CN113494901B - Object placement direction detection system, method, device and medium - Google Patents
Object placement direction detection system, method, device and medium Download PDFInfo
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- CN113494901B CN113494901B CN202010191539.5A CN202010191539A CN113494901B CN 113494901 B CN113494901 B CN 113494901B CN 202010191539 A CN202010191539 A CN 202010191539A CN 113494901 B CN113494901 B CN 113494901B
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- 238000001514 detection method Methods 0.000 title claims abstract description 186
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- 238000004590 computer program Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 9
- 230000003287 optical effect Effects 0.000 description 6
- 230000001960 triggered effect Effects 0.000 description 5
- 230000005389 magnetism Effects 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/038—Measuring direction or magnitude of magnetic fields or magnetic flux using permanent magnets, e.g. balances, torsion devices
- G01R33/0385—Measuring direction or magnitude of magnetic fields or magnetic flux using permanent magnets, e.g. balances, torsion devices in relation with magnetic force measurements
Abstract
The embodiment of the invention discloses a system, a method, a device and a medium for detecting the placement direction of an object, wherein the system comprises the following components: the magnetic force detection trigger device, the magnetic force detection device and the processor; the magnetic force detection triggering device is used for triggering the magnetic force detection device to perform magnetic force detection when a target object to be detected exists in a preset detection area; a magnetic force detection device for detecting a target magnetic force value, which is a magnetic force value between a first magnetic element provided on an outer surface of the target object and a second magnetic element provided in the magnetic force detection device, and transmitting the target magnetic force value to the processor; and the processor is used for determining the placement direction of the target object according to the target magnetic force value. According to the technical scheme provided by the embodiment of the invention, the automatic detection of the object placement direction can be realized, the labor cost is saved, and the detection efficiency is improved.
Description
Technical Field
Embodiments of the present invention relate to computer technologies, and in particular, to a system, a method, an apparatus, and a medium for detecting a placement direction of an object.
Background
Along with the rapid development of science and technology, more and more automatic equipment is applied to the storage field so as to realize automatic in-out and in-out of objects and improve in-out and in-out efficiency.
Typically, objects are transported while being placed on a conveyor belt when they are moved in and out of the warehouse. To ensure that the objects can be automatically moved in and out of the warehouse, it is often required that the objects be placed in a forward direction (in a head-up direction) on a conveyor belt. Since the objects are usually placed on the conveyor belt automatically by a robot such as a mechanical arm, some objects are not placed in the forward direction, and thus the placement direction of the objects needs to be detected. Currently, it is usually performed manually to detect whether the object is placed in the correct direction.
However, in the process of implementing the present invention, the inventors found that at least the following problems exist in the prior art:
because the object quantity is more to current manual detection mode wastes time and energy, has improved the human cost, has also reduced detection efficiency simultaneously.
Disclosure of Invention
The embodiment of the invention provides a detection system, a detection method, a detection device and a detection medium for an object placement direction, so that automatic detection of the object placement direction is realized, the labor cost is saved, and the detection efficiency is improved.
In a first aspect, an embodiment of the present invention provides a system for detecting a placement direction of an object, the system including: the magnetic force detection trigger device, the magnetic force detection device and the processor;
the magnetic force detection triggering device is used for triggering the magnetic force detection device to perform magnetic force detection when a target object to be detected exists in a preset detection area;
the magnetic force detection device is used for detecting a target magnetic force value and sending the target magnetic force value to the processor, wherein the target magnetic force value is a magnetic force value between a first magnetic element arranged on the outer surface of the target object and a second magnetic element arranged in the magnetic force detection device;
the processor is used for determining the placement direction of the target object according to the target magnetic force value.
In a second aspect, an embodiment of the present invention further provides a method for detecting a placement direction of an object, including:
receiving a target magnetic force value sent by a magnetic force detection device, wherein the target magnetic force value is a magnetic force value between a first magnetic element arranged on the outer surface of a target object and detected by the magnetic force detection device and a second magnetic element arranged in the magnetic force detection device;
And determining the placement direction of the target object according to the target magnetic force value.
In a third aspect, an embodiment of the present invention further provides a device for detecting a placement direction of an object, including:
a target magnetic force value receiving module, configured to receive a target magnetic force value sent by a magnetic force detecting device, where the target magnetic force value is a magnetic force value between a first magnetic element disposed on an outer surface of a target object and a second magnetic element disposed in the magnetic force detecting device, where the first magnetic element is detected by the magnetic force detecting device;
and the placement direction determining module is used for determining the placement direction of the target object according to the target magnetic force value.
In a fourth aspect, an embodiment of the present invention further provides an apparatus, including:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement a method for detecting a direction of placement of an object as provided by any embodiment of the present invention.
In a fifth aspect, an embodiment of the present invention further provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for detecting a placement direction of an object as provided in any embodiment of the present invention.
The embodiments of the above invention have the following advantages or benefits:
through placing first magnetic element in advance in the surface when every object is placed forward's the position department of predetermineeing for first magnetic element on the object that places forward can produce the magnetic force value of predetermineeing with the second magnetic element in the magnetic force detection device, thereby when there is the target object that waits to detect in predetermineeing the detection area, can detect magnetically through triggering magnetic force detection device, and send the target magnetic force value that detects to the treater in, the treater can be according to the target magnetic force value automatic determination target object place the direction whether place forward, thereby realized the automated inspection of object place the direction, and need not artifical the participation, the human cost has been saved, detection efficiency has been improved simultaneously.
