CN115435689A - Counterweight method, counterweight system, electronic equipment and medium - Google Patents
Counterweight method, counterweight system, electronic equipment and medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/16—Sorting according to weight
- B07C5/18—Sorting according to weight using a single stationary weighing mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
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Abstract
The invention provides a counterweight method, a counterweight system, electronic equipment and a medium, wherein the method is applied to a server and comprises the following steps: controlling a conveying device to convey an article in a target conveying direction; controlling the detection equipment to scan the articles arriving at the scanning area of the detection equipment one by one to obtain a scanning result; obtaining the scanning result; determining the volume of each article according to the scanning result of each article, and further calculating to obtain the weight of each article; then, according to the weight of each article, determining a target sorting grid of the article, and controlling sorting equipment to sort the article into the target grid; the current total article weight in each sorting bin is monitored, and when the current total article weight reaches a target weight threshold, a packaging prompt for that bin is output. The invention adopts a visual mode to scan the volume of the obtained object so as to determine the weight of the object, thereby realizing the rapid determination of the weight of the object and improving the counterweight efficiency of the object.
Description
Technical Field
The present invention relates to the field of sorting logistics, and in particular, to a method of balancing weight, a system of balancing weight, an electronic device, and a medium.
Background
In the scene of packing and selling articles according to a certain weight of parts, the traditional counterweight method is mainly adopted, namely, each article is weighed by using a weighing device and then distributed. Specifically, the worker manually places the articles on the weighing device and stands still, each article is weighed, and the weight of the article is recorded, so that the method is easy to cause low counterweight working efficiency due to manual weighing; alternatively, the articles are weighed automatically by means of a dynamic weighing system, which is however complex and costly and of limited efficiency.
Therefore, it is necessary to develop a counterweight method to meet the requirement of counterweight articles with low cost and high efficiency.
Disclosure of Invention
In view of the above problems, embodiments of the present invention provide a weighting method, a weighting system, an electronic device, and a medium to overcome or at least partially solve the above problems.
In a first aspect of the embodiments of the present invention, there is provided a counterweight method, applied to a server, including:
controlling the conveying equipment to convey the articles in a target conveying direction, wherein the target conveying direction is a direction of conveying from the area where the detecting equipment is located to the area where the sorting equipment is located;
controlling the detection equipment to scan the articles arriving at the scanning area of the detection equipment one by one to obtain a scanning result;
acquiring a scanning result of the detection equipment on each article;
determining the volume of each article according to the scanning result of each article, and calculating the weight of each article according to the volume of each article;
determining a target sorting grid of each article according to the weight of each article, and controlling the sorting equipment to sort the articles into the target grids;
and monitoring the current total article weight in each sorting grid, and outputting a packaging prompt aiming at the grid when the current total article weight reaches a target weight threshold so as to prompt the packaging of all articles in the grid.
Optionally, the detection device comprises: the device comprises one or more of a 3D camera, a grating sensor, a light curtain sensor and an infrared sensor.
Optionally, the detection device comprises at least: the 3D camera, the 3D camera is installed on support piece, the field of vision scope of 3D camera is the below region of support piece, control check out test set scans one by one the article that reach the scanning region of check out test set, obtains the scanning result, includes:
controlling the 3D camera to shoot the articles reaching the area below the supporting piece one by one to obtain a 3D image of each article;
determining the volume of each item according to the scanning result of the item, comprising:
and determining the estimated volume of the article according to the 3D image of each article, and correcting the estimated volume of the article by using a preset ratio to obtain the volume of the article.
Optionally, the detection device comprises a plurality of 3D cameras, and the shooting angles of the plurality of 3D cameras are different from each other; controlling a detection device to scan the articles arriving at a scanning area of the detection device one by one to obtain a scanning result, comprising:
controlling the plurality of 3D cameras to shoot the articles in the visual field range of the 3D cameras one by one from different shooting visual angles to obtain 3D images of the articles under the plurality of shooting visual angles;
determining the volume of each item according to the scanning result of the item, comprising:
and processing the 3D images of each article under a plurality of shooting visual angles to obtain the volume of the article.
Optionally, the transfer device comprises: the system comprises a piece supply area conveying device, a detection area conveying device arranged in an area where the detection device is located and a sorting area conveying device arranged in an area where the sorting device is located; controlling a conveying device to convey an article in a target conveyance direction, comprising:
controlling the delivery area conveying equipment, the detection area conveying equipment and the sorting area conveying equipment to sequentially convey each article in a target conveying direction;
the plurality of 3D cameras includes: and the 3D cameras are arranged in the left and right side areas of the detection area conveying equipment.
Optionally, the transfer device comprises: the device comprises a piece supply area conveying device, a detection area conveying device arranged on the detection device and a sorting area conveying device arranged on the sorting device; controlling a conveying device to convey an article in a target conveyance direction, comprising:
controlling the piece supply area conveying equipment, the detection area conveying equipment and the sorting area conveying equipment to sequentially convey each article;
the plurality of 3D cameras includes: install in the regional 3D camera of upside of detection zone transfer apparatus, and, install in the regional 3D camera of downside of detection zone transfer apparatus, just the conveyer belt that is used for bearing the weight of article that detection zone transfer apparatus has is transparent material.
