CN113501275B - Article unloading control method and system, electronic equipment and storage medium - Google Patents
Article unloading control method and system, electronic equipment and storage medium Download PDFInfo
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- CN113501275B CN113501275B CN202110864329.2A CN202110864329A CN113501275B CN 113501275 B CN113501275 B CN 113501275B CN 202110864329 A CN202110864329 A CN 202110864329A CN 113501275 B CN113501275 B CN 113501275B
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
Abstract
The embodiment of the invention discloses an article unloading control method, an article unloading control system, electronic equipment and a storage medium. The method comprises the following steps: acquiring relative position information of a point to be detected of a target object and a target sorting trolley, which is detected by a position detection device; determining the point-edge distance between the point to be detected and the unloading side edge of the target sorting trolley based on the relative position information; determining unloading conditions of the target sorting trolley for unloading the target articles based on the point-edge distance and the running information of the target sorting trolley; and when the current state of the target object meets the unloading condition, controlling the target sorting trolley to unload the target object. The technical scheme of the embodiment of the invention can ensure that the articles can accurately fall into the article falling port, improve the article sorting accuracy and avoid article falling errors.
Description
Technical Field
The embodiment of the invention relates to the field of control, in particular to an article unloading control method, an article unloading control system, electronic equipment and a storage medium.
Background
At present, the logistics industry is rapidly developed, and the automatic sorting machine is widely applied. In the prior art, in order to unload the articles to the corresponding drop openings, the positions of the sorting trolleys carrying the articles need to be determined, and when the positions of the sorting trolleys reach the preset unified drop positions, the articles on the sorting trolleys are unloaded, so that the articles are conveyed to the corresponding address grid openings.
However, since the placing positions of the articles on the sorting trolley are different, the previous equipment unloads different articles according to the uniform dropping position because the positions of the articles relative to the sorting trolley are not detected, so that the actual dropping positions of different articles are inconsistent, and errors are easy to occur; when the error is larger, even the address grid is mistakenly cut, the article is wrongly separated, and the accuracy of article sorting is reduced.
Disclosure of Invention
The embodiment of the invention provides an article unloading control method, an article unloading control system, electronic equipment and a storage medium, which are used for determining unloading conditions according to the relative positions of a target sorting trolley and a target article, determining corresponding unloading conditions when the placing positions of different articles on the sorting trolley are different, ensuring that the articles can accurately fall into a piece falling port, improving the article sorting accuracy and avoiding piece falling errors.
In a first aspect, an embodiment of the present invention provides an article unloading control method, which is applied to an article unloading control system, where the article unloading control system includes a sorting trolley, a controller, and a position detection device; the position detection area of the position detection device is the path area of the sorting trolley and is used for acquiring the relative position information of the to-be-detected point of the article and the sorting trolley when the sorting trolley passes through the position detection area, and the controller is connected with the sorting trolley and the position detection device: wherein the article unloading control method is executed by the controller, and includes:
acquiring relative position information of a point to be detected of a target object and a target sorting trolley, which is detected by a position detection device;
determining the point-edge distance between the point to be detected and the unloading side edge of the target sorting trolley based on the relative position information;
determining unloading conditions for the target sorting trolley to unload the target articles based on the point-edge distances and the running information of the target sorting trolley;
and when the current state of the target object meets the unloading condition, controlling the target sorting trolley to unload the target object.
In a second aspect, an embodiment of the present invention further provides an article unloading control system, including a sorting trolley, a controller, and a position detection device; the position detection area of the position detection device is the path area of the sorting trolley, and is used for acquiring the relative position information of a point to be detected of an article and the sorting trolley when the sorting trolley passes through the position detection area, and the controller is connected with the sorting trolley and the position detection device, wherein the controller comprises:
the information acquisition module is used for acquiring the relative position information between the point to be detected of the target object and the target sorting trolley detected by the position detection device;
the distance determining module is used for determining the point-edge distance between the point to be detected and the unloading side edge of the target sorting trolley based on the relative position information;
a condition determining module, configured to determine, based on the point-edge distance and the operation information of the target sorting cart, an unloading condition under which the target sorting cart unloads the target item;
and the control unloading module is used for controlling the target sorting trolley to unload the target object when the current state of the target object meets the unloading condition.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the article unloading control method provided by any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the article unloading control method provided in any embodiment of the present invention.
The article unloading control method provided by the embodiment of the invention comprises the steps of obtaining the relative position information of a point to be detected of a target article and a target sorting trolley, which is detected by a position detection device; determining the point-edge distance between the point to be detected and the unloading side edge of the target sorting trolley based on the relative position information; taking the relative position of the point to be detected of the target object and the target sorting trolley as a consideration basis for controlling the unloading of the target object, and determining the unloading condition of the target sorting trolley for unloading the target object based on the point edge distance and the running information of the target sorting trolley; and detecting the current state of the target object, and controlling the target sorting trolley to unload the target object when the current state of the target object meets the unloading condition. Therefore, the unloading conditions are determined according to the relative position information, the corresponding unloading conditions can be determined when the placing positions of different articles on the sorting trolley are different, the articles can be ensured to accurately fall into the article falling port, the article sorting accuracy is improved, and the article falling error is avoided.
