CN113335885B - Article position correction method and device, electronic equipment and storage medium - Google Patents
Article position correction method and device, electronic equipment and storage medium Download PDFInfo
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- CN113335885B CN113335885B CN202110893721.XA CN202110893721A CN113335885B CN 113335885 B CN113335885 B CN 113335885B CN 202110893721 A CN202110893721 A CN 202110893721A CN 113335885 B CN113335885 B CN 113335885B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/244—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning them about an axis substantially perpendicular to the conveying plane
- B65G47/2445—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning them about an axis substantially perpendicular to the conveying plane by means of at least two co-operating endless conveying elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0225—Orientation of the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0291—Speed of the load carrier
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a method and a device for correcting the position of an article, an electronic device and a storage medium, which relate to the field of data processing and comprise the following steps: acquiring shape data of an article; calculating a first angle from the shape data of the article; if the first angle is larger than a first preset angle, adjusting the speed difference of a plurality of conveyor belts which bear the articles and are independently occupied by the articles; calculating a first rotation time period according to the speed difference of the plurality of conveyor belts and the first angle; obtaining a first verification time according to the current time and the first rotation duration; when the first verification moment is reached, if the included angle between the orientation of the article and the movement direction is smaller than or equal to a first preset angle, the position of the article is successfully corrected; by verifying the rotated articles, the accuracy of correcting articles of different shapes is greatly improved.
Description
Technical Field
The present invention relates to the field of data processing, and in particular, to a method and an apparatus for correcting a position of an article, an electronic device, and a storage medium.
Background
With the rapid development of the logistics industry in China, the demand of logistics enterprises for high-efficiency sorting rises sharply, and due to the difference of the sizes, shapes and the like of articles, the articles are generally required to be stacked orderly at the tail end through manpower, so that the efficiency is seriously influenced.
Disclosure of Invention
The invention provides a method and a device for correcting the position of an article, an electronic device and a storage medium, which are used for at least solving the technical problems in the prior art.
One aspect of the present invention provides a method for correcting a position of an article, including:
acquiring shape data of an article;
calculating a first angle according to the shape data of the article, wherein the first angle is an included angle between the orientation and the movement direction of the article at the current moment;
if the first angle is larger than a first preset angle, adjusting the speed difference of a plurality of conveyor belts which bear the articles and are independently occupied by the articles;
calculating a first rotation time period according to the speed difference of the plurality of conveyor belts and the first angle;
obtaining a first verification time according to the current time and the first rotation duration;
and when the first verification moment is reached, if the included angle between the orientation of the article and the movement direction is smaller than or equal to a first preset angle, the position of the article is successfully corrected.
Wherein the obtaining shape data of the article comprises:
acquiring the length and the width of an article and dividing the width of the article by the length to obtain a width-to-length ratio;
if the width-length ratio is larger than a preset ratio, determining that the shape of the article is a first shape, otherwise determining that the shape of the article is a second shape.
Wherein said calculating a first angle from shape data of the article comprises:
if the shape of the article is a first shape, respectively acquiring two included angles between the long side and the short side of the article and the motion direction of the article, and determining the included angle with the smaller angle of the two included angles as a first angle;
and if the shape of the article is the second shape, acquiring an included angle between the long edge of the article and the motion direction of the article and determining the included angle as a first angle.
Wherein said calculating a first rotation duration based on the speeds of the plurality of conveyor belts and the first angle comprises:
acquiring the length of the side corresponding to the first angle;
calculating a first rotation time length according to the speed differences of the plurality of conveyor belts, the first angle, the length of the edge corresponding to the first angle, a first preset angle, a preset independent coefficient and a preset global coefficient, wherein the preset independent coefficient is used for adjusting the first rotation time length of the corresponding article, and the preset global coefficient is used for adjusting the first rotation time length of all articles.
When the first verification moment is reached, if the included angle between the orientation of the article and the movement direction is greater than a first preset angle, judging whether the rotated angle of the article is smaller than a first angle;
if the rotated angle of the article is smaller than the first angle, increasing the preset independent coefficient corresponding to the article and recording the increased number of times, and if the rotated angle of the article is larger than the first angle, reducing the preset independent coefficient corresponding to the article and recording the reduced number of times;
calculating a first rotation time length according to the speeds of the plurality of conveyor belts, the first angle, the length of the edge corresponding to the first angle, a first preset angle, the adjusted preset independent coefficient and a preset global coefficient;
and obtaining a first verification time again according to the current time and the first rotation time length, and judging whether the included angle between the orientation of the article and the movement direction is smaller than or equal to a first preset angle or not when the first verification time is reached.