Optionally, the sorting apparatus is: one of a sorting shifting sheet, a high-pressure air blowing device and an electric push rod.
Optionally, determining a target sorting bin for each article according to the weight of the article comprises:
matching the weight of the article with the current total article weight of each of the plurality of crates respectively according to a target weight threshold;
and determining the cell with the matching result closest to the target weight threshold value in the plurality of cells as the target sorting cell of the article.
Optionally, the transfer device comprises: the system comprises a piece supply area conveying device, a detection area conveying device arranged in an area where the detection device is located and a sorting area conveying device arranged in an area where the sorting device is located; the photoelectric switches are arranged at the front end and the rear end of the detection area transmission equipment; controlling the detection device to scan the articles arriving at the scanning area of the detection device one by one, including:
when a trigger signal sent by the photoelectric switch is received, the detection device is controlled to scan the articles reaching the scanning area of the detection device one by one, and the trigger signal is generated when the photoelectric switch detects the articles.
Optionally, controlling the detection device to scan the articles arriving at the scanning area of the detection device one by one includes:
and when the trigger signal sent by the timer is received, controlling the detection equipment to scan the articles arriving at the scanning area of the detection equipment one by one, wherein the trigger signal is generated periodically by the timer.
Optionally, the method further comprises:
receiving a stop operation signal sent by an emergency braking device, wherein the stop operation signal is generated when the emergency braking device detects a user operation;
and controlling the conveying equipment to stop article transmission according to the stop operation signal.
Optionally, the conveying apparatus comprises two parallel lines of conveying apparatus, the method further comprising:
and controlling the two conveying equipment lines to work alternately.
A second aspect of the present embodiment provides a counterweight system, including: the system comprises conveying equipment, detecting equipment, sorting equipment, a plurality of sorting grids and a server;
the conveying equipment is used for conveying the articles in a target conveying direction, and the target conveying direction is a direction of conveying the articles to the area where the sorting equipment is located through the area where the detecting equipment is located;
the detection equipment is used for scanning the articles arriving at the scanning area of the detection equipment one by one and sending the scanning result of each article to the server;
the server is used for determining the volume of each article according to the scanning result of the article and calculating the weight of the article according to the volume of the article; determining a target sorting cell of each article according to the weight of each article, and controlling the sorting equipment to sort the articles into the target cell; the server is further used for monitoring the current total article weight in each sorting cell, and when the current total article weight reaches a target weight threshold, outputting a packaging prompt for the cell to prompt packaging of all articles in the cell.
Optionally, the detection device comprises: the device comprises one or more of a 3D camera, a grating sensor, a light curtain sensor and an infrared sensor.
Optionally, the detection device comprises at least: the 3D camera is installed on a support, and the visual field range of the 3D camera is the lower area of the support.
Optionally, the detection device includes a plurality of 3D cameras, and the shooting angles of the plurality of 3D cameras are different from each other.
Optionally, the transfer device comprises: a supply area conveying device, a detection area conveying device and a sorting area conveying device; the delivery area conveying equipment, the detection area conveying equipment and the sorting area conveying equipment sequentially convey each article in a target conveying direction;
the plurality of 3D cameras includes: and the 3D cameras are arranged in the left and right side areas of the detection area conveying equipment.
Optionally, the transfer device comprises: a delivery area conveying device, a detection area conveying device and a sorting area conveying device; the delivery area conveying equipment, the detection area conveying equipment and the sorting area conveying equipment sequentially convey each article in a target conveying direction;
the plurality of 3D cameras includes: install in the regional 3D camera of upside of detection zone transfer apparatus, and, install in the regional 3D camera of downside of detection zone transfer apparatus, just the conveyer belt that is used for bearing the weight of article that detection zone transfer apparatus has is transparent material.
Optionally, the sorting apparatus is: sorting shifting sheet, high pressure air blowing device and electric push rod.
Optionally, the transfer device comprises: the system comprises a piece supply area conveying device, a detection area conveying device arranged in an area where the detection device is located and a sorting area conveying device arranged in an area where the sorting device is located; the counterweight system further includes: a photoelectric switch;
the photoelectric switches are arranged at the front end and the rear end of the detection area conveying equipment and used for sending a trigger signal to the server when an article is detected;
and the server is also used for controlling the detection equipment to scan the articles reaching the scanning area of the detection equipment one by one when receiving the trigger signal.
Optionally, the counterweight system further comprises: a timer for periodically sending the trigger signal to the server; and the server is also used for controlling the detection equipment to scan the articles reaching the scanning area of the detection equipment one by one when receiving the trigger signal.
Optionally, the counterweight system further comprises an emergency braking device, wherein the emergency braking device is used for sending a stop operation signal to the server when the user operation is detected; the server is also used for controlling the conveying equipment to stop article transmission according to the stop operation signal.
