that the conveying speed of the conveying device 11 may be set as needed, and the conveying device 11 may convey the sorting carriage 12 at a constant speed or may convey the sorting carriage 12 at a variable speed.
In this embodiment, the conveying device 11 may be a closed type rotary circulation structure, that is, a start point and an end point of the rotary circulation structure are joined together, so that the sorting device 10 is in a closed ring shape, for example, a circular rotary circulation structure, an elliptical rotary circulation structure, an annular rotary circulation structure, a rectangular rotary circulation structure, or an irregularly shaped rotary circulation structure designed according to an installation site of the apparatus. Adopt closed gyration circulation structure can realize the continuous circulation flow letter sorting of goods, keep the state of moving continuously, avoid the parking of goods, can improve letter sorting efficiency to more save equipment installation space. It will be appreciated that in other embodiments, the conveyor 11 may be a linear structure having an open rectilinear or curvilinear shape provided with a start point and an end point, such as an L-shaped, U-shaped, rectilinear structure.
The second loading space 101 and the plurality of second unloading spaces 102 are disposed at intervals along the conveyor 11.
The number of sorting carts 12 may be plural. A plurality of sorting carriages 12 are arranged at intervals on the conveyor 11. In the present embodiment, a plurality of sorting carts 12 are provided at equally spaced intervals on the outer periphery of the conveyor 11. Alternatively, the number of sorting carts 12 may be equal to the sum of the number of second loading locations 101 and second unloading locations 102.
In one embodiment, there may be a height difference between the level of the sorting trolley 12 and the level of the first discharge station 62, with the level of the first discharge station 62 being higher than the level of the sorting trolley 12, in order to transfer the articles to be sorted located on the first discharge station 62 onto the sorting trolley 12. In another embodiment, the level of the deck of the sorting trolley 12 is the same as the level of the deck of the first discharge station 62.
In this embodiment, the sorting carriage 12 may be implemented as any one of a baffle-less conveyor belt, a conveyor roller, a tipping tray, and a tipping skip. The conveying direction of the sorting trolley 12 differs from the conveying direction of the conveying device 11 in order to deliver articles located on the sorting trolley 12 from the sorting device 10 into the corresponding containers. For example, if the conveyor 11 segment where the sorting trolley 12 is currently located is a straight segment, the conveying direction of the sorting trolley may be perpendicular to the conveying direction of the conveyor 11 so that the sorting trolley delivers articles into containers inside or outside the segment of conveyor 11. If the conveyor 11 segment where the sorting trolley 12 is currently located is an arc segment, the conveying direction of the sorting trolley may be perpendicular to the tangential direction of the conveyor 11 segment (also referred to as the radial direction of the conveyor 11) so that the sorting trolley delivers articles into containers inside or outside the conveyor 11 segment. For example, as shown in fig. 2, the conveying device has a circular rotary circulation structure, and the conveying direction of the sorting carriage 12 is the radial direction of the conveying device 11. In particular, the conveying direction of the sorting trolley 12 may be a direction approaching the rotation axis in the radial direction of the conveying device 11 and/or a direction moving away from the rotation axis in the radial direction of the conveying device 11.
A receiving device 40 is disposed about the sorting device 10, with the receiving device 40 being adapted to receive a container for receiving articles sorted by the sorting trolley. In this embodiment, the connector device 40 includes a plurality of connector assemblies 41. A plurality of connector assemblies 41 are disposed around the conveyor 11. Further, a plurality of connector assemblies 41 may be disposed around the conveyor 11 at equal intervals. The number of the connector assemblies 41 may correspond to the number of the second discharging places 102, and the connector assemblies 41 are disposed in one-to-one correspondence with the second discharging places 102. Optionally, the connector device 40 may further include a rotating device 42, where each connector assembly 41 is disposed on the rotating device 42, and the rotating device 42 may rotate each connector assembly 41 around the sorting device 10.
Each of the connector assemblies 41 includes a container conveyor 412, the container conveyor 412 being configured to receive containers 413, at least one container opening on the container conveyor 412 being alignable with the sorting trolley 12 by controlling the container conveyor 412 to receive articles delivered by the sorting trolley 12.