In addition, the article unloading control system, the electronic device and the storage medium provided by the invention correspond to the method, and have the same beneficial effects.
Drawings
In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a flowchart of an article unloading control method according to an embodiment of the present invention;
fig. 2 is a flowchart of another article unloading control method according to an embodiment of the present invention;
fig. 3 is a schematic view of a dropping process for unloading an article according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an article unloading control system when the distance detectors are arranged in a linear array according to an embodiment of the present invention;
fig. 5 is a perspective view of an article unloading control system when the distance detectors are arranged in a linear array according to an embodiment of the present invention;
FIG. 6 is a perspective view of an article unloading control system with a matrix arrangement of distance detectors according to the present embodiment of the invention;
fig. 7 is a schematic view of an article unloading control system when the image collector collects position information according to this embodiment;
FIG. 8 is a block diagram of a controller provided in accordance with an embodiment of the present invention;
FIG. 9 is a block diagram of an article unloading control system according to an embodiment of the present invention;
fig. 10 is a block diagram of another article unloading control system provided in the present embodiment;
fig. 11 is a structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solution 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. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings, not all of them.
The core of the invention is to provide an article unloading control method, an article unloading control system, electronic equipment and a storage medium, so as to determine unloading conditions according to the relative positions of a target sorting trolley and a target article, determine corresponding unloading conditions when the placing positions of different articles on the sorting trolley are different, ensure that the articles can accurately fall into a piece falling port, improve the article sorting accuracy and avoid piece falling errors.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example one
The method provided by the embodiment of the invention is applied to an article unloading control system, and the article unloading control system comprises a sorting trolley, a controller and a position detection device; wherein, the position detection area of the position detection device is the route area of the sorting trolley and is used for acquiring the relative position information of the to-be-detected point and the sorting trolley of the article when the sorting trolley passes through the position detection area, and the controller is connected with the sorting trolley and the position detection device: wherein the article unloading control method is executed by the controller.
Fig. 1 is a flowchart of an article unloading control method according to an embodiment of the present invention; as shown in fig. 1, the method of the embodiment of the present invention specifically includes the following steps:
s101, obtaining the relative position information between the point to be detected of the target object and the target sorting trolley, which is detected by the position detection device.
In specific implementation, the position detection device is arranged right above the running surface of the sorting trolley and can acquire the relative position information of the point to be detected of the target object and the target sorting trolley. The vertical distance between the position detection device and the sorting trolley is larger than the sum of the blind area distance of the position detection device and the maximum height of the articles, so that the position detection device can completely detect the positions of the sorting trolley and the articles.
Optionally, the position detecting device comprises a position detector, and may be fixed to the main frame by a frame body. The position detector includes at least one of a distance detector and an image collector. Specifically, when the position detector is a distance detector, the number of the distance detectors is at least two, and the distance detectors are arranged in a linear array or a matrix form and can be uniformly distributed or randomly distributed at fixed intervals. The linear array arrangement direction of the distance detector is perpendicular to the extension direction of the running route of the sorting trolley.
Optionally, when the target sorting trolley passes by, the position detecting device detects the relative position information between the point to be detected of the target object on the target sorting trolley and the target sorting trolley. Specifically, a fixed point may be determined as a point to be detected on the target object. Illustratively, the sorting cart includes a belt conveyor, and the cart position information includes vertex position information of the target sorting cart.
Optionally, the target article includes a hexahedron, and the point to be detected includes a vertex located on the unloading side of the target article on a contact surface between the hexahedron and the target sorting trolley. Those skilled in the art may also determine other positions of the target object as points to be detected according to the shape of the target object in practical application, which is not limited in the embodiment of the present invention.
In a specific implementation, the controller is connected with the sorting trolley and the position detection device, the connection mode can be wireless connection such as wireless local area network or bluetooth, and a wired connection mode can be selected according to needs, and the embodiment of the invention is not limited.
For example, after the target sorting cart has completely passed through the detection area of the position detection device, the controller may send an instruction to the position detection device to obtain the relative position information between the point to be detected of the target article and the target sorting cart. It is also possible for the position detection means to automatically send the relative position information to the controller after the relative position information has been successfully detected.
S102, determining the point-edge distance between the point to be detected and the unloading side edge of the target sorting trolley based on the relative position information.
Optionally, the position information of each vertex and the position information of each edge of the target sorting trolley can be determined based on the relative position information, and the point-edge distance between the point to be detected and the unloading side edge of the target sorting trolley can be calculated based on the distance between the points to be detected and the position information of each edge.
Specifically, the target sorting trolley is a rectangular belt conveyor, and the rotating direction of the belt is the same as the unloading direction of the target sorting trolley for unloading the target articles and is perpendicular to the running direction of the target sorting trolley. The distance of the target object to be moved in the unloading direction when the target object is unloaded can be determined by calculating the point-edge distance between the point to be detected and the unloading edge of the target sorting trolley,
s103, determining the unloading conditions of the target sorting trolley for unloading the target articles based on the point-edge distance and the running information of the target sorting trolley.