The third aspect of the embodiments of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory, where the processor executes the computer program to implement the steps in the weighting method according to the first aspect of the embodiments of the present invention.
The fourth aspect of the embodiments of the present invention also provides a computer-readable storage medium, on which a computer program/instruction is stored, where the computer program/instruction, when executed by a processor, implements the steps in the counterweight method according to the first aspect of the embodiments of the present invention.
The counterweight method provided by the embodiment of the invention is applied to a server, and comprises the following steps: controlling the conveying equipment to convey the articles in a target conveying direction, wherein the target conveying direction is a direction of conveying from the area where the detection equipment is located to the area where the sorting equipment is located; controlling the detection equipment to scan the articles arriving at the scanning area of the detection equipment one by one to obtain a scanning result; acquiring a scanning result of each article by the detection equipment; determining the volume of each article according to the scanning result of the article, and calculating the weight of the article according to the volume of the article; determining a target sorting cell of each article according to the weight of each article, and controlling sorting equipment to sort the articles into the target cell; and monitoring the current total article weight in each sorting grid, and outputting a packaging prompt aiming at the grid when the current total article weight reaches a target weight threshold so as to prompt the packaging of all articles in the grid. According to the embodiment of the invention, the articles are automatically scanned one by one through the detection equipment, so that the volume of each article is obtained by utilizing the machine vision scanning result, and the weight of each article is further calculated, thereby realizing the rapid measurement of the weight of the articles and improving the article counterweight efficiency.
The method has the following specific beneficial effects:
1) The counterweight efficiency is improved. According to the embodiment of the invention, the method that the volume of the article is obtained by using the machine vision scanning result, and then the weight of the article is obtained replaces the traditional method that the article is required to be kept still in a weighing area to determine weight data.
2) The cost is low. Compared with the existing dynamic weighing system with high cost, the embodiment of the invention obtains the volume of the object by visually scanning the object through the detection equipment, and reduces the requirement on the weight measuring equipment, so that equipment with low cost, such as a 3D camera, a light curtain sensor, a grating sensor and the like, can be selected as the detection equipment.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
FIG. 1 is a flow chart illustrating steps of a method for balancing weights according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a scanning process of a light curtain sensor according to an embodiment of the present invention;
FIG. 3 is a schematic cross-sectional view of an article according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a counterweight system according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in which embodiments of the invention are shown. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
An embodiment of the present invention provides a counterweight method, where the method is applied to a server, and referring to fig. 1, fig. 1 is a flowchart illustrating steps of a counterweight method according to an embodiment of the present invention, and as shown in fig. 1, the method includes:
controlling the conveying equipment to convey the articles in a target conveying direction, wherein the target conveying direction is a direction of conveying from the area where the detecting equipment is located to the area where the sorting equipment is located;
controlling the detection equipment to scan the articles arriving at the scanning area of the detection equipment one by one to obtain a scanning result;
acquiring a scanning result of the detection equipment on each article;
determining the volume of each article according to the scanning result of each article, and calculating the weight of each article according to the volume of each article;
determining a target sorting grid of each article according to the weight of each article, and controlling the sorting equipment to sort the articles into the target grids;
and monitoring the current total article weight in each sorting grid, and outputting a packaging prompt aiming at the grid when the current total article weight reaches a target weight threshold so as to prompt the packaging of all articles in the grid.
In this embodiment, the transport device is responsible for the transport of the items. Conveying equipment can be conveyer belt equipment, and is specific, can place the article of waiting to examine heavy on the conveyer belt, has the conveyer belt to transport this article to the region at check out test set place, detects the back, transports to the region at letter sorting equipment place again and sorts. Wherein, the server controls the starting and stopping of the transmission equipment.
After the conveying equipment transmits the articles to the scanning area of the detection equipment, the server controls the detection equipment to scan the articles one by one, and therefore the scanning result of each article is obtained. In order to facilitate the scanning operation of the detection device on the articles, a certain spacing distance is required between the articles on the conveying device, and if the articles are stacked closely, it is difficult to obtain a scanning result of each article individually. Specifically, the articles need to be arranged in a single row with sufficient clearance between each two articles, or after one article passes through the scanning area of the detection device, the transport device can transport the next article through the scanning area.
In one embodiment, the detection apparatus comprises: the device comprises one or more of a 3D camera, a grating sensor, a light curtain sensor and an infrared sensor.