Wherein the recording to the increasing number or after the recording to the decreasing number further comprises:
if the increasing times are equal to preset increasing times, increasing a preset global coefficient;
and if the reduction times are equal to the preset reduction times, reducing the preset global coefficient.
Wherein the adjusting the speed of the plurality of conveyors with which the article is associated at the present time to rotate the article to the specified angle further comprises:
obtaining a second verification time according to the current time and a preset verification time;
when the second verification moment is reached, judging whether the rotated angle of the article is smaller than a second preset angle or not;
if the rotated angle of the article is smaller than a second preset angle and the shape of the article is a first shape, changing the rotating direction of the article to rotate the article, and if the rotated angle of the article is smaller than the second preset angle and the shape of the article is a second shape, stopping rotating the article;
if the rotated angle of the article is larger than or equal to a second preset angle, obtaining a second verification time again according to the current time and the preset verification time, and judging whether the rotated angle of the article is smaller than the second preset angle or not when the second verification time is reached.
Another aspect of the present invention provides an apparatus for correcting a position of an article, including:
the acquisition module is used for acquiring shape data of the article;
the calculation module is used for calculating a first angle according to the shape data of the article, wherein the first angle is an included angle between the orientation and the movement direction of the article at the current moment;
the processing module is used for adjusting the speed difference of a plurality of conveyor belts which bear the articles and are independently occupied by the articles if the first angle is larger than a first preset angle;
the calculating module is further used for calculating a first rotation time length according to the speed difference of the plurality of conveyor belts and the first angle;
the calculation module is further configured to obtain a first verification time according to the current time and the first rotation duration;
and the verification module is used for successfully correcting the position of the article if the included angle between the orientation of the article and the movement direction is less than or equal to a first preset angle when the first verification moment is reached.
Yet another aspect of the present invention provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus;
the processor, the communication interface and the memory complete mutual communication through a communication bus; a memory for storing a computer program;
and the processor is used for realizing the method for correcting the position of the article when executing the program stored in the memory.
In still another aspect, the present invention provides a computer-readable storage medium having a computer program stored therein, the computer program being used for executing the method for correcting the position of an article according to the present invention.
In the method, a first angle is calculated according to shape data of an article, a first rotation time length is calculated according to the speeds of a plurality of conveyor belts, the first angle, the length of a side corresponding to the first angle, a first preset angle, a preset independent coefficient and a preset global coefficient, the position of the article is verified after the first rotation time length, if the verification is passed, the article is successfully corrected, if the verification is not passed, the preset independent coefficient is changed to re-rotate the article and verify, through verifying the position of the article after the first rotation time length, the accuracy of correcting the articles with different shapes is greatly improved, if the verification is not passed, the preset independent coefficient is changed to adjust the first rotation time length, the times of changing the preset independent coefficient are also considered after the preset independent coefficient is changed, and the preset global coefficient is adjusted according to the changed condition, so that the first rotation time length calculated later can more accurately enable the article to rotate after the first rotation time length To a specified angle.
Drawings
FIG. 1 is a flow chart illustrating a method for correcting the position of an article according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating article position conforming and non-conforming conditions provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a rotation of an article according to an embodiment of the present invention;
FIG. 4 is a schematic view of a rotational position of an article provided by an embodiment of the present invention;
FIG. 5 is a flow chart illustrating a specific method of correcting the position of an item according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram illustrating an article position correction device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to improve the accuracy of the correction of the position of the article, as shown in fig. 1, an embodiment of the present invention provides a method for correcting the position of the article, including:
step 101, shape data of an article is obtained.
In step 101, acquiring shape data of an article, in an embodiment, acquiring a length and a width of the article and dividing the width of the article by the length to obtain a width-to-length ratio;
if the width-length ratio is larger than a preset ratio, determining that the shape of the article is a first shape, otherwise determining that the shape of the article is a second shape.