Optionally, each connector assembly 41 may also include a connector slot 411. The connector slot 411 has a funnel structure. The connector slot 411 is disposed adjacent to the conveyor 11. The upper notch of the connector slot 411 may have a height difference from the table of the sorting trolley 12, and the table of the sorting trolley 12 is higher than the notch of the connector slot 411. The connector slot 411 is erected on the container conveyor 412, fixed in relative position to the container conveyor 412, and disposed adjacent to the transfer device 11. The lower slot of the tab slot 411 is aligned with the transfer table of the container conveyor 412, and the container opening on the container conveyor 412 can be aligned with the lower slot of the tab slot 411 by adjusting the container conveyor 412. By providing the receiving slots, articles can be made to fall accurately into the container, avoiding articles from falling out of the container when the sorting trolley 12 delivers articles.
The container conveyor 412 may be arranged along a radial extension of the conveyor 11. The container conveyor 412 is used to place the containers 413 and can reciprocate in a radial direction to switch the containers 413. The container conveyor 412 may be a conveyor belt structure, which may be implemented, for example, by rollers, belts, chains, rollers, or transfer rollers, etc.
The docking device 50 is disposed outside the connector device 40. In this embodiment, the docking device 50 may be a conveyor belt structure. In this embodiment, the rotating device 42 drives each connector assembly 41 to rotate around the sorting device 10, so that the end of the container conveyor 412 of each connector assembly 41 far away from the rotation axis of the rotating device 42 is aligned with the end of the docking device 50, thereby, the container filled with the articles is conveyed to the manual operation position for loading and unloading by the cooperation of the docking device 50 and the container conveyor 412, or the empty container is supplied to the container conveyor 412 so as to receive the articles falling from the connector slot 411.
It will be appreciated that in other embodiments, a plurality of connector assemblies 41 may be disposed around the conveyor 11 along the inside edge of the conveyor 11 (i.e., the side edge of the conveyor 11 that is closer to the axis of rotation) and the outside edge of the conveyor 11 (i.e., the side edge of the conveyor 11 that is farther from the axis of rotation), respectively. At this time, the number of the connector assemblies 41 is twice the number of the sorting carts. At this time, the connector assembly 41 located at the inner edge of the conveyor 11 and the connector assembly 41 located at the outer edge of the conveyor 11 in the same radial direction may share one container conveyor.
It will be appreciated that in other embodiments, the plurality of connector assemblies 41 may be disposed along the inside edge of the conveyor 11 (i.e., the side edge of the conveyor 11 adjacent the axis of rotation is disposed around the conveyor 11).
The camera 20 is used for acquiring images of the area of the sorting device 10, the area of the receiving device 40 and the area of the feeding device 60, so that the control device 30 can control the corresponding devices based on the images of the areas. The camera 20 may be a wide angle camera, a panoramic camera, etc. In this embodiment, the cameras 20 may be panoramic cameras, and in this case, the number of cameras 20 may be one. In other embodiments, camera 20 may be other cameras. At this time, the number of cameras 20 may be plural, and each device of the sorting system 100 is installed and fixed correspondingly, so as to obtain an image of the area where the corresponding device is located.
The control device 30 is connected to the sorting device 10, the camera 20, the connector device 40, the connector device 50 and the connector device 60 for controlling the operation of the respective devices and devices.
Referring to fig. 3, the control apparatus 30 includes a processor 31 and a memory 32. It is to be understood that the components and structures of the control device described herein are merely examples, and the control device 30 of the present application is not limited thereto, and the control device 30 may have other components and structures as desired. The processor 31, memory 32 and other components that may be present in the control device 30 are electrically connected to each other, either directly or indirectly, for example, through one or more communication buses, to enable transmission or interaction of data.
The memory 32 is used to store programs or computer-readable instructions, for example, programs or computer-readable instructions corresponding to a control method that will appear later. The processor 31 may be configured to be triggered to execute a program or computer readable instructions corresponding to the control method to perform the control method described below.
Next, a method for managing the sorting system according to the embodiment of the present application will be described in detail.
Referring to fig. 4, an embodiment of the present application provides a management method of a sorting system, which is applied to a control apparatus 30 of the sorting system 100. The method of managing the sorting system may include the following steps.
Step S11, acquiring an image of the area where the sorting device shot by the camera is located.
Step S12, determining whether a sorting abnormality exists in the sorting process of the sorting device based on the image of the area where the sorting device is located.
Step S13, if an abnormality exists, a sorting abnormality notification is generated.
It will be appreciated that the implementation of step S11 is different depending on the type of camera
When the cameras are panoramic cameras, the number of cameras may be one. The camera is used for collecting the whole image of the sorting system. At this time, the control device may extract an image of the area where the sorting device is located from the overall image of the sorting system acquired by the camera after receiving the overall image.