In this embodiment, one or more of a 3D camera, a grating sensor, a light curtain sensor, and an infrared sensor may be used as the detection device. The 3D camera is a digital camera which can enjoy three-dimensional portrait or animation by naked eyes, and can realize three-dimensional data acquisition, so that the depth and the distance of an object can be judged by analyzing the potential difference between the same objects through the acquired 3D image. The grating sensor is a sensor for measuring displacement by adopting a grating-stacked stripe principle. Specifically, the 3D camera shoots the appearance of the article to obtain point cloud information of the upper surface corresponding to the article, then triangulation is performed on the image after a series of corrections such as direction angles and the like are performed on the image, the volume of the triangular prism is calculated by combining height information, and the triangulation is summed up, so that the volumes of the upper surface shot by the camera and the coverage area of the upper surface are obtained. The light curtain sensor refers to detection light generated by the light curtain emitter, and generates a light array at a fixed interval along the length direction to form a 'light curtain'. Referring to fig. 2, fig. 2 is a schematic view showing a scanning process of a light curtain sensor, as shown in fig. 2, the light curtain sensor is installed at both sides of a conveying line, and when an object passes through the light curtain sensor on the conveying line, shape data is collected in a scanning manner, so as to realize the functions of detecting and measuring the shape and size of the object.
And determining the volume of each article according to the scanning result of each article, and calculating the weight of each article according to the volume of each article. After the scanning equipment scans the article to obtain a scanning result, the scanning result is sent to the server, the server analyzes and calculates the scanning result to obtain the volume of the article, and further the weight of the article is obtained. Specifically, after the volume of the article is obtained according to the scanning result, the volume may be multiplied by a preset density, so as to calculate the weight of the article. In this embodiment, the preset density may be an average density of the to-be-processed item items tested in advance and stored in the server in advance. Thus, the present embodiment employs a visual approach to make weight estimates by taking volumetric measurements of a relatively uniform density target. Therefore, the weighting method provided by the embodiment is more suitable for objects with relatively smooth appearance and uniform texture (density), such as roots in fruits and vegetables, potatoes, tomatoes, carrots and the like. It can be known that each batch of conveyor needs to be a single item when conveying items, so that the server can directly determine the corresponding density value when performing weight calculation. If the variety of the article in the midway is changed, the article needs to be reset in the server, the density corresponding to the variety is determined, and the weight calculation error is avoided.
And determining a target sorting grid of each article according to the weight of each article, and controlling the sorting equipment to sort the articles into the target grids. The counterweight method is to pack a plurality of articles with different weights, so that the weight of each parcel is consistent. Illustratively, tomatoes are different in size, 500 grams for the large tomatoes and 100 grams for the small tomatoes, and are packaged by the weighting method, so that the total weight of the tomatoes in each package is 1000 grams. In this embodiment, there are a plurality of sorting bays, and the server controls the sorting apparatus to sort the articles into the corresponding bays according to the weight of the articles.
In one embodiment, determining a target sorting bin for each item based on the weight of the item includes:
matching the weight of the article with the current total article weight of each of the plurality of crates respectively according to a target weight threshold;
and determining the grid with the matching result closest to the target weight threshold value in the plurality of grids as the target sorting grid of the article.
In this embodiment, after the server has determined the weight of the item, the weight of the item is matched to the current total item weight already stored in each bin, and the bin with the matching result closest to the target weight threshold is determined and taken as the target sorting bin. Wherein the target weight threshold represents the total weight of each package ultimately obtained by the weighting method. Illustratively, if tomatoes are required to be dispensed and weighted into 1000 grams per package, a target weight threshold and 1000 grams are set, and a tomato weight of 200 grams and three existing cells are measured, wherein 400 grams of tomatoes exist in a cell a, 500 grams of tomatoes exist in a cell B, and 700 grams of tomatoes exist in a cell C, then a matching result of 900 grams and 1000 grams closest to the target weight threshold can be calculated after the tomatoes are placed in the cell C. Therefore, bin C is determined as the target sorting bin. In addition, when each sorting bin is empty initially, an article is sorted into each bin directly according to the arranging sequence of the bins until no bin exists.
And monitoring the current total article weight in each sorting grid, and outputting a packaging prompt aiming at the grid when the current total article weight reaches a target weight threshold so as to prompt the packaging of all articles in the grid. In this embodiment, each time sorting is completed, the total weight of the article in each cell is updated, and when it is detected that the total weight of the article in each cell reaches the target weight threshold, the server outputs a packing prompt for the cell, where the packing prompt includes a cell number and the total weight of the article in the cell. Therefore, the staff can be prompted to pack all the articles in the lattice. Alternatively, an automated packing device may be used to pack all of the items in the compartment into one package.
In one embodiment, the sorting apparatus is: sorting shifting sheet, high pressure air blowing device and electric push rod.
Specifically, one side of the conveying equipment is provided with a plurality of sorting grids, the other side of the conveying equipment is provided with sorting equipment, and after the target sorting grid is determined, the conveying equipment is used for conveying the article to a position corresponding to an inlet of the target sorting grid, and then the sorting equipment is controlled to sort the article into the grid. Illustratively, the conveying equipment is a conveying belt, the sorting equipment is a sorting shifting piece, the sorting shifting piece is vertically arranged on the left side of the conveying belt, a row of sorting grids are arranged on the right side of the conveying belt, and after the 3 rd grid is determined to be the target sorting grid, when the article is conveyed to the position of the 3 rd grid on the conveying belt, the sorting shifting piece is shifted to the right, so that the article moves to the right and then falls into the target sorting grid. If change letter sorting equipment for high-pressure gas blowing device or electric putter, its principle is unanimous, namely, when article were transported the entry position that target letter sorting bin corresponds, sorting device made article take place the ascending displacement of horizontal direction to can directly fall into in the target letter sorting bin.