Because the shape of the article is different, the shape data of the article needs to be acquired first, and then the article can be corrected more accurately, the lengths of two sides of the article are acquired, the length of the short side is divided by the length of the long side to obtain the width-length ratio, if the width-length ratio is greater than a preset ratio, the article is considered to be in a first shape, namely a shape similar to a square, and if the width-length ratio is less than or equal to the preset ratio, the article is considered to be in a second shape, namely a rectangle;
after obtaining the aspect ratio of the article, in one embodiment, the shape of the article may be calculated using the following equation:
in the formula
Is the width-to-length ratio of the article,
the ratio is a preset ratio value, and the ratio is not less than the preset ratio,
is the shape of an article when
1, the shape of the article is a first shape when
At 0, the shape of the article is a second shape if
Is greater than
Then, then
To 1, determining the shape of the article as a first shape, otherwise determining the shape of the article as a second shape;
for example, if the predetermined ratio is 0.9, the long side of an article is 0.8 m, the short side is 0.4 m, the width-to-length ratio is 0.4 divided by 0.8 to 0.5, and the width-to-length ratio is less than 0.9, the article is determined to be in the second shape;
for another example, if the predetermined ratio is 0.9, the long side of an article is 1 meter, and the short side is 0.95 meter, the width-to-length ratio is 0.95 divided by 1 and is equal to 0.95, and the width-to-length ratio is 0.9 or more, so that the article is determined as the first shape.
And 102, calculating a first angle according to the shape data of the article, wherein the first angle is an included angle between the orientation of the article and the movement direction at the current moment.
In step 102, calculating a first angle according to the shape data of the article, in an embodiment, if the shape of the article is the first shape, respectively obtaining two included angles between the long side and the short side of the article and the moving direction of the article, and determining the included angle with the smaller angle of the two included angles as the first angle;
and if the shape of the article is the second shape, acquiring an included angle between the long edge of the article and the motion direction of the article and determining the included angle as a first angle.
If the shape of the article is determined to be the first shape, determining an included angle between the long edge of the article and the moving direction of the article and an included angle between the short edge of the article and the moving direction of the article, and determining the smaller included angle of the two included angles as a first angle;
after obtaining the angle between the long side of the article and the moving direction of the article and the angle between the short side of the article and the moving direction of the article, in one embodiment, the first angle can be determined using the following formula:
in the formula
In the form of a first angle of rotation,
and
the included angle between the long edge of the article and the moving direction of the article and the included angle between the short edge of the article and the moving direction of the article are respectively set;
if the shape of the article is determined to be the second shape, directly determining the included angle between the long edge of the article and the motion direction of the article as a first angle;
for example, an article in the shape of a first shape, the included angle between the long side of the article and the moving direction of the article is 60 degrees, the included angle between the short side of the article and the moving direction of the article is 30 degrees, and the included angle between the short side of the article and the moving direction of the article is smaller than the included angle between the long side of the article and the moving direction of the article, so that the included angle between the short side of the article and the moving direction of the article is determined as a first angle, and the first angle is 30 degrees;
for another example, if an angle between the long side of the article and the moving direction of the article is 50 degrees, the angle between the long side of the article and the moving direction of the article is directly determined as a first angle, and the first angle is 50 degrees.
In step 102, after the first angle is determined, in an implementation manner, if the first angle is smaller than or equal to a first preset angle, the position of the article is considered to meet the requirement, and the position of the article is directly corrected without rotating the article;
as shown in fig. 2 (b), the first angle of the article in the figure is smaller than or equal to the first preset angle, so that the position of the article meets the requirement, and the correction of the position of the article is directly completed without rotating the article.
Step 103, if the first angle is larger than a first preset angle, adjusting the speed difference of the plurality of conveyor belts which bear the articles and are independently occupied by the articles.
If the first angle is larger than the first preset angle, it indicates that the position of the article is not satisfactory, as shown in (a) of fig. 2, the first angle of the article is larger than the first preset angle, so the position of the article is not satisfactory, it is necessary to rotate the article to a specified angle to make the position of the article satisfactory, and the method for rotating the article may be as shown in fig. 3, in which the article occupies 6 belts, in which the belt 1, the belt 2 and the belt 3 constitute a first group of belts, and the belt 4, the belt 5 and the belt 6 constitute a second group of belts, in which the article should be rotated counterclockwise, so it is necessary to increase the speed of the belt 1, the belt 2 and the belt 3, i.e. the first group of belts, or decrease the speed of the belt 4, the belt 5 and the belt 6, i.e. the second group of belts, so that a speed difference is formed between the two groups of belts to make the article rotate counterclockwise, in the present invention, any existing rotation method can be used to rotate the article, and the description in this embodiment is omitted.
And 104, calculating a first rotation time length according to the speed difference of the plurality of conveyor belts and the first angle.