Optionally, the operation information of the target sorting cart includes a main line operation speed, an unloading acceleration of the target sorting cart, an acceleration distance required for accelerating to a maximum speed, and a maximum unloading speed of the target sorting cart. Based on the point edge distance and the running speed of the target sorting trolley, the unloading condition required to be met when the target sorting trolley accurately unloads the target object to the drop port can be determined. Specifically, the unloading condition includes at least one of a position condition that a point to be detected of the target object needs to reach and a distance condition that the point to be detected and a virtual point of the drop inlet need to meet.
And S104, controlling the target sorting trolley to unload the target article when the current state of the target article meets the unloading condition.
Optionally, the current state of the target item is detected. Illustratively, the current state includes at least one of a current position of the point to be detected of the target object and a current distance between the point to be detected and a point to be entered into the drop entrance. And when the current state of the target object meets the unloading condition, the target sorting trolley can be controlled to start the unloading operation, so that the unloading of the target object is completed.
For example, when the unloading condition is a position condition that the point to be detected of the target article needs to reach, if it is detected that the current position of the point to be detected of the target article is the position that the point to be detected specified in the unloading condition needs to reach, the target sorting trolley is controlled to start the unloading operation. Or when the unloading condition is a distance condition which needs to be met between the point to be detected and the drop inlet quasi-point, if the distance between the point to be detected of the target object and the drop inlet quasi-point is detected to meet the distance required in the unloading condition, controlling the target sorting trolley to start the unloading operation.
The article unloading control method provided by the embodiment of the invention comprises the steps of obtaining the relative position information of a point to be detected of an article to be detected of a target article and a sorting trolley, wherein the point to be detected of the article to be detected is detected by a position detection device; determining the point-edge distance between the point to be detected and the unloading side edge of the target sorting trolley based on the relative position information; taking the relative position of the point to be detected of the target object and the target sorting trolley as a consideration basis for controlling the unloading of the target object, and determining the unloading condition of the target sorting trolley for unloading the target object based on the point edge distance and the running information of the target sorting trolley; and detecting the current state of the target object, and controlling the target sorting trolley to unload the target object when the current state of the target object meets the unloading condition. Therefore, the unloading conditions are determined according to the relative positions of the target sorting trolley and the target articles, and the corresponding unloading conditions can be determined when the placing positions of different articles on the sorting trolley are different, so that the articles can be accurately dropped into the drop port, the article sorting accuracy is improved, and the drop errors are avoided.
Example two
Fig. 2 is a flowchart of another article unloading control method according to an embodiment of the present invention. The present embodiment is optimized based on the above technical solutions. Optionally, determining the unloading condition for the target sorting cart to unload the target item based on the point-edge distance and the operation information of the target sorting cart includes: and determining the unloading position of the point to be detected of the target object based on the point side distance, the unloading acceleration, the main line running speed and the acceleration distance, and taking the point to be detected arriving at the unloading position as an unloading condition. Optionally, the method further includes: determining structural information of the target object in a pre-established space rectangular coordinate system based on the detection distance between the target object and each preset point on the target object, which is detected by the position detection device; determining an actual volume of the target item based on the structural information; it is detected whether the actual volume matches a pre-stored target volume. The same or corresponding terms as those in the above embodiments are not explained in detail herein.
As shown in fig. 2, the method of the embodiment of the present invention specifically includes the following steps:
s201, obtaining the relative position information between the point to be detected of the target object and the target sorting trolley, wherein the point to be detected of the target object is detected by the position detection device.
S202, determining the structural information of the target object in a pre-established spatial rectangular coordinate system based on the detection distance between the target object and each preset point on the target object, which is detected by the position detection device.
Optionally, a space rectangular coordinate system may be pre-established, an origin position of the space coordinate system is a midpoint of the workpiece dropping opening, an x-axis direction of the space coordinate system is a vertical direction of a discharging direction of the target sorting trolley, a y-axis direction of the space coordinate system is a discharging direction of the target sorting trolley, and a z-axis direction of the space coordinate system is a direction perpendicular to the x-axis and the y-axis.
For example, the position detection device may be a distance detector, and the target object may be a rectangular parallelepiped. The detection distance to each preset point on the target article can be detected based on the distance detector. The preset points can be the vertexes of the cuboid, the central point of the upper surface of the cuboid and the like. Based on the detected detection distance of each preset point, the structural information of the target object in the pre-established spatial rectangular coordinate system can be determined. The structural information includes the coordinates of each vertex of the target item.
S203, determining the actual volume of the target object based on the structural information; it is detected whether the actual volume matches a pre-stored target volume.
Alternatively, based on the structural information, the actual volume of the target item may be determined. For example, when the target object is a rectangular parallelepiped, the length, width and height of the target object can be calculated according to the coordinates of each vertex of the rectangular parallelepiped, and the product of the length, the width and the height is determined as the actual volume of the target object. Further, the target volume of the target article when not placed on the target sorting cart may be pre-stored, compared to the determined actual volume, and a determination may be made as to whether the two match for volume review.