When the cameras are conventional cameras, the number of the cameras is multiple, and the cameras are respectively arranged corresponding to all mechanisms of the sorting system and are used for collecting images of areas where the corresponding mechanisms are located. Optionally, the camera captures images in real time. At this time, the control device can directly acquire the image of the area where the sorting device is located, which is acquired by the camera arranged corresponding to the sorting device. For example, the corresponding relationship between the installation position of the camera and the mechanism may be stored in the control device, and the control device may determine the camera corresponding to the sorting device based on the corresponding relationship, and then acquire the image of the area where the sorting device acquired by the camera is located.
Step S12, determining whether a sorting abnormality exists in the sorting process of the sorting device based on the image of the area where the sorting device is located.
In an embodiment, each article to be sorted is distributed with a target position, and if it is determined that the actually arrived position of at least one article to be sorted on the sorting device is inconsistent with the corresponding target position based on the image of the area where the sorting device is located, it is determined that sorting abnormality exists, wherein the target position is a target receiving opening, and the actually arrived position is an actually arrived position receiving opening; alternatively, the target position is a target container, and the actual position is an actual position container. It should be noted that the connector opening may be understood as the opening of the container, the upper notch of the connector groove, or the like in the foregoing embodiments. By determining the sorting abnormality when it is determined that the actual arrival position of at least one article with sorting on the sorting device is inconsistent with the corresponding target position based on the image of the area on the sorting device, the operator is helped to learn the article throwing condition during sorting in time.
In another embodiment, in the process of transferring each article to be sorted, the image of the area where the sorting device is located includes a label of the target position of the article to be sorted, and if it is determined after the transfer of the article to be sorted is completed that the actually reached position of the article to be sorted is inconsistent with the labeled target position, it is determined that there is a sorting abnormality. Thus, the abnormal sorting condition caused by the article throwing deviation during sorting can be determined simply and intuitively.
In yet another embodiment, if it is determined, based on the image of the area in which the sorting device is located, that the residence time of at least one article to be sorted on the sorting device on the sorting trolley exceeds the preset time, it is determined that a sorting abnormality exists. Thus, the operator is helped to learn the abnormal sorting condition caused by the retention of the articles in the sorting device in time. It is understood that the preset time period may be a time period during which the conveyor of the sorting device rotates one cycle.
In yet another embodiment, if it is determined that at least one article to be sorted is determined to have a sorting anomaly after being transferred to a receiving opening based on images of areas where a plurality of consecutive sorting apparatuses are located, the position change is less than a predetermined value. It should be noted that if the position change is smaller than the preset value, it indicates that the article to be sorted is jammed at the receiving port. Therefore, the existence of sorting abnormality is determined by determining that at least one article to be sorted is smaller than a preset value after the position change of the article to be sorted is determined to be transferred to one receiving port based on the images of the areas where the continuous multiple sorting devices are located, and the operator can learn the sorting abnormality caused by the article clamping piece in time.
Step S13, if an abnormality exists, a sorting abnormality notification is generated.
In one embodiment, the anomaly notification includes an image of the detected sorting anomaly and/or item information of the occurrence of the sorting anomaly. Thereby helping the operator to quickly determine the article for which the sorting anomaly has occurred.
Optionally, the image in which the sorting abnormality is detected includes an indication of the article in which the sorting abnormality occurred; and/or the image with abnormal sorting detection comprises an indication of a correct feed port corresponding to the article with abnormal sorting. This helps, on the one hand, to allow the operator to quickly determine the articles for which a sorting anomaly has occurred, and on the other hand, to allow the operator to determine the type of sorting anomaly, e.g., accumulation of articles, omission, throwing or jamming, etc.
According to the management method of the sorting system, provided by the embodiment of the application, the sorting process of the sorting device can be monitored by acquiring the image of the area where the sorting device is located, whether the sorting process of the sorting device is abnormal or not is determined based on the image of the area where the sorting device is located, and when the abnormal condition is determined to exist, the abnormal sorting notification is generated, so that an operator can timely know and process the abnormal sorting condition, and the sorting accuracy is improved to a certain extent.
It will be appreciated that the method may further comprise: and recording the image of the area where the sorting device is located in real time. The image of the area where the sorting device is located is recorded in real time, so that a basis is provided for analysis of whether sorting abnormality exists or not based on the image of the area where the sorting device is located, and on the other hand, follow-up operators can conveniently multiplex and trace sorting abnormality after learning about sorting abnormality notification.