Drawings
Fig. 1 is a schematic structural diagram of a detection system for an object placement direction according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of another object placement direction detection system according to an embodiment of the present invention;
FIG. 3 is an example of a system for detecting the direction of placement of an object according to a first embodiment of the present invention;
fig. 4 is a flowchart of a method for detecting an object placement direction according to a second embodiment of the present invention;
Fig. 5 is a schematic structural diagram of a device for detecting a placement direction of an object according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a schematic structural diagram of a detection system for an object placement direction according to an embodiment of the present invention. The present embodiment can be applied to a case of detecting whether an object is placed in the forward direction. As shown in fig. 1, the object placement direction detection system includes: a magnetometric detection triggering device 110, a magnetometric detection device 120 and a processor 130.
The magnetic force detection triggering device 110 is configured to trigger the magnetic force detection device 120 to perform magnetic force detection when a target object to be detected exists in a preset detection area; a magnetic force detecting means 120 for detecting a target magnetic force value, which is a magnetic force value between the first magnetic element 100 disposed on the outer surface of the target object and the second magnetic element 121 disposed in the magnetic force detecting means 120, and transmitting the target magnetic force value to the processor 130; and a processor 130 for determining the placement direction of the target object according to the target magnetic force value.
The preset detection area refers to an area in which a magnetic force value between the first magnetic element 100 and the second magnetic element 121 in the magnetometric detection device 120 on the outer surface of the target object can be detected, and can be preset according to the position of the second magnetic element 121 in the magnetometric detection device 120. For example, when the second magnetic element 121 in the magnetometric detection device 120 is vertically placed, the area below the second magnetic element 121 may be taken as a preset detection area; alternatively, when the second magnetic element 121 in the magnetometric detection device 120 is horizontally placed, an area located at the side of the second magnetic element 121 may be used as a preset detection area.
The target object may be any object that needs to detect a placement direction. For example, the target object may refer to a package or the like. The first magnetic element 100 may refer to an element having magnetic properties, such as a permanent magnet or the like. The shape of the first magnetic element 100 may be, but is not limited to, a rectangular bar shape. The second magnetic element 121 may be a magnetic element, and may be the same as the first magnetic element or different from the second magnetic element. For example, the second magnetic element 121 may be, but is not limited to, a permanent magnet or an electromagnet. The shape of the second magnetic element 121 may be, but is not limited to, a cylinder, a prism, etc. The first magnetic element 100 may be previously placed at a preset position of the outer surface of each object when being placed in the forward direction, and the placement position of the first magnetic element may be determined according to the placement position of the second magnetic element 121 in the magnetometric detection device 120. For example, when the second magnetic element 121 in the magnetometric detecting means 120 is vertically placed, the first magnetic element 100 may be vertically placed at a preset position of the side of the object placed in the forward direction so that the magnetic poles of the first magnetic element 100 and the magnetic poles of the second magnetic element 121 are opposite. Alternatively, when the second magnetic element 121 in the magnetic force detecting device 120 is horizontally placed, the first magnetic element 100 may be also horizontally placed at a predetermined position in a horizontal plane in the object placed in the forward direction, so that the magnetic poles of the first magnetic element 100 and the magnetic poles of the second magnetic element 121 are opposite to each other, so as to generate a predetermined magnetic force value.
Wherein the target magnetic force value may refer to a signed magnetic force value. The sign in the target magnetic force value is used to characterize the direction of the magnetic force, and the numerical value characterizes the magnitude of the magnetic force. When the target magnetic force value is a positive value, it indicates that the target magnetic force detected by the magnetic force detecting means 120 is the same as the preset magnetic force direction. When the target magnetic force value is negative, it indicates that the target magnetic force detected by the magnetic force detecting means 120 is opposite to the preset magnetic force direction.
Specifically, if the placement direction of the target object is a forward direction (in a head-up direction), a certain magnetic force, such as attractive force generated by attraction or repulsive force generated by repulsion, may be generated between the first magnetic element 100 on the outer surface in the target object and the second magnetic element in the magnetic force detecting device 120. If the placement direction of the target object is not forward, no magnetic force or opposite magnetic force is generated between the first magnetic element 100 on the outer surface of the target object and the second magnetic element in the magnetic force detection device 120, so that the processor 130 can automatically determine whether the placement direction of the target object is forward according to the magnitude of the target magnetic force value, thereby realizing automatic detection of the placement direction of the object, saving labor cost and improving detection efficiency without manual participation.
Fig. 2 shows a schematic diagram of another object placement direction detection system. As shown in fig. 2, the magnetometric detection triggering device 110 may include: a photo-sensing device 111 for detecting whether a target object to be detected exists in a preset detection area; the trigger controller 112 is configured to trigger the magnetometric detection device 120 to perform magnetometric detection when the target object exists.
The photo-sensing device 111 is connected to the trigger controller 112. The photo-sensing device 111 can detect whether a target object to be detected exists in a preset detection area in real time, so that the trigger controller 112 determines whether to trigger the magnetometric detection device 120 to perform magnetometric detection.