Specifically, when the absolute value of the difference between the actual volume and the target volume is smaller than a preset threshold, determining that the actual volume is matched with the target volume; when the absolute value of the difference between the actual volume and the target volume is greater than or equal to the preset threshold, it is determined that the actual volume does not match the target volume, and further verification is required. It should be noted that the preset threshold includes an error value allowed to occur in the process of detecting the actual volume of the target object.
S204, determining the point-edge distance between the point to be detected and the unloading side edge of the target sorting trolley based on the relative position information.
S205, determining the unloading position of the point to be detected of the target object based on the point side distance, the unloading acceleration, the main line running speed and the acceleration distance, and taking the point to be detected arriving at the unloading position as an unloading condition.
It should be noted that the target sorting trolley moves at a constant speed along the main line in the running direction at the main line running speed, and when the target sorting trolley performs the unloading operation of the articles, the belt moves at an accelerated speed in the unloading direction at the unloading acceleration, and moves at a constant speed at the highest unloading speed after accelerating to the highest unloading speed.
Optionally, when the point-edge distance is smaller than the acceleration distance, it is indicated that after the target sorting trolley controls the target article to perform the unloading operation, the target article always makes an accelerated motion along with the belt of the target sorting trolley, and then falls into the drop port. Determining the unloading position of the point to be detected of the target object based on the point side distance, the unloading acceleration, the main line running speed and the acceleration distance, wherein the method comprises the following steps: determining the unloading distance which needs to be kept between the point to be detected and the quasi-point of the workpiece falling port when the sorting trolley starts unloading based on the main line running speed, the point side distance and the unloading acceleration; and determining the unloading position of the point to be detected based on the unloading distance and the position of the pseudo-point.
Optionally, when the point-edge distance is greater than or equal to the acceleration distance, it is indicated that after the target sorting trolley controls the target article to perform the unloading operation, the target article is accelerated to the highest unloading speed along with the belt of the target sorting trolley, and then the target article moves at a constant speed according to the highest unloading speed to fall into the drop port. Determining the unloading position of the point to be detected of the target object based on the point side distance, the unloading acceleration, the main line running speed and the acceleration distance, wherein the method comprises the following steps: determining the unloading distance which needs to be kept between the point to be detected and the quasi-point of the drop port when the sorting trolley starts unloading based on the main line running speed, the highest unloading speed, the point side distance, the acceleration distance and the unloading acceleration; and determining the unloading position of the point to be detected based on the unloading distance and the position of the pseudo-point.
And S206, controlling the target sorting trolley to unload the target article when the current state of the target article meets the unloading condition.
The embodiment of the invention can realize the volume rechecking of the target object based on the determined structural information of the target object, determines the unloading condition according to the relative position of the target sorting trolley and the target object, ensures that the object can accurately fall into a falling object opening, improves the accuracy of object sorting and avoids falling object errors.
EXAMPLE III
In the above, the embodiment corresponding to the article unloading control method is described in detail, and in order to make the technical solution of the method further clear to those skilled in the art, a specific application scenario is given below.
Fig. 3 is a schematic view of a dropping process for unloading an article according to an embodiment of the present invention; as shown in fig. 3, the vertex of the contact surface between the article and the sorting trolley, which is positioned at the article unloading side, is determined as a point to be detected, the sorting trolley and the article carried by the sorting trolley are transported forwards along with the sorting host at a speed V, and the controller tracks the position of the sorting trolley; when the controller tracks that the sorting trolley carrying the articles arrives under the position detector, if the position detector is a distance detector, the distance detector is started to determine the relative position information of the point to be detected and the sorting trolley according to the detected distance between the distance detector and the articles and the distance between the distance detector and the sorting trolley. If the position detector is an image collector such as a camera, a camera and the like, triggering the camera to take a picture and collecting a photographed image; and virtualizing the relative position information between the to-be-detected point of the article in the image and the sorting trolley through an image algorithm.
And determining the point-edge distance between the point to be detected and the unloading side edge of the target sorting trolley based on the relative position information. And determining the unloading position of the point to be detected of the target object based on the point side distance, the unloading acceleration, the main line speed and the acceleration distance, wherein the distance between the unloading position and the virtual point E of the grid chute is the unloading distance, and is shown as the starting distance X in the figure. And when the current position of the point to be detected is the unloading position, starting the sorting trolley to unload the articles.
Fig. 4 is a schematic diagram of an article unloading control system when the distance detectors are arranged in a linear array according to an embodiment of the present invention, as shown in fig. 4, articles are placed on the sorting cart 100, and for the distance detectors 111 arranged in a linear array, the distance detectors 111 can be counted as J0 to Jn, where n is the number of the distance detectors. The grid runner 120 is connected to the sorting cart 100.