According to the embodiment of the invention, the articles to be detected are transmitted to the scanning area of the detection equipment through the transmission equipment, so that the detection equipment scans the articles one by one, the volume of each article is obtained by utilizing the machine vision scanning result, and the weight of each article is calculated, thereby realizing the rapid determination of the weight of the articles. Compared with a static weighing method, the method improves the weighing efficiency, and saves the equipment cost compared with a high-price dynamic weighing system.
In one embodiment, the detection device comprises at least: the 3D camera, the 3D camera is installed on support piece, the field of vision scope of 3D camera is the below region of support piece, control check out test set scans one by one the article that reach the scanning region of check out test set, obtains the scanning result, includes:
controlling the 3D camera to shoot the articles reaching the area below the supporting piece one by one to obtain a 3D image of each article;
determining the volume of each item according to the scanning result of the item, comprising:
and determining the estimated volume of the article according to the 3D image of each article, and correcting the estimated volume of the article by using a preset ratio to obtain the volume of the article.
In this embodiment, the 3D camera is used as the detection device, the 3D camera can be mounted on the support member with the camera of the 3D camera facing downward, so that when shooting, the lower area of the support member is the visual field of the 3D camera, and the conveying device can convey the objects through the lower area of the support member one by one. After the object is conveyed to the area below the support, the server controls the 3D camera to shoot, and then a 3D image of each object passing through the area can be obtained. The server can analyze and calculate to obtain the estimated volume of each article according to the received 3D image of each article. The estimated volume is a volume calculated from the 3D image. However, there is still a difference between the estimated volume obtained from the 3D image alone and the real volume of the item. Exemplarily, referring to fig. 3, fig. 3 shows a schematic cross-sectional view of an article, as shown in fig. 3, wherein an ellipse represents a real volume of an object, and a 3D camera is mounted on a support frame for taking a downward shot, and a resulting 3D image can only shoot an upper surface of the object and all areas covered by the object, but the surface of the article has an excessive circular arc, and inevitably a part of the surface of the article cannot be shot by the 3D camera, i.e. a dotted part. The estimated volume derived from the 3D image is the sum of the elliptical object volume in fig. 3 plus the volume of the dashed area. The estimated volume of the object is not equal to the real volume. After the server calculates the estimated volume according to the acquired 3D image, it also needs to correct the estimated volume, that is, multiply by a preset ratio to obtain the final volume of the article. The preset ratio is a pre-calculated fixed value and is stored in the server.
The method for determining the preset ratio comprises the following steps: selecting a plurality of articles of the same type as samples, acquiring the estimated volume of each sample obtained by shooting through a 3D camera, acquiring the real volume of each sample measured through a drainage method, and subtracting the real volume from the estimated volume to obtain the error volume corresponding to the dotted line area. And determining the ratio of the error volume to the real volume of each sample article, and obtaining an average value by utilizing multiple groups of ratios to obtain an error ratio. The difference between 1 and the error ratio is taken as the preset ratio. The specific calculation formula is as follows:
true volume = error volume of dotted line part measured by estimated volume-displacement method photographed by 3D camera
Multiple average (error volume in dotted line/true volume measured by drainage) = error ratio
1-error ratio = preset ratio
The estimated volume and preset ratio and density = the weight of the target to be measured shot by the 3D camera
In one embodiment, the detection device comprises a plurality of 3D cameras, the shooting angles of the plurality of 3D cameras being different from each other; controlling the detection equipment to scan the articles arriving at the scanning area of the detection equipment one by one to obtain a scanning result, wherein the scanning result comprises the following steps:
controlling the plurality of 3D cameras to shoot the articles within the visual field range of the cameras one by one from different shooting visual angles to obtain 3D images of the articles under the plurality of shooting visual angles;
determining the volume of each item according to the scanning result of the item, comprising:
and processing the 3D images of each article under a plurality of shooting visual angles to obtain the volume of the article.
Since only one 3D camera is used for shooting, it is easy to shoot an image of only one side of the object, which may result in inaccurate volume data of the object. In this embodiment, the object may be photographed by a plurality of 3D cameras at the same time, and the photographing position of each 3D camera may be made different, thereby photographing a plurality of orientations of the object. The 3D image captured by each 3D camera and the associated data are then fitted to obtain a more accurate volume of the object.
In one embodiment, the transfer device comprises: the system comprises a piece supply area conveying device, a detection area conveying device arranged in an area where the detection device is located and a sorting area conveying device arranged in an area where the sorting device is located; controlling a conveying device to convey an article in a target conveyance direction, comprising:
controlling the delivery area conveying equipment, the detection area conveying equipment and the sorting area conveying equipment to sequentially convey each article in a target conveying direction;
the plurality of 3D cameras includes: and the 3D cameras are arranged in the left and right side areas of the detection area conveying equipment.