By way of example, fig. 3 gives an example of a detection system of the direction of placement of an object. As shown in fig. 3, the system further includes a conveyor 160 and a gantry 170 disposed perpendicular to the conveyor. Wherein the conveyor belt 160 is used to transport the object to be inspected through the gantry crane 170. Gantry 170 may be a gantry crane that carries magnetometric detection trigger 110 and magnetometric detection 120. Specifically, the magnetic force detection triggering device 110 may be installed at the bottom of the gantry crane 170, specifically for: when it is detected that a target object to be detected exists in a conveyor belt area (i.e., a preset detection area) below the gantry crane 170, the magnetic force detection device 120 mounted on the gantry crane 170 is triggered to perform magnetic force detection.
As shown in fig. 3, when the magnetic force detection triggering device 110 includes the photo-sensing device 111 and the triggering controller 112, the photo-sensing device 111 may be disposed at the bottom end of the gantry crane 170, and the triggering controller 112 (not shown in fig. 3) may be disposed at the bottom end of the gantry crane 170 or at another position of the gantry crane 170. Along with the movement of the conveyor belt, when the target object to be detected reaches a preset detection area (i.e., the area of the conveyor belt below the gantry crane 170), the photo-sensing device 111 is triggered, so that the photo-sensing device 111 can detect that the target object exists in the preset detection area, and at this time, the trigger controller 112 triggers the magnetic force detection device 120 to perform magnetic force detection. In this embodiment, the controller 112 is triggered to control the magnetic force detection operation of the magnetic force detection device 120, so that the currently detected target magnetic force value is the magnetic force value corresponding to the target object, the corresponding relationship between the target object and the target magnetic force value is established, the situation of detection error is avoided, and the detection accuracy is improved.
For example, when the second magnetic element 121 is a permanent magnet, the magnetic force detection device 120 may perform magnetic force detection regardless of whether a target object exists in a preset detection area, so that control by the trigger controller 112 is required to ensure a correspondence relationship between a currently detected magnetic force value and the target object. The trigger controller 112 is specifically configured to: when the target object exists, the magnetic force value sending instruction is sent to the magnetic force detection device 120, when the magnetic force value sending instruction is received by the magnetic force detection device 120, the current detected target magnetic force value is indicated to be the magnetic force value corresponding to the target object, and the current detected target magnetic force value can be sent to the processor 130 at this time, so that the processor 130 determines the placement direction of the target object according to the received target magnetic force value, and the detection accuracy is ensured.
Illustratively, when the second magnetic element 121 is an electromagnet, the trigger controller 112 is specifically configured to: when the target object exists, the electromagnet is controlled to be in an electrified state so as to trigger the magnetic force detection device 120 to perform magnetic force detection.
The electromagnet may be a device that generates electromagnetic force when energized, i.e., a device that generates magnetism only when energized. For example, the electromagnet may be an electrically conductive winding whose power is matched to that of the iron core wound around the outside of the iron core, so that the coil in the energized state may have magnetism. The shape of the electromagnet can be a bar shape, a hoof shape or the like.
Specifically, the trigger controller 112 may control whether the magnetometric detection device 120 performs magnetometric detection by controlling the energized state of the electromagnet. When a target object exists in the preset detection area, the electromagnet can be controlled to be in an electrified state, for example, an electrified instruction is sent to a power module in the magnetic force detection device 120, and the power module is used for electrifying the electromagnet when receiving the electrified instruction, so that the electromagnet is connected with current, and the magnetic force detection device 120 is triggered to perform magnetic force detection. When no target object exists in the preset detection area, the electromagnet can be controlled to be in a power-off state, for example, a power-off instruction is sent to a power module in the magnetic force detection device 120, and the power module stops powering on the electromagnet when receiving the power-off instruction, so that the magnetic force detection device 120 cannot perform magnetic force detection, the magnetic force detection device 120 can be controlled to perform detection again when the magnetic force detection is required, the magnetic force detection device 120 is prevented from being in a working state all the time, and equipment resources are saved. Since the electromagnet has stronger magnetism than the permanent magnet, the second magnetic element 121 is provided as an electromagnet, and the accuracy of detection can be further ensured.
Illustratively, the magnetometric detection device 120 further comprises: and a spring force gauge 122 connected to the second magnetic element 121 for detecting a target tension value of the second magnetic element 121 received by the spring and transmitting the target tension value as a target magnetic force value to the processor 130.
Wherein the target tension value may refer to a signed tension value. The sign in the target tension value is used for representing the direction of the tension force, and the numerical value represents the magnitude of the tension force. When the target tension value is positive, it indicates that the target tension detected by the spring force gauge 122 is the same as a preset tension direction (e.g., an extension direction of the spring). When the target tension value is negative, it indicates that the target tension detected by the spring force gauge 122 is opposite to the preset tension direction. If the second magnetic element 121 connected to the spring force gauge 122 receives the attractive force of the first magnetic element 100 on the outer surface of the target object, the target tensile force value received by the spring is detected to be increased by the spring force gauge 122; if the repulsive force of the first magnetic element 100 on the outer surface of the target object is received, the target tension value to which the spring is subjected is detected by the spring force gauge 122 to be smaller; if the attraction force or the repulsion force of the first magnetic element 100 on the outer surface of the target object is not received, the target tension value received by the spring is detected by the spring force gauge 122 not to be changed, so that the target tension value can be used as the target magnetic force value to detect the object placement direction.