In step 104, calculating a first rotation time length according to the speeds of the plurality of conveyor belts and the first angle, and in an embodiment, acquiring a length of a side corresponding to the first angle;
calculating a first rotation time length according to the speed differences of the plurality of conveyor belts, the first angle, the length of the edge corresponding to the first angle, a first preset angle, a preset independent coefficient and a preset global coefficient, wherein the preset independent coefficient is used for adjusting the first rotation time length of the corresponding article, and the preset global coefficient is used for adjusting the first rotation time length of all articles.
If the shape of the article is a first shape, the first angle of the article is the smaller angle of the included angle between the long edge of the article and the article moving direction and the included angle between the short edge of the article and the article moving direction, so that the length of the edge corresponding to the smaller angle of the included angle between the long edge of the article and the article moving direction and the included angle between the short edge of the article and the article moving direction is obtained;
for example, an article in a first shape, the included angle between the long side of the article and the moving direction of the article is 60 degrees, the included angle between the short side of the article and the moving direction of the article is 30 degrees, and the included angle between the short side of the article and the moving direction of the article is smaller than the included angle between the long side of the article and the moving direction of the article, so that the first angle of the article is the included angle between the short side of the article and the moving direction of the article, and the length of the short side of the article is obtained;
if the shape of the article is the second shape, the first angle of the article is the included angle between the long edge of the article and the motion direction of the article, so the length of the edge corresponding to the included angle between the long edge of the article and the motion direction of the article is obtained;
for example, an article in the second shape has a first angle between the long side of the article and the moving direction of the article, so that the length of the side corresponding to the angle between the long side of the article and the moving direction of the article is obtained;
after the length of the side corresponding to the first angle is obtained, a first rotation duration is calculated according to the speeds of the plurality of conveyor belts, the first angle, the length of the side corresponding to the first angle, a first preset angle, a preset independent coefficient and a preset global coefficient, and in an implementation manner, the first rotation duration may be calculated according to the following formula:
in the formula
For a first period of time of the rotation,
for the calculated speed difference based on the speeds of the plurality of conveyor belts,
in the form of a first angle of rotation,
is a first preset angle, and is a second preset angle,
in order to preset the independent coefficients,
a global coefficient is preset.
And 105, obtaining a first verification time according to the current time and the first rotation duration.
Obtaining a first verification time according to the current time and the first rotation time, wherein the current time refers to the time when the speed of the conveyor belt is adjusted to rotate the article, and adding the current time and the first rotation time to obtain the first verification time;
for example, the timing when the conveyor speed is adjusted to rotate the article, that is, the current timing is 2 hours 13 minutes 25 seconds, and the first rotation period is 30 seconds, the first authentication timing is 2 hours 13 minutes 55 seconds.
And 106, when the first verification moment is reached, if the included angle between the orientation of the article and the movement direction is smaller than or equal to a first preset angle, successfully correcting the position of the article.
When the first verification moment is reached, acquiring an included angle between the orientation of the article and the movement direction, judging whether the included angle is smaller than or equal to a first preset angle, and if the included angle is smaller than or equal to the first preset angle, successfully correcting the position of the article.
In step 106, in an implementation manner, when the first verification time arrives, if an included angle between the orientation of the article and the movement direction is greater than a first preset angle, it is determined whether the rotated angle of the article is smaller than the first angle;
if the rotated angle of the article is smaller than the first angle, increasing the preset independent coefficient corresponding to the article and recording the increased number of times, and if the rotated angle of the article is larger than the first angle, reducing the preset independent coefficient corresponding to the article and recording the reduced number of times;
calculating a first rotation time length according to the speeds of the plurality of conveyor belts, the first angle, the length of the edge corresponding to the first angle, a first preset angle, the adjusted preset independent coefficient and a preset global coefficient;
and obtaining a first verification time again according to the current time and the first rotation time length, and judging whether the included angle between the orientation of the article and the movement direction is smaller than or equal to a first preset angle or not when the first verification time is reached.
If the included angle between the orientation of the article and the moving direction is greater than a first preset angle, further determining whether the rotated angle of the article is smaller than the first angle, as shown in (a) of fig. 4, if the rotated angle of the article is smaller than the first angle, it indicates that the article is not rotated within the preset angle after the first rotation duration, so that the preset independent coefficient corresponding to the article needs to be increased, and the increase times are recorded;
as shown in fig. 4 (b), if the article has rotated by an angle greater than the first angle, it indicates that the article has rotated by an angle too large after the first rotation period, so that the preset independent coefficient corresponding to the article needs to be reduced and recorded in the reduction times;
calculating a first rotation time length according to the speeds of the plurality of conveyor belts, the first angle, the length of the edge corresponding to the first angle, the first preset angle, the adjusted preset independent coefficient and the preset global coefficient;
and obtaining a first verification time again according to the current time and the first rotation time length, and judging whether the included angle between the orientation of the article and the movement direction is smaller than or equal to a first preset angle or not when the first verification time arrives, wherein the current time refers to the last first verification time.