In this embodiment, the conveying device includes a delivery area conveying device, a detection area conveying device disposed in an area where the detection device is located, and a sorting area conveying device disposed in an area where the sorting device is located. In this embodiment, the left and right sides of the detection area are respectively provided with the 3D cameras, so that after the detection area conveying device transmits the article to the detection area, the 3D cameras on the two sides can shoot the article at the same time, so as to obtain 3D images of the left and right sides of the article, and fit the data of the two 3D images, so that accurate and complete volume data of the article can be obtained. After the detection is finished, the detection area conveying equipment conveys the article to the sorting area conveying equipment, and the sorting equipment in the sorting area sorts the article into the corresponding target sorting grid.
In one embodiment, the transfer device comprises: the device comprises a piece supply area conveying device, a detection area conveying device arranged on the detection device and a sorting area conveying device arranged on the sorting device; controlling a conveying device to convey an article in a target conveyance direction, comprising:
controlling the piece supply area conveying equipment, the detection area conveying equipment and the sorting area conveying equipment to sequentially convey each article;
the plurality of 3D cameras includes: install in the regional 3D camera of upside of detection zone transfer apparatus, and, install in the regional 3D camera of downside of detection zone transfer apparatus, just the conveyer belt that is used for bearing the weight of article that detection zone transfer apparatus has is transparent material.
In this embodiment, the conveying devices are divided into a component supply area conveying device, a detection area conveying device and a sorting area conveying device, and the conveying devices may be conveyor belts, whereby three conveyor belts in different working areas are divided, and each conveyor belt may be operated individually. When the detection device is disposed, it may be disposed in an upper and lower direction of the detection area. Can install the 3D camera in the conveyer belt top through set up support frame or portal frame on the conveyer belt, and the camera is down, and simultaneously, another 3D camera setting is in the below of conveyer belt, and the camera is up. In order to enable the 3D camera below the conveyor belt to photograph the objects on the conveyor belt, the conveyor belt in the area needs to be made of a transparent material. Therefore, after the object is conveyed to the visual field range of the 3D camera of the detection area, the 3D camera shoots and obtains 3D images of the object in the upper direction and the lower direction. After the server receives the 3D image, the 3D image data of the two directions are fitted, so that the accurate volume data of the object can be obtained, and the problem that the volume data of the obtained object is not accurate due to the fact that the object is shot from only one direction and visual dead angles are easily generated is solved.
In one embodiment, the transfer device comprises: the system comprises a piece supply area conveying device, a detection area conveying device arranged in an area where the detection device is located and a sorting area conveying device arranged in an area where the sorting device is located; the photoelectric switches are arranged at the front end and the rear end of the detection area transmission equipment; controlling the detection device to scan the articles arriving at the scanning area of the detection device one by one, including:
when a trigger signal sent by the photoelectric switch is received, the detection equipment is controlled to scan the articles reaching the scanning area of the detection equipment one by one, and the trigger signal is generated when the photoelectric switch detects the articles.
In this embodiment, set up photoelectric switch at detection zone transfer apparatus's front end and rear end, this photoelectric switch one end is the excitation end, and the other end is the receiving terminal, forms the response light beam, and from this, when article were transported to detection zone transfer apparatus on, photoelectric switch can be triggered to generate trigger signal and send to the server, control detection equipment according to set out signal by the server and begin to scan article, realized from this that control detection equipment carries out the automatic scanning to the article that reachs the scanning area.
In one embodiment, controlling the detection device to scan items arriving at a scanning area of the detection device on a case-by-case basis comprises:
and when the trigger signal sent by the timer is received, controlling the detection equipment to scan the articles arriving at the scanning area of the detection equipment one by one, wherein the trigger signal is generated periodically by the timer.
In this embodiment, a timer is installed on the detection device, so that the timer periodically generates a trigger signal, and after the server receives the trigger signal, the detection device is controlled to perform scanning detection, thereby implementing automatic scanning of the article reaching the scanning area by controlling the detection device at regular intervals.
In one embodiment, the method further comprises:
receiving a stop operation signal sent by an emergency braking device, wherein the stop operation signal is generated when the emergency braking device detects a user operation;
and controlling the conveying equipment to stop article transmission according to the stop operation signal.
In this embodiment, an emergency braking device may be disposed at a position where a worker can conveniently operate, and the emergency braking device may be an emergency braking button or a hand valve, so that when any accident occurs in the counterweight process, the emergency braking device may be manually triggered to send stop operation information to the server, so that the server controls the conveying device to stop article transmission according to the stop operation signal. The effect of emergency braking is achieved.
In one embodiment, the conveying apparatus comprises two parallel lines of conveying apparatus, the method further comprising:
and controlling the two conveying equipment lines to work alternately.