For example, when the second magnetic element 121 in the magnetic force detection device 120 is vertically disposed (as shown in fig. 3), the spring force gauge 122 may detect that the target tension value received by the spring is equal to the weight of the second magnetic element 121 plus the magnetic force value between the first magnetic element 100 and the second magnetic element 121, in the direction of extension of the spring. When the second magnetic element 121 in the magnetic force detection device 120 is placed horizontally, the spring force gauge 122 can detect that the target tension value received by the spring is equal to the magnetic force value between the first magnetic element 100 and the second magnetic element 121, and the direction is the extension direction of the spring.
Illustratively, the processor 130 is specifically configured to: when the first magnetic pole and the second magnetic pole are different poles, detecting whether the target magnetic force value is larger than or equal to a first preset magnetic force value; if yes, determining the placement direction of the target object as forward placement; if not, determining that the placement direction of the target object is not forward placement. Wherein the first magnetic pole refers to the magnetic pole closest to the second magnetic element in the first magnetic element arranged on the outer surface of the object placed in the forward direction; the second magnetic pole refers to the magnetic pole of the second magnetic element that is closest to the first magnetic element on the outer surface of the object being placed in the forward direction.
Illustratively, the processor 130 is also specifically configured to: when the first magnetic pole and the second magnetic pole are homopolar, detecting whether the target magnetic force value is smaller than or equal to a second preset magnetic force value; if yes, determining the placement direction of the target object as forward placement; if not, determining that the placement direction of the target object is not forward placement. Wherein the first magnetic pole refers to the magnetic pole closest to the second magnetic element in the first magnetic element arranged on the outer surface of the object placed in the forward direction; the second magnetic pole refers to the magnetic pole of the second magnetic element that is closest to the first magnetic element on the outer surface of the object being placed in the forward direction.
In this embodiment, whether two magnetic poles (i.e., the first magnetic pole and the second magnetic pole) of the first magnetic element 100 opposite to the second magnetic element 121 on the outer surface of the object placed in the forward direction are different poles or same poles may be preset, so as to determine the magnitudes of the first preset magnetic force value and the second preset magnetic force value. The first preset magnetic force value may be a minimum magnetic force value detected by the magnetic force detection device when the first magnetic pole and the second magnetic pole are attracted. The second preset magnetic force value may be a maximum magnetic force value detected by the magnetic force detecting device when the first magnetic pole and the second magnetic pole repel each other.
When the first magnetic pole and the second magnetic pole are different poles, for example, as shown in fig. 3, the first magnetic pole in the first magnetic element 100 is a north pole N, the second magnetic pole in the second magnetic element 121 is a south pole S, when the target object moves into the preset detection area, if the target object is placed forward, the first magnetic element 100 in the target object will increase a downward tension on the second magnetic element 121, so that the spring dynamometer 122 detects that the target tension value of the spring will become larger, at this time, whether the target magnetic force value is greater than or equal to the first preset magnetic force value can be detected, if yes, it is indicated that the first magnetic element 100 in the target object does increase a downward tension on the second magnetic element 121, at this time, it can be determined that the target object is placed forward, and if no, it is indicated that the first magnetic element 100 in the target object does not increase a downward tension on the second magnetic element 121, at this time, it can be determined that the target object is placed non-forward. Similarly, when the first magnetic pole and the second magnetic pole are homopolar, for example, the first magnetic pole in the first magnetic element 100 and the second magnetic pole in the second magnetic element 121 are both north poles or south poles, when the target object moves into the preset detection area, if the target object is placed forward, the first magnetic element 100 in the target object increases an upward pressure on the second magnetic element 121, so that the spring dynamometer 122 detects that the target tension value of the spring is smaller, and at the moment, whether the target magnetic force value is smaller than or equal to the second preset magnetic force value can be detected, if yes, it is indicated that the first magnetic element 100 in the target object increases an upward pressure on the second magnetic element 121, at the moment, it can be determined that the target object is placed forward, if no, it is indicated that the first magnetic element 100 in the target object does not increase an upward pressure on the second magnetic element 121, at the moment, it can be determined that the target object is placed non-forward, and is automatically detected in the placement direction of the object is achieved.
According to the technical scheme, the first magnetic element is placed at the preset position of the outer surface of each object in forward placement, so that the first magnetic element on the object in forward placement can generate a preset magnetic force value with the second magnetic element in the magnetic force detection device, when the target object to be detected exists in the preset detection area, the magnetic force detection device can be triggered to detect the magnetic force, the detected target magnetic force value is sent to the processor, and the processor can automatically determine whether the placement direction of the target object is forward placement according to the target magnetic force value, so that automatic detection of the object placement direction is realized, manual participation is not needed, labor cost is saved, and detection efficiency is improved.
On the basis of the above technical solution, as shown in fig. 2 and 3, the system further includes: a steering device 140 connected to the conveyor belt for transporting the target object, for changing the conveying direction of the target object to convey the target object to the preset adjustment area when receiving the steering command sent by the processor 130; wherein the steering instruction is sent by the processor 130 when it is detected that the placement direction of the target object is not forward placement.