After increasing the preset independent coefficient corresponding to the article and recording the increased number of times or decreasing the preset independent coefficient corresponding to the article and recording the decreased number of times, in an implementation manner, if the increased number of times is equal to the preset increased number of times, increasing the preset global coefficient;
and if the reduction times are equal to the preset reduction times, reducing the preset global coefficient.
If the recorded increase times are equal to the preset increase times, which indicates that the first rotation time calculated by most of the articles is not enough for the articles to rotate to the specified angle, and the rotation angle of the articles is too small, the preset global coefficient needs to be increased, so that the first rotation time calculated subsequently is prolonged, and the articles can rotate to the specified angle after the first rotation time;
if the recorded reduction times are equal to the preset reduction times, which indicates that the first rotation time calculated by most of the articles is too long, and the angle of the articles is too large, the preset global coefficient needs to be reduced, so that the first rotation time calculated subsequently becomes short, and the articles can be rotated to the specified angle after the first rotation time.
After the speed of the plurality of conveyor belts associated with the article at the current time is adjusted so that the article rotates to a specified angle in step 102, in an embodiment, a second verification time is obtained according to the current time and a preset verification time period;
when the second verification moment is reached, judging whether the rotated angle of the article is smaller than a second preset angle or not;
if the rotated angle of the article is smaller than a second preset angle and the shape of the article is a first shape, changing the rotating direction of the article to rotate the article, and if the rotated angle of the article is smaller than the second preset angle and the shape of the article is a second shape, stopping rotating the article;
and if the rotated angle of the article is larger than or equal to a second preset angle, judging whether the rotated angle of the article is smaller than the second preset angle or not again according to the current time and the preset verification time to a second verification time and when the second verification time is reached.
Obtaining a second verification time according to the current time and a preset verification time, wherein the current time refers to the time when the speed of the conveyor belt is adjusted to rotate the article, and adding the current time and the preset verification time to obtain the second verification time;
for example, the time when the conveyor belt speed is adjusted to rotate the article, that is, the current time is 2 hours, 13 minutes and 25 seconds, and the preset verification time is 5 seconds, the second verification time is 2 hours, 13 minutes and 30 seconds;
when the second verification time arrives, judging whether the rotated angle of the article is smaller than a second preset angle or not, wherein the rotating speed of the article is fixed under the normal condition, but the rotating speed of the article is changed due to the weight, the slippage and the like of the article, and therefore, presetting a preset verification time length to judge whether the rotated angle of the article is smaller than the second preset angle or not after the preset verification time length so as to verify whether the rotating speed of the article is changed due to the weight, the slippage and the like of the article;
if the article rotates by an angle smaller than a second preset angle, the speed of the article rotating due to weight, slipping and the like is changed, if the shape of the article is a first shape, the rotating direction of the article is changed to rotate the article, and if the shape of the article is a second shape, the article is stopped rotating;
if the rotated angle of the article is larger than or equal to the second preset angle, it is indicated that the article does not change the rotating speed of the article due to weight, slippage and the like, a new second verification time is obtained again according to the current time and the preset verification duration, and when the new second verification time arrives, whether the rotated angle of the article is smaller than the second preset angle or not is continuously judged until the article rotates to a specified angle, and the accuracy and efficiency of article correction can be improved by performing multiple times of slippage verification on the article.
As shown in fig. 5, an embodiment of the present invention provides a specific method for correcting an article position, where the method includes:
in step 201, shape data of an article is obtained.
A first angle is calculated 202 from the shape data of the article.
Step 203, determine whether the first angle is smaller than or equal to a first predetermined angle.
If the first angle is smaller than or equal to the first preset angle, it indicates that the position of the article meets the requirement, step 216 is directly performed, and if the first angle is larger than the first preset angle, it indicates that the position of the article does not meet the requirement, step 204 is performed.
Step 204, adjusting the speed difference of a plurality of conveyor belts which bear the articles and are independently occupied by the articles.
In step 205, a first rotation time period is calculated based on the speed difference and the first angle of the plurality of conveyor belts.
And step 206, obtaining a first verification time according to the current time and the first rotation time.