Fig. 5 is a perspective view of an article unloading control system when the distance detector linear arrays are arranged according to an embodiment of the present invention; as shown in fig. 5, the sorting cart 100 and its carried items move with the sorting host machine and the controller tracks their position. The slot 120 is connected to the sorting cart 100. When the sorting trolley 100 does not bear articles, the distance from the distance detector 111 to the upper surface is D; when the controller tracks the moment when the front edge of the sorting trolley 100 reaches the position of the linear array detector, triggering each distance detector 111 to detect, collecting the values of the distance detectors 111, and recording the values as D01-Dn 1 respectively; reading the data at intervals of T, and respectively recording the data as D0 m-Dnm, wherein n and m are positive integers. Until the controller judges that the rear edge of the sorting trolley 100 is out of the detection range of the linear array detector.
Judging the non-D value in the read D01-Dnm; and calculating the length, width and height of the article based on the positions of the points in the coordinate system for which the non-D values are not used, and calculating the actual volume of the article for volume check. And calculating the unloading distance or the unloading position of the point to be detected according to the coordinate position of the article relative to the sorting trolley, and controlling the falling of the article according to the unloading distance or the unloading position.
FIG. 6 is a perspective view of an article unloading control system with a matrix arrangement of distance detectors according to the present embodiment of the invention; as shown in FIG. 6, the distance detectors 111 arranged in a matrix can be counted as J00-Jmn, where m is the number of rows in the matrix and n is the number of columns in the matrix. The grid runner 120 is connected to the sorting cart 100. When the controller tracks that the sorting trolley 100 carrying the articles arrives under the detectors arranged in the matrix, the distance detectors 111 are triggered to detect, the values of the distance detectors 111 are collected, the actual volume of the articles is determined, the coordinate positions of the articles and the sorting trolley 100 are determined, and the unloading distance or the unloading position of the point to be detected is calculated.
Fig. 7 is a schematic diagram of an article unloading control system when the image collector collects position information according to this embodiment. As shown in fig. 7, the image collector 112 photographs the passing sorting cart 100 and collects photographed images. The controller acquires the image acquired by the image acquisition device 112, and virtualizes the structure information of the articles in the image and the position information of the sorting trolley 100 through an image algorithm. And calculating the length, width and height of the article based on the structural information, and calculating the actual volume of the article for volume review. And according to the position of the article relative to the sorting trolley, calculating the unloading distance or the unloading position of the point to be detected of the article, and controlling the sorting trolley 100 to unload the article to the grid sliding groove 120 according to the unloading distance or the unloading position to perform dropping control.
According to the embodiment of the invention, the unloading conditions are determined according to the relative positions of the target sorting trolley and the target articles, and the corresponding unloading conditions can be determined when the placing positions of different articles on the sorting trolley are different, so that the articles can accurately fall into the article falling port, the article sorting accuracy is improved, and the article falling error is avoided.
Example four
The embodiment of the invention also provides an article unloading control system, which comprises a sorting trolley, a controller and a position detection device; the position detection area of the position detection device is an approach area of the sorting trolley and is used for acquiring the relative position information of the to-be-detected point of the article and the sorting trolley when the sorting trolley passes through the position detection area, and the controller is connected with the sorting trolley and the position detection device.
Fig. 8 is a structural diagram of a controller according to an embodiment of the present invention, and as shown in fig. 8, the controller may specifically include:
the information acquiring module 10 is used for acquiring the relative position information between the target sorting trolley and the point to be detected of the target object detected by the position detecting device;
the distance determining module 11 is used for determining the point-edge distance between the point to be detected and the unloading side edge of the target sorting trolley based on the relative position information;
a condition determining module 12, configured to determine an unloading condition for the target sorting trolley to unload the target item based on the point-edge distance and the operation information of the target sorting trolley;
and the control unloading module 13 is used for controlling the target sorting trolley to unload the target object when the current state of the target object meets the unloading condition.
On the basis of any optional implementation scheme of the embodiment of the invention, the running information comprises a main line running speed, unloading acceleration of the target sorting trolley and an acceleration distance required for accelerating to the highest speed; a determine conditions module 12 comprising:
and the position determining unit is used for determining the unloading position of the point to be detected of the target object based on the point side distance, the unloading acceleration, the main line running speed and the acceleration distance, and taking the point to be detected arriving at the unloading position as an unloading condition.
On the basis of any one of the alternative embodiments of the embodiment of the present invention, the location determining unit includes:
the first determining unit is used for determining the unloading distance which needs to be kept between the point to be detected and the virtual point of the drop port when the sorting trolley starts unloading based on the main line running speed, the point side distance and the unloading acceleration when the point side distance is smaller than the acceleration distance; and determining the unloading position of the point to be detected based on the unloading distance and the position of the pseudo-point.
On the basis of any optional implementation of the embodiment of the present invention, the operation information further includes: the highest unloading speed of the target sorting trolley; a determine location unit comprising:
the second determining unit is used for determining the unloading distance which needs to be kept between the point to be detected and the virtual point of the workpiece falling port when the sorting trolley starts unloading based on the main line running speed, the highest unloading speed, the point edge distance, the acceleration distance and the unloading acceleration when the point edge distance is greater than or equal to the acceleration distance; and determining the unloading position of the point to be detected based on the unloading distance and the position of the pseudo-point.