The preset adjustment area may be an area for adjusting the placement direction of the target object to adjust the target object placed in the forward direction. The turning device 140 may be referred to as a cross-sorting machine.
Specifically, when the processor 130 detects that the placement direction of the target object is not forward, it indicates that the adjustment of the placement direction of the target object is required, at this time, a steering instruction may be sent to the steering device 140, and when the steering device 140 receives the steering instruction, the direction of conveyance of the target object may be changed, and the target object may be conveyed to a preset adjustment area, so that manual adjustment may be performed in the preset adjustment area, or automatic adjustment may be performed by using a mechanical arm. After the mechanical arm is used for automatic adjustment, the object placement direction detection system provided by the embodiment needs to detect the placement direction of the adjusted object again, so as to ensure that the placement direction of the adjusted object is forward.
It should be noted that, in this embodiment, when the first magnetic element 100 is placed at the preset position of the outer surface of each object in the forward direction, an upward pointing arrow may be printed on the first magnetic element 100 as a visible forward direction placement mark, where the direction pointed by the arrow is the head of the object, so that the object in the non-forward direction can be quickly adjusted to be placed in the forward direction based on the direction pointed by the arrow, thereby improving the adjustment efficiency.
On the basis of the above technical solution, as shown in fig. 2, the system further includes: an alarm device 150 for sending out an alarm message when receiving an alarm instruction sent by the processor 130; wherein the alert instruction is sent by the processor 130 upon detecting that the placement direction of the target object is not forward placement.
Wherein the alarm device 150 may be, but is not limited to, an audible and visual alarm device. Specifically, when the processor 130 detects that the placement direction of the target object is not forward placement, an alarm instruction can be sent to the alarm device 150, and when the alarm device 150 receives the alarm instruction, an alarm message can be sent out, so that related personnel can be timely reminded of the existence of the object which is not forward placed currently, the related personnel can immediately go to a preset adjustment area and quickly adjust the object which is not forward placed to be forward placed based on the arrow mark printed on the first magnetic element, and normal operation of a sorting workflow is ensured.
Example two
Fig. 4 is a flowchart of a method for detecting a placement direction of an object according to a second embodiment of the present invention, where the present embodiment is applicable to a case of detecting whether an object is placed in a forward direction. The method may be performed by a means for detecting the direction of placement of the object, which means may be implemented in software and/or hardware, integrated in a device with data processing functionality. As shown in fig. 4, the method specifically includes the following steps:
S410, receiving a target magnetic force value sent by the magnetic force detection device, wherein the target magnetic force value is a magnetic force value between a first magnetic element arranged on the outer surface of the target object and detected by the magnetic force detection device and a second magnetic element arranged in the magnetic force detection device.
The target object may be any object that needs to detect a placement direction. For example, the target object may refer to a package or the like. The first magnetic element may refer to a permanent magnet having magnetism. The second magnetic element may refer to a device having magnetic properties, for example, the second magnetic element may be, but is not limited to, a permanent magnet or an electromagnet. In this embodiment, the first magnetic element may be placed at a preset position on the outer surface of each object when the object is placed forward, and the placement position of the first magnetic element may be determined according to the placement position of the second magnetic element in the magnetometric detection device. For example, when the second magnetic element in the magnetometric detecting means is vertically placed, the first magnetic element may be vertically placed at a preset position of the side surface of the object placed in the forward direction so that the magnetic pole of the first magnetic element and the magnetic pole of the second magnetic element are opposed. Or when the second magnetic element in the magnetic force detection device is horizontally placed, the first magnetic element can be horizontally placed at a preset position in the horizontal plane in the object placed in the forward direction, so that the magnetic pole of the first magnetic element is opposite to the magnetic pole of the second magnetic element, and a preset magnetic force value is generated conveniently.
Specifically, the magnetic force detection triggering device can detect whether a target object to be detected exists in a preset detection area in real time through the photoelectric sensing device, and can trigger the magnetic force detection device to perform magnetic force detection when detecting that the target object exists through the triggering controller, for example, when the second magnetic element is an electromagnet, the triggering controller can trigger the magnetic force detection device to perform magnetic force detection by controlling the electromagnet to be in an electrified state. The magnetic force detection device can detect the target tension value of the second magnetic element received by the spring through the spring dynamometer connected with the second magnetic element, and sends the target tension value as the target magnetic force value to the processor, namely the detection device of the object placement direction, so that the detection device of the object placement direction can receive the target magnetic force value sent by the magnetic force detection device.
S420, determining the placement direction of the target object according to the target magnetic force value.
Specifically, if the placement direction of the target object is a forward direction (in a head-up direction), a certain magnetic force, such as attraction or repulsion, may be generated between the first magnetic element on the outer surface in the target object and the second magnetic element in the magnetometric detection means. If the placement direction of the target object is not forward, no magnetic force or opposite magnetic force is generated between the first magnetic element on the outer surface of the target object and the second magnetic element in the magnetic force detection device, so that whether the placement direction of the target object is forward or not can be automatically determined according to the magnitude of the target magnetic force value, automatic detection of the object placement direction is realized, manual participation is not needed, labor cost is saved, and detection efficiency is improved.