The current time in step 206 refers to the current time when the speed of the items at the plurality of conveyors associated with the current time is adjusted.
Step 207, at the first verification time, it is determined whether the included angle between the article and the moving direction is smaller than or equal to a first preset angle.
If the included angle between the article and the moving direction is smaller than or equal to a first preset angle, it indicates that the article has rotated to a specified angle at the first verification time, and the position of the article meets the requirement, and step 216 is directly executed;
if the included angle between the article and the moving direction is greater than the first preset angle, it indicates that the article is not rotated to the designated angle at the first verification time, and the position of the article is still not satisfactory, step 208 is executed.
Step 208, determine whether the included angle between the article and the moving direction is smaller than the first angle.
If the article is at an angle less than the first angle to the direction of motion, go to step 209;
if the article is at an angle greater than the first angle to the direction of motion, step 210 is performed.
Step 209, increase the preset independent coefficient.
And increasing the preset independent coefficient corresponding to the article to lengthen the first rotation time length calculated next time.
Step 210, reducing the preset independent coefficient.
And reducing the preset independent coefficient corresponding to the article so as to shorten the first rotation time length calculated next time.
After increasing or decreasing the preset independent coefficient corresponding to the item in step 209 or step 210, step 211 is executed.
Step 211, calculating a first rotation duration and adding the first rotation duration to the current time to obtain a first verification time.
Calculating a new first rotation duration, and then adding the new first rotation duration to the current time to obtain a new first verification time, wherein the current time in the step 211 refers to a previous first verification time;
step 207 is re-executed after a new first verification time is calculated.
After increasing the preset independent coefficient corresponding to the item in step 209, step 212 is also performed.
In step 212, it is determined whether the increment is equal to a predetermined increment.
If the number of increments is equal to the preset number of increments, execution continues with step 214.
The preset global coefficient is increased 214 to lengthen the first rotation duration calculated thereafter. More consistent with the required rotation time of most articles.
After the preset independent coefficient corresponding to the item is reduced in step 210, step 213 is further executed.
In step 213, it is determined whether the reduction number is equal to a predetermined reduction number.
If the reduction number is equal to the preset reduction number, the process continues to step 215.
In step 215, the preset global coefficient is decreased to shorten the first rotation duration calculated later, which is more suitable for the rotation duration required by most of the articles.
In the above method of the present invention, a first angle is calculated according to the shape data of the article, a first rotation duration is calculated according to the speeds of the plurality of conveyor belts, the first angle, the length of the side corresponding to the first angle, a first preset angle, a preset independent coefficient, and a preset global coefficient, and the position of the article is verified after the first rotation duration, if the verification is passed, the article is corrected successfully, if the verification is not passed, the article is rotated again by changing the preset independent coefficient and verified, by verifying and changing the preset independent coefficients, the accuracy of correcting the objects with different shapes is greatly improved, the times of changing the preset independent coefficients are also considered after the preset independent coefficients are changed, and adjusting the preset global coefficient according to the changed condition so that the first rotation time length calculated later can more accurately enable the article to rotate to a specified angle after the first rotation time length.
An embodiment of the present invention further provides an apparatus for correcting a position of an article, as shown in fig. 6, the apparatus including:
the acquisition module 10 is used for acquiring shape data of the article;
a calculating module 20, configured to calculate a first angle according to the shape data of the article, where the first angle is an included angle between the orientation of the article and the moving direction at the current time;
a processing module 30, configured to adjust a speed difference between the plurality of conveyor belts that carry the articles and are occupied by the articles independently if the first angle is greater than a first preset angle;
the calculating module 20 is further configured to calculate a first rotation time period according to the speed difference of the plurality of conveyor belts and the first angle;
the calculation module 20 is further configured to obtain a first verification time according to the current time and the first rotation duration;
and the verification module 40 is configured to, when the first verification time arrives, if an included angle between the orientation of the article and the movement direction is smaller than or equal to a first preset angle, successfully correct the position of the article.
The computing module 20 is further configured to obtain a length and a width of the article and divide the width of the article by the length to obtain a width-to-length ratio;
the calculating module 20 is further configured to determine that the shape of the article is the first shape if the width-to-length ratio is greater than a preset ratio, and otherwise determine that the shape of the article is the second shape.
The calculation module 20 is further configured to, if the shape of the article is a first shape, respectively obtain two included angles between the long side and the short side of the article and the movement direction of the article, and determine an included angle with a smaller angle of the two included angles as a first angle;
the calculating module 20 is further configured to, if the shape of the article is the second shape, obtain an included angle between the long edge of the article and the moving direction of the article and determine the included angle as the first angle.