On the basis of any one of the optional embodiments of the embodiment of the present invention, the apparatus further comprises:
the volume determining module is used for determining the structural information of the target object in a pre-established space rectangular coordinate system based on the detection distance between the target object and each preset point on the target object, which is detected by the position detection device; determining an actual volume of the target item based on the structural information; detecting whether the actual volume matches a pre-stored target volume;
the origin position of the space coordinate system is the midpoint of the workpiece falling port, the x-axis direction of the space coordinate system is the vertical direction of the unloading direction of the target sorting trolley, the y-axis direction of the space coordinate system is the unloading direction of the target sorting trolley, and the z-axis direction of the space coordinate system is the direction vertical to the x-axis and the y-axis.
On the basis of any optional implementation scheme of the embodiment of the invention, the target article comprises a hexahedron, and the point to be detected comprises a vertex positioned on the unloading side of the target article on the contact surface of the hexahedron and the target sorting trolley.
On the basis of any optional implementation scheme of the embodiment of the invention, the position detection device comprises a position detector, and the position detector comprises at least one of a distance detector and an image collector.
Fig. 9 is a block diagram of an article unloading control system according to an embodiment of the present invention, as shown in fig. 9, which includes a sorting cart 100 and a position detecting device 110; the position detection area of the position detection device 110 is an access area of the sorting trolley 100, and is used for acquiring the relative position information between the point to be detected of the article and the sorting trolley 100 when the sorting trolley 100 passes through the position detection area.
Illustratively, the position detection device 110 may be mounted directly above the running surface of the sorting cart 100.
In specific implementation, when the sorting trolley passes through a detection area corresponding to the position detection device, the position detection device can acquire the relative position information of the sorting trolley and the articles placed on the sorting trolley. Optionally, the vertical distance between the position detection device and the sorting trolley is greater than the sum of the dead zone distance of the position detection device and the maximum height of the article, so as to ensure that the position detection device can completely detect the positions of the sorting trolley and the article.
Optionally, when the sorting trolley passes under the position detection device, the position detection device detects the relative position information between the point to be detected of the article on the sorting trolley and the sorting trolley. Specifically, a fixed point can be determined on the article as a point to be detected, and the relative position information between the sorting trolley and the sorting trolley is determined according to the position of the point to be detected.
Alternatively, the shape of the article includes a hexahedron, for example, a cube, a rectangular parallelepiped, or the like. The point to be detected comprises a vertex positioned on the article unloading side on the contact surface of the hexahedron and the sorting trolley. Those skilled in the art may also determine other positions of the article as points to be detected according to the shape of the article in practical application, which is not limited in this embodiment.
Fig. 10 is a block diagram of another article unloading control system provided in the present embodiment; as shown in fig. 10, optionally, the position detecting device 110 includes a position detector including at least one of a distance detector and an image collector.
Optionally, the system further includes a main frame, and the position detecting device further includes a fixing device. Alternatively, the position detector is fixed to the main frame by the fixing device. Wherein, the fixing device can be a frame body structure.
Further, the system further comprises: the grid runner 120, the grid runner 120 is connected with the sorting trolley 100. The advantage that sets up like this is that, article on the letter sorting dolly can drop into a department that falls smoothly through the check mouth spout, reduces the risk of article damage. Wherein, the grid sliding groove 120 is detachably fixed on the main frame. The advantage that sets up like this lies in, can link up the main frame in a flexible way and fall a mouthful, increases the utilization ratio of lattice mouth spout, the maintenance of the lattice mouth spout of being convenient for simultaneously. The sorting carts may travel with the main loop. The sorting carriages may be belt conveyors, for example, which unload the articles in a direction perpendicular to the main loop travel. Therefore, the assembly line operation can be realized, and the transport efficiency of the articles is improved.
Specifically, when the position detector is a distance detector, the number of the distance detectors is at least two. Two or more distance detectors are arranged in a linear array or a matrix. Specifically, two or more distance detectors may be randomly distributed or uniformly distributed at a fixed interval. In this embodiment, the specific arrangement of the distance detectors is not limited, as long as it is ensured that the distance detectors can simultaneously measure the disk surface of the whole sorting trolley. For example, the linear array direction of the distance detectors may be perpendicular to the extension direction of the travel path of the sorting trolley.
In particular, a linear array arrangement may be understood as an arrangement of two or more distance detectors along a predetermined line. The preset line can be a straight line or a curve. Specifically, the preset route may be determined according to the loop running direction.
It should be noted that the arrangement manner of the distance sensors may be set according to actual requirements, and is not specifically limited herein. Two or more distance detectors may be arranged regularly or irregularly.
Illustratively, the image collector may include a camera, a video camera, or the like. The image collector is arranged at a position which can mainly collect the global image of the sorting trolley. For example, it can be arranged directly above the running surface of the sorting trolley.