In this embodiment, the conveying device may be two lines of conveying devices working alternately. That is, when one conveyor line is conveying articles, the other conveyor line is in a stopped state, and in the stopped state, a worker can stack articles in a single row on the conveyor line in the sorting area. Exemplarily, referring to fig. 4, fig. 4 shows a schematic structural diagram of a counterweight system, as shown in fig. 4, the conveying device is two parallel conveying equipment lines, each conveying line is divided into three conveying lines, a workpiece supply area conveying line (conveying lines 1 and 4), a detection area conveying line (conveying lines 2 and 5) and a sorting area conveying line (conveying lines 3 and 6), the conveying lines are operated by a worker on an operation platform of the workpiece supply area, articles are stacked in a single row on the workpiece supply area conveying line, the articles are conveyed to the detection area after being stacked and then scanned and detected by the detection device, a 3D camera is used as the detection device in fig. 4, the 3D camera is installed on the portal frame, the articles conveyed by the 3D camera are downward and downward, and thus a 3D image is acquired. And finally, transporting the articles to a sorting area to be sorted by sorting equipment, and after the articles are transported to the corresponding positions of the target sorting grids, shifting the articles by left and right sorting shifting pieces to enable the articles to shift horizontally, so that the articles fall into the target sorting grids to finish sorting. In the process, when one conveying line works, the other conveying line is in a stop state, so that the workers can put articles on the operating platform conveniently, the two conveying equipment lines can work alternately, the time is saved, and the working efficiency is improved.
The present invention also provides a counterweight system, the system comprising: the system comprises conveying equipment, detecting equipment, sorting equipment, a plurality of sorting grids and a server;
the conveying equipment is used for conveying the articles in a target conveying direction, and the target conveying direction is a direction of conveying the articles to the area where the sorting equipment is located through the area where the detecting equipment is located;
the detection equipment is used for scanning the articles arriving at the scanning area of the detection equipment one by one and sending the scanning result of each article to the server;
the server is used for determining the volume of each article according to the scanning result of the article and calculating the weight of the article according to the volume of the article; determining a target sorting cell of each article according to the weight of each article, and controlling the sorting equipment to sort the articles into the target cell; the server is further used for monitoring the current total article weight in each sorting cell, and when the current total article weight reaches a target weight threshold, outputting a packaging prompt for the cell to prompt packaging of all articles in the cell.
In one embodiment, the detection apparatus comprises: the device comprises one or more of a 3D camera, a grating sensor, a light curtain sensor and an infrared sensor.
In one embodiment, the detection device comprises at least: the 3D camera is installed on the support, and the visual field range of the 3D camera is the lower area of the support.
In one embodiment, the detection device includes a plurality of 3D cameras, and the photographing angles of view of the plurality of 3D cameras are different from each other.
In one embodiment, the transfer device comprises: a supply area conveying device, a detection area conveying device and a sorting area conveying device; the delivery area conveying equipment, the detection area conveying equipment and the sorting area conveying equipment sequentially convey each article in a target conveying direction;
the plurality of 3D cameras includes: and the 3D cameras are arranged in the left and right side areas of the detection area conveying equipment.
In one embodiment, the transfer device comprises: a supply area conveying device, a detection area conveying device and a sorting area conveying device; the delivery area conveying equipment, the detection area conveying equipment and the sorting area conveying equipment sequentially convey each article in a target conveying direction;
the plurality of 3D cameras includes: install in the regional 3D camera of upside of detection zone transfer apparatus, and, install in the regional 3D camera of downside of detection zone transfer apparatus, just the conveyer belt that is used for bearing the weight of article that detection zone transfer apparatus has is transparent material.
In one embodiment, the sorting apparatus is: one of a sorting shifting sheet, a high-pressure air blowing device and an electric push rod.
In one embodiment, the transmission apparatus comprises: the system comprises a piece supply area conveying device, a detection area conveying device arranged in an area where the detection device is located and a sorting area conveying device arranged in an area where the sorting device is located; the counterweight system further includes: a photoelectric switch;
the photoelectric switches are arranged at the front end and the rear end of the detection area conveying equipment and used for sending a trigger signal to the server when an article is detected;
and the server is also used for controlling the detection equipment to scan the articles reaching the scanning area of the detection equipment one by one when receiving the trigger signal.
In one embodiment, the counterweight system further comprises: a timer for periodically sending the trigger signal to the server; and the server is also used for controlling the detection equipment to scan the articles reaching the scanning area of the detection equipment one by one when receiving the trigger signal.
In one embodiment, the counterweight system further comprises an emergency braking device for sending a stop operation signal to the server upon detection of a user operation; the server is also used for controlling the conveying equipment to stop article transmission according to the stop operation signal.
An embodiment of the present invention further provides an electronic device, and referring to fig. 5, fig. 5 is a schematic diagram of the electronic device provided in the embodiment of the present application. As shown in fig. 5, the electronic device 100 includes: the memory 110 and the processor 120 are connected in a communication manner through a bus, and the memory 110 and the processor 120 store a computer program, which can be executed on the processor 120, so as to implement the steps in the weighting method disclosed in the embodiment of the present application.