The acquisition module 10 is further configured to acquire a length of an edge corresponding to the first angle;
the calculating module 20 is further configured to calculate a first rotation duration according to the speed differences of the plurality of conveyor belts, the first angle, the length of the edge corresponding to the first angle, a first preset angle, a preset independent coefficient, and a preset global coefficient, where the preset independent coefficient is used to adjust the first rotation duration of the corresponding article, and the preset global coefficient is used to adjust the first rotation duration of all articles.
The calculation module 20 is further configured to, when the first verification time arrives, determine whether an angle that the article has rotated is smaller than a first angle if an included angle between the orientation of the article and the movement direction is greater than a first preset angle;
the calculating module 20 is further configured to increase the preset independent coefficient corresponding to the article and record the increased number of times if the rotated angle of the article is smaller than the first angle, and decrease the preset independent coefficient corresponding to the article and record the decreased number of times if the rotated angle of the article is larger than the first angle;
the calculating module 20 is further configured to calculate a first rotation duration according to the speeds of the plurality of conveyor belts, the first angle, the length of the edge corresponding to the first angle, a first preset angle, the adjusted preset independent coefficient, and a preset global coefficient;
the verification module 40 is further configured to obtain a first verification time again according to the current time and the first rotation duration, and determine whether an included angle between the orientation of the article and the movement direction is smaller than or equal to a first preset angle when the first verification time arrives.
The calculating module 20 is further configured to increase a preset global coefficient if the increase times are equal to preset increase times;
the calculating module 20 is further configured to reduce a preset global coefficient if the reduction times are equal to preset reduction times.
The computing module 20 is further configured to obtain a second verification time according to the current time and a preset verification duration;
the verification module 40 is further configured to determine whether the rotated angle of the article is smaller than a second preset angle when the second verification time arrives;
the processing module 30 is further configured to change the rotation direction of the article to rotate the article if the rotated angle of the article is smaller than a second preset angle and the shape of the article is a first shape, and stop rotating the article if the rotated angle of the article is smaller than the second preset angle and the shape of the article is a second shape;
the verification module 40 is further configured to, if the rotated angle of the article is greater than or equal to a second preset angle, obtain a second verification time again according to the current time and a preset verification duration, and determine whether the rotated angle of the article is smaller than the second preset angle when the second verification time arrives.
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to the various embodiments of the present application described in the "exemplary methods" section of this specification, above.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform steps in a method according to various embodiments of the present application described in the "exemplary methods" section above of this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (8)
1. A method for correcting a position of an article, comprising:
acquiring the length and the width of an article and dividing the width of the article by the length to obtain a width-to-length ratio;
if the width-length ratio is larger than a preset ratio, determining that the shape of the article is a first shape, otherwise, determining that the shape of the article is a second shape;
if the shape of the article is a first shape, respectively acquiring two included angles between the long side and the short side of the article and the motion direction of the article, and determining the included angle with the smaller angle of the two included angles as a first angle;
if the shape of the article is a second shape, acquiring an included angle between a long edge of the article and the motion direction of the article and determining the included angle as a first angle, wherein the first angle is the included angle between the orientation of the article and the motion direction at the current moment;
if the first angle is larger than a first preset angle, adjusting the speed difference of a plurality of conveyor belts which bear the articles and are independently occupied by the articles;
calculating a first rotation time period according to the speed difference of the plurality of conveyor belts and the first angle;
obtaining a first verification time according to the current time and the first rotation duration;
and when the first verification moment is reached, if the included angle between the orientation of the article and the movement direction is smaller than or equal to a first preset angle, the position of the article is successfully corrected.
2. The method according to claim 1, wherein the calculating a first rotation period based on the speed difference of the plurality of conveyor belts and the first angle includes:
acquiring the length of the side corresponding to the first angle;
calculating a first rotation time length according to the speed differences of the plurality of conveyor belts, the first angle, the length of the edge corresponding to the first angle, a first preset angle, a preset independent coefficient and a preset global coefficient, wherein the preset independent coefficient is used for adjusting the first rotation time length of the corresponding article, and the preset global coefficient is used for adjusting the first rotation time length of all articles.