It will be appreciated that the method may further comprise: positioning each article to be sorted based on an image of the area where the sorting device is located; when any article to be sorted is smaller than the preset distance from the corresponding target connector, marking the target connector of the article to be sorted in an image of the area where the sorting device is located; and determining that the sorting abnormality exists when the interface for actually transferring the articles to be sorted is inconsistent with the marked target interface for the articles to be sorted. Thereby helping the operator to learn the progress of the sorting process more intuitively.
Wherein the predetermined distance may be a distance of a second discharge location. That is, the conveying device conveys the articles to be sorted to a second unloading position through the sorting trolley, so that the second unloading position corresponding to the target receiving opening can be achieved.
Optionally, the number of cameras is multiple, each camera captures an image of a different area of the sorting device, and the method further includes: and acquiring images shot by the corresponding cameras according to the position of each article to be sorted so as to determine whether the sorting process of the article to be sorted is abnormal or not. The images of different areas of the sorting device are shot through different cameras, so that the positioning of the articles to be sorted is facilitated.
It will be appreciated that the method may further include determining an item for which a sort anomaly occurred based on the anomaly notification; determining theoretical transfer information of the article, wherein the theoretical transfer information comprises theoretical transfer time and theoretical transfer speed of the article; acquiring actual transfer information of the article based on the PLC log information, wherein the actual transfer information comprises actual transfer time and actual transfer speed of the article; and generating an anomaly analysis report based on the theoretical transfer information and the actual transfer information. By generating the anomaly analysis report, the operator is helped to further understand the cause of the sorting anomaly. The theoretical transfer timing and the theoretical transfer speed can be configured by a system.
It will be appreciated that when the sorting system further comprises a container conveyor communicatively connected to the control device and arranged in correspondence of each of the interface openings, and the containers arranged in correspondence of each of the interface openings are placed on the respective container conveyor, the method may further comprise: acquiring images of areas where all container conveyors are located, wherein the images are shot by a camera; determining whether a container is fully loaded based on an image of the area in which each container conveyor is located; if a container is full, the full container is replaced. Thereby facilitating a continuous and smooth sorting process.
Alternatively, if it is determined that the plurality of containers on at least one container conveyor are all fully loaded based on the image of the area in which each container conveyor is located, all fully loaded containers on at least one container conveyor are replaced.
Optionally, the method further comprises: determining the full load condition of a plurality of containers on the same container conveyor based on the image of the area where each container conveyor is located; the frequency of transferring articles to be sorted to a plurality of containers on the same container conveyor is controlled based on the full condition of the plurality of containers.
Based on the same inventive concept, an embodiment of the present application provides a computer readable storage medium having computer readable instructions stored thereon, which when executed by a processor, implement the steps in the sorting method described above.
Any reference to memory, storage, database, or other medium as used herein may include non-volatile. Suitable nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
Further, the units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Furthermore, functional modules in various embodiments of the present application may be integrated together to form a single portion, or each module may exist alone, or two or more modules may be integrated to form a single portion.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (15)

1. The management method of the sorting system is characterized by being applied to control equipment of the sorting system, wherein the sorting system comprises a camera and a sorting device which are in communication connection with the control equipment;
the sorting system further comprises a piece feeding device, wherein the piece feeding device comprises a first upper cargo space, a first unloading space and a piece feeding waiting space, the first upper cargo space and the first unloading space are positioned at two opposite ends of the piece feeding device, and the piece feeding waiting space is positioned between the first upper cargo space and the first unloading space; the first upper cargo space is provided with a weighing device for detecting the weight of the article placed on the first upper cargo space;
the method comprises the following steps:
acquiring an image of an area where the sorting device is located, wherein the image is shot by the camera;
determining whether a sorting abnormality exists in a sorting process of the sorting device based on an image of an area where the sorting device is located; in the process of transferring each article to be sorted, the image of the area where the sorting device is located comprises a label of the target position of the article to be sorted, and if the position actually reached by the article to be sorted is determined to be inconsistent with the labeled target position after the article to be sorted is transferred, the sorting abnormality is determined to exist;
if the abnormal condition exists, generating a sorting abnormal notification;
the method further comprises the steps of:
determining an article with sorting abnormality based on the abnormality notification;
determining theoretical transfer information of the article, wherein the theoretical transfer information comprises theoretical transfer time and theoretical transfer speed of the article;
acquiring actual transfer information of the article based on the PLC log information, wherein the actual transfer information comprises actual transfer time and actual transfer speed of the article;
and generating an anomaly analysis report based on the theoretical transfer information and the actual transfer information.
2. The method according to claim 1, wherein the abnormality notification includes an image in which a sorting abnormality is detected and/or article information in which a sorting abnormality occurs.