Further, the system further comprises: and in specific implementation, the controller is connected with the sorting trolley and the position detection device. The connection mode may be a wireless connection such as a wireless local area network or bluetooth, or a wired connection mode may also be selected as needed, which is not limited in this embodiment. Optionally, the controller is wirelessly connected to the sorting cart and the position detector. Specifically, the controller, the sorting trolley and the position detection device are correspondingly provided with wireless communication modules. The controller is used for receiving the relative position information of the point to be detected of the object and the sorting trolley sent by the position detector, determining the unloading time of the sorting trolley for unloading the object based on the relative position of the sorting trolley and the point to be detected of the object, and controlling the sorting trolley to carry out unloading operation so as to unload the object to the grid sliding groove.
The article unloading control system provided by the embodiment of the invention can execute the article unloading control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
It should be noted that, in the embodiment of the article unloading control system, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
EXAMPLE five
Fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. FIG. 11 illustrates a block diagram of an exemplary electronic device 20 suitable for use in implementing embodiments of the present invention. The illustrated electronic device 20 is merely an example and should not be used to limit the functionality or scope of embodiments of the present invention.
As shown in fig. 11, the electronic device 20 is in the form of a general purpose computing device. The components of the electronic device 20 may include, but are not limited to: one or more processors or processing units 201, a system memory 202, and a bus 203 that couples the various system components (including the system memory 202 and the processing unit 201).
The system memory 202 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 204 and/or cache memory 205. The electronic device 20 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 206 may be used to read from and write to non-removable, nonvolatile magnetic media. A magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 203 by one or more data media interfaces. Memory 202 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 208 having a set (at least one) of program modules 207 may be stored, for example, in memory 202, such program modules 207 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 207 generally perform the functions and/or methodologies of embodiments of the present invention as described herein.
The electronic device 20 may also communicate with one or more external devices 209 (e.g., keyboard, pointing device, display 210, etc.), with one or more devices that enable a user to interact with the electronic device 20, and/or with any devices (e.g., network card, modem, etc.) that enable the electronic device 20 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 211. Also, the electronic device 20 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 212. As shown, the network adapter 212 communicates with other modules of the electronic device 20 over the bus 203. It should be understood that other hardware and/or software modules may be used in conjunction with electronic device 20, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 201 executes various functional applications and data processing by running a program stored in the system memory 202.
The electronic equipment provided by the invention can realize the following method: acquiring relative position information of a point to be detected of a target object and a target sorting trolley, which is detected by a position detection device; determining the point-edge distance between the point to be detected and the unloading side edge of the target sorting trolley based on the relative position information; determining unloading conditions of the target sorting trolley for unloading the target articles based on the point-edge distance and the running information of the target sorting trolley; and when the current state of the target object meets the unloading condition, controlling the target sorting trolley to unload the target object. The embodiment of the invention ensures that the articles can accurately fall into the article falling port, improves the accuracy of article sorting and avoids article falling errors.
EXAMPLE six
An embodiment of the present invention provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a method of item offload control, the method comprising: acquiring relative position information of a point to be detected of a target object and a target sorting trolley, which is detected by a position detection device; determining the point-edge distance between the point to be detected and the unloading side edge of the target sorting trolley based on the relative position information; determining unloading conditions of the target sorting trolley for unloading the target articles based on the point-edge distance and the running information of the target sorting trolley; and when the current state of the target object meets the unloading condition, controlling the target sorting trolley to unload the target object. The embodiment of the invention ensures that the articles can accurately fall into the article falling port, improves the accuracy of article sorting and avoids article falling errors.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the article unloading control method provided by any embodiment of the present invention.
Computer storage media for embodiments of the present 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. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination 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 the context of 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.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. 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, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, 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 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 type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. 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, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. The article unloading control method is characterized by being applied to an article unloading control system, wherein the article unloading control system comprises a sorting trolley, a controller and a position detection device; the position detection area of the position detection device is the path area of the sorting trolley and is used for acquiring the relative position information of the to-be-detected point of the article and the sorting trolley when the sorting trolley passes through the position detection area, and the controller is connected with the sorting trolley and the position detection device: wherein the article unloading control method is executed by the controller, and includes:
acquiring relative position information of a point to be detected of a target object and a target sorting trolley, which is detected by a position detection device;
determining the point edge distance between the point to be detected and the unloading side edge of the target sorting trolley based on the relative position information;
determining unloading conditions for the target sorting trolley to unload the target articles based on the point-edge distance and the running information of the target sorting trolley;
when the current state of the target object meets the unloading condition, controlling the target sorting trolley to unload the target object;
the running information comprises a main line running speed, the unloading acceleration of the target sorting trolley and an acceleration distance required for accelerating to the highest unloading speed;
the determining the unloading condition of the target sorting trolley for unloading the target goods based on the point-edge distance and the running information of the target sorting trolley comprises the following steps:
determining an unloading position of the point to be detected of the target object based on the point side distance, the unloading acceleration, the main line running speed and the acceleration distance, and taking the point to be detected arriving at the unloading position as the unloading condition;
determining an unloading position of the point to be detected of the target object based on the point side distance, the unloading acceleration, the main line running speed and the acceleration distance, including:
when the point edge distance is smaller than the acceleration distance, determining the unloading distance which needs to be kept between the point to be detected and the quasi-point of the drop port when the sorting trolley starts unloading based on the main line running speed, the point edge distance and the unloading acceleration;
and determining the unloading position of the point to be detected based on the unloading distance and the position of the pseudo-point.