Illustratively, S420 may include: when the first magnetic pole and the second magnetic pole are different poles, detecting whether the target magnetic force value is larger than or equal to a first preset magnetic force value; if yes, determining the placement direction of the target object as forward placement; if not, determining that the placement direction of the target object is not forward placement; wherein the first magnetic pole refers to the magnetic pole closest to the second magnetic element in the first magnetic element arranged on the outer surface of the object placed in the forward direction; the second magnetic pole refers to the magnetic pole of the second magnetic element that is closest to the first magnetic element on the outer surface of the object being placed in the forward direction.
Illustratively, S420 may further include: when the first magnetic pole and the second magnetic pole are homopolar, detecting whether the target magnetic force value is smaller than or equal to a second preset magnetic force value; if yes, determining the placement direction of the target object as forward placement; if not, determining that the placement direction of the target object is not forward placement; wherein the first magnetic pole refers to the magnetic pole closest to the second magnetic element in the first magnetic element arranged on the outer surface of the object placed in the forward direction; the second magnetic pole refers to the magnetic pole of the second magnetic element that is closest to the first magnetic element on the outer surface of the object being placed in the forward direction.
In this embodiment, whether two magnetic poles (i.e., the first magnetic pole and the second magnetic pole) of the first magnetic element opposite to the second magnetic element on the outer surface of the object placed in the forward direction are opposite to each other or have the same polarity may be preset, so as to determine the first preset magnetic force value and the second preset magnetic force value. The first preset magnetic force value may be a minimum magnetic force value detected by the magnetic force detection device when the first magnetic pole and the second magnetic pole are attracted. The second preset magnetic force value may be a maximum magnetic force value detected by the magnetic force detecting device when the first magnetic pole and the second magnetic pole repel each other.
When the first magnetic pole and the second magnetic pole are different poles and the first magnetic pole and the second magnetic pole are vertically arranged, for example, the first magnetic pole in the first magnetic element is a north pole N, the second magnetic pole in the second magnetic element is a south pole S, when the target object moves into a preset detection area, if the target object is positively arranged, the first magnetic element in the target object can increase a downward pulling force on the second magnetic element, so that a spring dynamometer in the magnetic force detection device detects that the target pulling force value of the spring is increased, at the moment, whether the target magnetic force value is greater than or equal to a first preset magnetic force value can be detected, if so, the first magnetic element in the target object increases a downward pulling force on the second magnetic element, at the moment, the target object can be determined to be positively arranged, and if not, the first magnetic element in the target object does not increase a downward pulling force on the second magnetic element, at the moment, the target object can be determined to be non-positively arranged, and the target object can be determined to be positively arranged.
Similarly, when the first magnetic pole and the second magnetic pole are homopolar and the first magnetic pole and the second magnetic pole are both vertically placed, for example, the first magnetic pole in the first magnetic element and the second magnetic pole in the second magnetic element are both north poles or south poles, when the target object moves into the preset detection area, if the target object is placed in the forward direction, the first magnetic element in the target object can increase an upward pressure on the second magnetic element, so that the target tension value to which the spring is subjected by the spring dynamometer is detected to be smaller, at the moment, whether the target magnetic force value is smaller than or equal to a second preset magnetic force value can be detected, if so, the first magnetic element in the target object increases an upward pressure on the second magnetic element, at the moment, the target object can be determined to be placed in the forward direction, and if not, the first magnetic element in the target object is determined to be placed in the non-forward direction, and at the moment, automatic detection of the object placement direction is realized.
Illustratively, after S420, it may further include: when the placement direction of the target object is not forward, a steering instruction is sent to a steering device connected with a conveyor belt for conveying the target object, so that the steering device changes the conveying direction of the target object based on the steering instruction, and the target object is conveyed to a preset adjustment area.
The preset adjustment area may be an area for adjusting the placement direction of the target object to adjust the target object placed in the forward direction. The turning device may be referred to as an cross-sorting machine.
Specifically, when the direction of placement of the target object is detected to be non-forward, it indicates that adjustment of the direction of placement of the target object is required, at this time, a steering instruction may be sent to the steering device, and when the steering device receives the steering instruction, the steering device may change the direction of conveyance of the target object, and convey the target object to a preset adjustment area, so that manual adjustment may be performed in the preset adjustment area, or automatic adjustment may be performed by using the mechanical arm. After the mechanical arm is used for automatic adjustment, the object placement direction detection system provided by the embodiment needs to detect the placement direction of the adjusted object again, so as to ensure that the placement direction of the adjusted object is forward.
It should be noted that, in this embodiment, when the first magnetic element is placed at the preset position of the outer surface of each object when being placed forward, an upward pointing arrow may be printed on the first magnetic element as a visible forward placement mark, where the direction pointed by the arrow is the head of the object, so that the object placed in a non-forward direction may be quickly adjusted to be placed forward based on the direction pointed by the arrow, thereby improving adjustment efficiency.
Illustratively, after S420, it may further include: and when the placement direction of the target object is not forward placement, sending an alarm instruction to the alarm device so that the alarm device sends out an alarm message based on the alarm instruction.
Wherein the alarm device may be, but is not limited to, an audible and visual alarm device. Specifically, when the placement direction of the target object is detected to be non-forward placement, an alarm instruction can be sent to the alarm device, and the alarm device can send an alarm message when receiving the alarm instruction, so that related personnel can be timely reminded of the existence of the non-forward placement object currently, the related personnel can immediately go to a preset adjustment area based on the arrow mark printed on the first magnetic element, the non-forward placement object is quickly adjusted to be forward placement, and normal operation of sorting workflow is ensured.