3. The method of claim 2, wherein the image in which the sorting anomaly is detected includes an indication of the article in which the sorting anomaly occurred; and/or
The image with abnormal sorting detection comprises an indication of a correct feed port corresponding to the article with abnormal sorting.
4. A method of managing as set forth in any of claims 1 to 3, characterized in that each of said articles to be sorted is assigned a target position, and that sorting anomalies are determined to be present if it is determined, based on the image of the area in which said sorting device is located, that the actual arrival position of at least one of said articles to be sorted on said sorting device does not coincide with the corresponding target position,
the target position is a target connector port, and the actually-arrived position is an actually-arrived position connector port; alternatively, the target location is a target container, and the actually arrived location is an actually arrived location container.
5. A method of managing according to any one of claims 1 to 3, characterized in that the sorting device comprises a conveyor and a sorting trolley, which is arranged on the conveyor;
if the residence time of at least one article to be sorted on the sorting device on the sorting trolley exceeds the preset time based on the image of the area where the sorting device is located, determining that sorting abnormality exists.
6. A method according to any one of claims 1-3, characterized in that sorting anomalies are determined to be present if it is determined, on the basis of images of the area in which a plurality of consecutive sorting apparatuses are located, that at least one of the articles to be sorted has a change in position less than a preset value after transfer to a receiving opening.
7. A method of managing according to any one of claims 1-3, characterized in that the method further comprises:
and recording the image of the area where the sorting device is located in real time.
8. The method of managing as set forth in claim 7, further comprising:
positioning each article to be sorted based on an image of an area where the sorting device is located;
when any article to be sorted is smaller than the preset distance from the corresponding target connector opening, marking the target connector opening of the article to be sorted in the image of the area where the sorting device is located;
and determining that the sorting abnormality exists when the interface for actually transferring the articles to be sorted is inconsistent with the marked target interface for the articles to be sorted.
9. The method of managing of claim 8, wherein the number of cameras is a plurality, each camera capturing an image of a different area of the sorting device, the method further comprising:
and acquiring images shot by the corresponding cameras according to the positions of the articles to be sorted so as to determine whether the sorting process of the articles to be sorted is abnormal or not.
10. A method of managing according to any one of claims 1 to 3, wherein the sorting system further comprises a container conveyor communicatively connected to the control device and provided in correspondence with each of the mouthpiece, the containers provided in correspondence with each of the mouthpiece being placed on the corresponding container conveyors, respectively, the method further comprising:
acquiring images of areas where all container conveyors are located, wherein the images are shot by the cameras;
determining whether a container is fully loaded based on an image of the area in which each container conveyor is located;
if a container is full, the full container is replaced.
11. A method of managing as set forth in claim 10 wherein if it is determined that a plurality of containers on at least one of the container conveyors are all fully loaded based on an image of the area in which each container conveyor is located, all fully loaded containers on the at least one container conveyor are replaced.
12. The method of management according to claim 10, characterized in that the method further comprises:
determining the full load condition of a plurality of containers on the same container conveyor based on the image of the area where each container conveyor is located;
the frequency of transferring articles to be sorted to a plurality of containers on the same container conveyor is controlled based on the full loading of the plurality of containers.
13. A sorting system, comprising:
a control device;
the camera and the sorting device are in communication connection with the control equipment;
wherein the control device comprises a memory and a processor, the memory having stored therein computer readable instructions that, when executed by the processor, cause the processor to perform the method of managing a sorting system according to any one of claims 1-12;
the sorting system further comprises a piece feeding device, wherein the piece feeding device comprises a first upper cargo space, a first unloading space and a piece feeding waiting space, the first upper cargo space and the first unloading space are positioned at two opposite ends of the piece feeding device, and the piece feeding waiting space is positioned between the first upper cargo space and the first unloading space; the first upper cargo space is provided with a weighing device for detecting the weight of the article placed on the first upper cargo space;
in the process of transferring each article to be sorted, the image of the area where the sorting device is located comprises a label of the target position of the article to be sorted, and if the position actually reached by the article to be sorted is determined to be inconsistent with the labeled target position after the article to be sorted is transferred, the sorting abnormality is determined to exist.
14. A control apparatus for use in a sorting system, the control apparatus comprising a memory and a processor, the memory having stored therein computer readable instructions which, when executed by the processor, cause the processor to perform the method of managing a sorting system according to any of claims 1-12.
15. A non-transitory readable storage medium storing computer readable instructions which, when executed by a processor, cause the processor to perform the method of managing a sorting system according to any one of claims 1-12.
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