2. The method of claim 1, wherein the operational information further comprises: the maximum unloading speed of the target sorting trolley;
determining an unloading position of the point to be detected of the target object based on the point side distance, the unloading acceleration, the main line running speed and the acceleration distance, including:
when the point edge distance is greater than or equal to the acceleration distance, determining the unloading distance to be kept by the point to be detected and the virtual point of the drop port when the sorting trolley starts unloading based on the main line running speed, the highest unloading speed, the point edge distance, the acceleration distance and the unloading acceleration;
and determining the unloading position of the point to be detected based on the unloading distance and the position of the pseudo-point.
3. The method of claim 1, further comprising:
determining structural information of the target object in a pre-established space rectangular coordinate system based on the detection distance between the target object and each preset point on the target object, which is detected by a position detection device;
determining an actual volume of the target item based on the structural information;
detecting whether the actual volume matches a pre-stored target volume;
the origin position of the space rectangular coordinate system is the midpoint of a workpiece falling port, the x-axis direction of the space rectangular coordinate system is the vertical direction of the unloading direction of the target sorting trolley, the y-axis direction of the space rectangular coordinate system is the unloading direction of the target sorting trolley, and the z-axis direction of the space rectangular coordinate system is the direction vertical to the x-axis and the y-axis.
4. The method according to claim 1, wherein the target article comprises a hexahedron, and the point to be detected comprises a vertex on a contact surface of the hexahedron and the target sorting cart on an unloading side of the target article.
5. The method of claim 1, wherein the position detection device comprises a position detector comprising at least one of a distance detector and an image collector.
6. An article unloading control system is characterized by comprising a sorting trolley, a controller and a position detection device; the position detection area of the position detection device is an access area of the sorting trolley, and is used for acquiring the relative position information between the point to be detected of the article and the sorting trolley when the sorting trolley passes through the position detection area, and the controller is connected with the sorting trolley and the position detection device, wherein the controller comprises:
the information acquisition module is used for acquiring the relative position information between the point to be detected of the target object and the target sorting trolley, which is detected by the position detection device;
the distance determining module is used for determining the point-edge distance between the point to be detected and the unloading side edge of the target sorting trolley based on the relative position information;
a condition determining module, configured to determine, based on the point-edge distance and the operation information of the target sorting cart, an unloading condition under which the target sorting cart unloads the target item;
the control unloading module is used for controlling the target sorting trolley to unload the target object when the current state of the target object meets the unloading condition;
the running information comprises a main line running speed, the unloading acceleration of the target sorting trolley and an acceleration distance required for accelerating to the highest unloading speed; the condition determining module includes:
a determining position unit, configured to determine an unloading position of the point to be detected of the target object based on the point edge distance, the unloading acceleration, the main line running speed, and the acceleration distance, and take the point to be detected reaching the unloading position as the unloading condition;
the position determining unit includes:
the first determining unit is used for determining the unloading distance which needs to be kept between the point to be detected and the virtual entry point of the workpiece falling port when the sorting trolley starts unloading based on the main line running speed, the point side distance and the unloading acceleration when the point side distance is smaller than the acceleration distance; and determining the unloading position of the point to be detected based on the unloading distance and the position of the pseudo-entry point.
7. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the item offload control method of any of claims 1-5.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out an article unloading control method according to any one of claims 1 to 5.
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| CN115159148A (en) * | 2022-07-01 | 2022-10-11 | 上海东邮智能科技有限公司 | Unloading method capable of automatically adjusting unloading position of unloading unit of cross belt sorting equipment |
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| IT1243453B (en) * | 1990-10-17 | 1994-06-10 | Francesco Canziani | SORTING EQUIPMENT AND METHOD FOR CHECKING ITSELF. |
| FR3011537B1 (en) * | 2013-10-08 | 2016-01-01 | Cinetic Sorting S P A | METHOD AND DEVICE FOR BAGGAGE SORTING CAPABLE OF PROCESSING SMALL STABLE PRODUCTS AND IRREGULAR FORMS |
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| CN209061639U (en) * | 2018-08-10 | 2019-07-05 | 泉州市博格森机械科技有限公司 | Multistage weight sorting machine |
| CN209597677U (en) * | 2018-10-10 | 2019-11-08 | 普罗格智芯科技(湖北)有限公司 | A kind of crossed belt type goods sorting system |
| CN111760795B (en) * | 2019-07-16 | 2022-02-01 | 北京京东乾石科技有限公司 | Method and device for sorting goods |
| CN111530758A (en) * | 2020-06-04 | 2020-08-14 | 中邮科技有限责任公司 | Sorting trolley tray unloading device, sorting trolley and sorting system |
| CN113042382B (en) * | 2021-02-08 | 2023-06-16 | 北京迈格威科技有限公司 | Control method, control device, storage medium and sorting system |
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| WO2000032502A1 (en) * | 1998-12-01 | 2000-06-08 | Crisplant A/S | A conveyor/sorter system, a loading conveyor and a control system for such conveyors |
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