According to the technical scheme of the embodiment, whether the placement direction of the target object is forward placement or not can be automatically determined according to the target magnetic force value detected by the magnetic force detection device, so that automatic detection of the placement direction of the object is realized, manual participation is not needed, labor cost is saved, and detection efficiency is improved.
The following is an embodiment of an object placement direction detection device provided by the embodiment of the present invention, which belongs to the same inventive concept as the object placement direction detection method of the above embodiment, and details of the object placement direction detection device are not described in detail in the embodiment of the object placement direction detection device, and reference may be made to the embodiment of the object placement direction detection method.
Example III
Fig. 5 is a schematic structural diagram of a detection device for object placement direction according to a third embodiment of the present invention, where the present embodiment is applicable to a case of detecting whether an object is placed in a forward direction. The device specifically comprises: a target magnetic force value receiving module 510 and a placement direction determining module 520.
The target magnetic force value receiving module 510 is configured to receive a target magnetic force value sent by the magnetic force detecting device, where the target magnetic force value is a magnetic force value between a first magnetic element disposed on an outer surface of the target object and a second magnetic element disposed in the magnetic force detecting device, where the first magnetic element and the second magnetic element are detected by the magnetic force detecting device; the placement direction determining module 520 is configured to determine a placement direction of the target object according to the target magnetic force value.
Optionally, the placement direction determining module 520 is specifically configured to: when the first magnetic pole and the second magnetic pole are different poles, detecting whether the target magnetic force value is larger than or equal to a first preset magnetic force value; if yes, determining the placement direction of the target object as forward placement; if not, determining that the placement direction of the target object is not forward placement; wherein the first magnetic pole refers to the magnetic pole closest to the second magnetic element in the first magnetic element arranged on the outer surface of the object placed in the forward direction; the second magnetic pole refers to the magnetic pole of the second magnetic element that is closest to the first magnetic element on the outer surface of the object being placed in the forward direction.
Optionally, the placement direction determining module 520 is further specifically configured to: when the first magnetic pole and the second magnetic pole are homopolar, detecting whether the target magnetic force value is smaller than or equal to a second preset magnetic force value; if yes, determining the placement direction of the target object as forward placement; if not, determining that the placement direction of the target object is not forward placement; wherein the first magnetic pole refers to the magnetic pole closest to the second magnetic element in the first magnetic element arranged on the outer surface of the object placed in the forward direction; the second magnetic pole refers to the magnetic pole of the second magnetic element that is closest to the first magnetic element on the outer surface of the object being placed in the forward direction.
Optionally, the apparatus further comprises:
and the steering instruction sending module is used for sending a steering instruction to a steering device connected with a conveyor belt for conveying the target object when the placement direction of the target object is not forward placement, so that the steering device changes the conveying direction of the target object based on the steering instruction to convey the target object to a preset adjustment area.
Optionally, the apparatus further comprises:
and the alarm instruction sending module is used for sending an alarm instruction to the alarm device when the placement direction of the target object is not forward placement, so that the alarm device sends an alarm message based on the alarm instruction.
The object placement direction detection device provided by the embodiment of the invention can execute the object placement direction detection method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the object placement direction detection method.
Example IV
Fig. 6 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention. Fig. 6 shows a block diagram of an exemplary device 12 suitable for use in implementing embodiments of the present invention. The device 12 shown in fig. 6 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 6, device 12 is in the form of a general purpose computing device. Components of device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.
Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. Device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, commonly referred to as a "hard disk drive"). Although not shown in fig. 6, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.
Device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with device 12, and/or any devices (e.g., network card, modem, etc.) that enable device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Also, device 12 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, via network adapter 20. As shown, network adapter 20 communicates with other modules of device 12 over bus 18. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 16 executes various functional applications and data processing by running a program stored in the system memory 28, for example, to realize a method step of detecting an object placement direction provided in the present embodiment, the method comprising:
receiving a target magnetic force value sent by a magnetic force detection device, wherein the target magnetic force value is a magnetic force value between a first magnetic element arranged on the outer surface of a target object and detected by the magnetic force detection device and a second magnetic element arranged in the magnetic force detection device;
and determining the placement direction of the target object according to the target magnetic force value.
Of course, those skilled in the art will understand that the processor may also implement the technical solution of the method for detecting the placement direction of the object provided in any embodiment of the present invention.