3. The method of correcting an article position according to claim 2,
when the first verification moment is reached, if the included angle between the orientation of the article and the movement direction is greater than a first preset angle, judging whether the rotated angle of the article is smaller than a first angle;
if the rotated angle of the article is smaller than the first angle, increasing the preset independent coefficient corresponding to the article and recording the increased number of times, and if the rotated angle of the article is larger than the first angle, reducing the preset independent coefficient corresponding to the article and recording the reduced number of times;
calculating a first rotation time length according to the speeds of the plurality of conveyor belts, the first angle, the length of the edge corresponding to the first angle, a first preset angle, the adjusted preset independent coefficient and a preset global coefficient;
and obtaining a first verification time again according to the current time and the first rotation time length, and judging whether the included angle between the orientation of the article and the movement direction is smaller than or equal to a first preset angle or not when the first verification time is reached.
4. The method for correcting the position of an article according to claim 3, wherein after the recording into the increasing number or into the decreasing number, further comprising:
if the increasing times are equal to preset increasing times, increasing a preset global coefficient;
and if the reduction times are equal to the preset reduction times, reducing the preset global coefficient.
5. The method for correcting the position of an article according to claim 1, wherein the adjusting the speed of the plurality of conveyors with which the article is associated at the present time to rotate the article to a specified angle further comprises:
obtaining a second verification time according to the current time and a preset verification time;
when the second verification moment is reached, judging whether the rotated angle of the article is smaller than a second preset angle or not;
if the rotated angle of the article is smaller than a second preset angle and the shape of the article is a first shape, changing the rotating direction of the article to rotate the article, and if the rotated angle of the article is smaller than the second preset angle and the shape of the article is a second shape, stopping rotating the article;
if the rotated angle of the article is larger than or equal to a second preset angle, obtaining a second verification time again according to the current time and the preset verification time, and judging whether the rotated angle of the article is smaller than the second preset angle or not when the second verification time is reached.
6. An article position correction device, comprising:
the acquisition module is used for acquiring the length and the width of an article and dividing the width of the article by the length to obtain a width-to-length ratio;
if the width-length ratio is larger than a preset ratio, determining that the shape of the article is a first shape, otherwise, determining that the shape of the article is a second shape;
the calculation module is used for respectively acquiring two included angles between the long edge and the short edge of the article and the motion direction of the article and determining the included angle with the smaller angle of the two included angles as a first angle if the article is in the first shape;
or if the shape of the article is a second shape, acquiring an included angle between the long edge of the article and the motion direction of the article and determining the included angle as a first angle, wherein the first angle is the included angle between the orientation of the article and the motion direction at the current moment;
the processing module is used for adjusting the speed difference of a plurality of conveyor belts which bear the articles and are independently occupied by the articles if the first angle is larger than a first preset angle;
the calculating module is further used for calculating a first rotation time length according to the speed difference of the plurality of conveyor belts and the first angle;
the calculation module is further configured to obtain a first verification time according to the current time and the first rotation duration;
and the verification module is used for successfully correcting the position of the article if the included angle between the orientation of the article and the movement direction is less than or equal to a first preset angle when the first verification moment is reached.
7. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus; a memory for storing a computer program; a processor for implementing the method of any one of claims 1 to 5 when executing a program stored in the memory.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method of any one of claims 1 to 5.
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| CN202110893721.XA CN113335885B (en) | 2021-08-05 | 2021-08-05 | Article position correction method and device, electronic equipment and storage medium |
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| CN115444114A (en) * | 2022-09-15 | 2022-12-09 | 广西果丰食品有限公司 | Automatic processing equipment and method for coated Or citrus slices |
| CN115571596B (en) * | 2022-12-09 | 2023-05-19 | 昆明途恒科技有限公司 | Article steering mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CH691298A8 (en) * | 1997-05-30 | 2001-09-14 | Bobst Sa | BELT CONVEYOR DEVICE FOR LOW SPECIFIC ARTICLES OR PLATES. |
| ES2318261T3 (en) * | 2004-12-03 | 2009-05-01 | Bobst S.A. | METHOD FOR ORIENTATION OF PLATE ELEMENTS AND DEVICE FOR THE PERFORMANCE OF THIS METHOD. |
| JP5372465B2 (en) * | 2008-10-23 | 2013-12-18 | レンゴー株式会社 | Alignment transport device |
| CN102020108B (en) * | 2009-09-17 | 2015-09-09 | 利乐拉瓦尔集团及财务有限公司 | For rotating the system of multiple packaging |
| NL2017923B1 (en) * | 2016-12-05 | 2018-06-18 | Qimarox Patenten B V | Device and method configured to control rotation of an object on a carrier |
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