Example five
The present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the object placement direction detection method as provided in any embodiment of the present invention, the method comprising:
receiving a target magnetic force value sent by a magnetic force detection device, wherein the target magnetic force value is a magnetic force value between a first magnetic element arranged on the outer surface of a target object and detected by the magnetic force detection device and a second magnetic element arranged in the magnetic force detection device;
And determining the placement direction of the target object according to the target magnetic force value.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may be, for example, but not limited to: an electrical, 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 computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, 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. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ 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 computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
It will be appreciated by those of ordinary skill in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be centralized on a single computing device, or distributed over a network of computing devices, or they may alternatively be implemented in program code executable by a computer device, such that they are stored in a memory device and executed by the computing device, or they may be separately fabricated as individual integrated circuit modules, or multiple modules or steps within them may be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (11)
1. A system for detecting a direction of placement of an object, the system comprising: the magnetic force detection trigger device, the magnetic force detection device and the processor;
the magnetic force detection triggering device is used for triggering the magnetic force detection device to perform magnetic force detection when a target object to be detected exists in a preset detection area;
the magnetic force detection device is used for detecting a target magnetic force value and sending the target magnetic force value to the processor, wherein the target magnetic force value is a magnetic force value between a first magnetic element arranged on the outer surface of the target object and a second magnetic element arranged in the magnetic force detection device;
the processor is used for determining the placement direction of the target object according to the target magnetic force value;
the magnetic force detection device further includes:
the spring dynamometer is connected with the second magnetic element and is used for detecting a target tension value of the second magnetic element received by the spring and sending the target tension value serving as a target magnetic force value to the processor;
the placement direction refers to whether the target object is placed forward or not.
2. The system of claim 1, wherein the magnetometric detection triggering device comprises:
The photoelectric sensing device is used for detecting whether a target object to be detected exists in a preset detection area;
and the trigger controller is used for triggering the magnetic force detection device to carry out magnetic force detection when the target object exists.
3. The system of claim 2, wherein the second magnetic element is an electromagnet;
correspondingly, the trigger controller is specifically configured to: when the target object exists, the electromagnet is controlled to be in an electrified state so as to trigger the magnetic force detection device to perform magnetic force detection.
4. The system of claim 1, wherein the processor is specifically configured to:
when the first magnetic pole and the second magnetic pole are different poles, detecting whether the target magnetic force value is larger than or equal to a first preset magnetic force value;
if yes, determining that the placement direction of the target object is forward placement;
if not, determining that the placement direction of the target object is non-positive placement;
wherein the first magnetic pole refers to a magnetic pole closest to the second magnetic element among first magnetic elements arranged on the outer surface of the object placed in the forward direction; the second magnetic pole refers to the magnetic pole of the second magnetic element that is closest to the first magnetic element on the outer surface of the positively-positioned object.
5. The system of claim 1, wherein the processor is further specifically configured to:
when the first magnetic pole and the second magnetic pole are homopolar, detecting whether the target magnetic force value is smaller than or equal to a second preset magnetic force value;
if yes, determining that the placement direction of the target object is forward placement;
if not, determining that the placement direction of the target object is non-positive placement;
wherein the first magnetic pole refers to a magnetic pole closest to the second magnetic element among first magnetic elements arranged on the outer surface of the object placed in the forward direction; the second magnetic pole refers to the magnetic pole of the second magnetic element that is closest to the first magnetic element on the outer surface of the positively-positioned object.
6. The system of any one of claims 1-5, wherein the system further comprises:
the alarm device is used for sending out alarm information when receiving the alarm instruction sent by the processor;
the alarm instruction is sent by the processor when the placement direction of the target object is detected to be non-positive placement.
7. The system of any one of claims 1-5, wherein the system further comprises:
The steering device is connected with the conveyor belt for conveying the target object and is used for changing the conveying direction of the target object when receiving the steering instruction sent by the processor so as to convey the target object to a preset adjustment area;
the steering instruction is sent by the processor when the placement direction of the target object is detected to be non-positive placement.
8. The system of any one of claims 1-5, wherein the system further comprises: the conveying belt and the gantry type hoisting frame are vertically arranged with the conveying belt;
the conveyor belt is used for conveying a target object to be detected through the gantry type lifting frame;
correspondingly, the magnetic force detection triggering device is arranged at the bottom of the gantry type hoisting frame and is specifically used for: when the existence of a target object to be detected in a conveyor belt area below the gantry type hoisting frame is detected, triggering the magnetic force detection device arranged on the gantry type hoisting frame to carry out magnetic force detection.
9. A method for detecting a placement direction of an object, comprising:
receiving a target magnetic force value sent by a magnetic force detection device, wherein the target magnetic force value is a magnetic force value between a first magnetic element arranged on the outer surface of a target object and detected by the magnetic force detection device and a second magnetic element arranged in the magnetic force detection device;
Determining the placement direction of the target object according to the target magnetic force value;
the magnetic force detection device detects a target tension value of a second magnetic element received by the spring through a spring dynamometer connected with the second magnetic element, and sends the target tension value serving as a target magnetic force value to the detection device in the object placement direction;
the placement direction refers to whether the target object is placed forward or not.
10. A detection apparatus for an object placement direction, characterized by comprising:
a target magnetic force value receiving module, configured to receive a target magnetic force value sent by a magnetic force detecting device, where the target magnetic force value is a magnetic force value between a first magnetic element disposed on an outer surface of a target object and a second magnetic element disposed in the magnetic force detecting device, where the first magnetic element is detected by the magnetic force detecting device;
the placement direction determining module is used for determining the placement direction of the target object according to the target magnetic force value;
the magnetic force detection device is used for detecting a target tension value of the second magnetic element received by the spring through a spring dynamometer connected with the second magnetic element, and sending the target tension value serving as the target magnetic force value to the detection device in the object placement direction;
The placement direction refers to whether the target object is placed forward or not.
11. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the object placement direction detection method according to claim 9.
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