Embodiments of the present application also provide a computer readable storage medium, on which a computer program/instructions are stored, which when executed by a processor implement the steps in a counterweight method as disclosed in embodiments of the present application.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus, electronic devices and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the true scope of the embodiments of the present invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "include", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such process, method, article, or terminal device. Without further limitation, an element defined by the phrases "comprising one of \ 8230; \8230;" does not exclude the presence of additional like elements in a process, method, article, or terminal device that comprises the element.
The counterweight method, counterweight system, electronic device and medium provided by the present invention are described in detail above, and the principle and the implementation of the present invention are explained in the present document by applying specific examples, and the description of the above examples is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (24)
1. A weighting method is applied to a server and comprises the following steps:
controlling the conveying equipment to convey the articles in a target conveying direction, wherein the target conveying direction is a direction of conveying from the area where the detecting equipment is located to the area where the sorting equipment is located;
controlling the detection equipment to scan the articles arriving at the scanning area of the detection equipment one by one to obtain a scanning result;
acquiring a scanning result of the detection equipment on each article;
determining the volume of each article according to the scanning result of each article, and calculating the weight of each article according to the volume of each article;
determining a target sorting grid of each article according to the weight of each article, and controlling the sorting equipment to sort the articles into the target grids;
and monitoring the current total article weight in each sorting grid, and outputting a packaging prompt aiming at the grid when the current total article weight reaches a target weight threshold so as to prompt the packaging of all articles in the grid.
2. The counterweight method of claim 1 wherein said detection apparatus comprises: the device comprises one or more of a 3D camera, a grating sensor, a light curtain sensor and an infrared sensor.
3. A method according to claim 1 or 2, wherein the detection device comprises at least: the 3D camera, the 3D camera is installed on support piece, the field of vision scope of 3D camera does the below region of support piece controls check out test set is to reacing check out test set's scanning region's article scan one by one, obtains the scanning result, includes:
controlling the 3D camera to shoot the articles reaching the area below the supporting piece one by one to obtain a 3D image of each article;
determining the volume of each item according to the scanning result of the item, comprising:
and determining the estimated volume of the article according to the 3D image of each article, and correcting the estimated volume of the article by using a preset ratio to obtain the volume of the article.
4. The weighting method according to claim 1 or 2, wherein the detection apparatus includes a plurality of 3D cameras, and shooting angles of the plurality of 3D cameras are different from each other; controlling the detection equipment to scan the articles arriving at the scanning area of the detection equipment one by one to obtain a scanning result, wherein the scanning result comprises the following steps:
controlling the plurality of 3D cameras to shoot the articles in the visual field range of the 3D cameras one by one from different shooting visual angles to obtain 3D images of the articles under the plurality of shooting visual angles;
determining the volume of each item according to the scanning result of the item, comprising:
and processing the 3D images of each article under a plurality of shooting visual angles to obtain the volume of the article.
5. The counterweight method of claim 4 wherein said transfer apparatus comprises: the system comprises a piece supply area conveying device, a detection area conveying device arranged in an area where the detection device is located and a sorting area conveying device arranged in an area where the sorting device is located; controlling a conveying device to convey an article in a target conveyance direction, comprising:
controlling the delivery area conveying equipment, the detection area conveying equipment and the sorting area conveying equipment to sequentially convey each article in a target conveying direction;
the plurality of 3D cameras includes: and the 3D cameras are arranged in the left and right side areas of the detection area conveying equipment.
6. The method of claim 4, wherein the transfer apparatus comprises: the device comprises a piece supply area conveying device, a detection area conveying device arranged on the detection device and a sorting area conveying device arranged on the sorting device; controlling a conveying device to convey an article in a target conveyance direction, comprising:
controlling the piece supply area conveying equipment, the detection area conveying equipment and the sorting area conveying equipment to sequentially convey each article;
the plurality of 3D cameras includes: install in the regional 3D camera of upside of detection zone transfer apparatus, and, install in the regional 3D camera of downside of detection zone transfer apparatus, just the conveyer belt that is used for bearing the weight of article that detection zone transfer apparatus has is transparent material.
7. The counterweight method according to any one of claims 1 to 6, characterized in that said sorting apparatus is: sorting shifting sheet, high pressure air blowing device and electric push rod.
8. The method of any of claims 1-7, wherein determining a target sorting bin for each article based on the weight of the article comprises:
matching the weight of the article with the current total article weight of each of the plurality of crates respectively according to a target weight threshold;
and determining the grid with the matching result closest to the target weight threshold value in the plurality of grids as the target sorting grid of the article.
9. The counterweight method of any of claims 1-8 wherein said transfer apparatus comprises: the system comprises a piece supply area conveying device, a detection area conveying device arranged in an area where the detection device is located and a sorting area conveying device arranged in an area where the sorting device is located; the photoelectric switches are arranged at the front end and the rear end of the detection area transmission equipment; controlling the detection device to scan the articles arriving at the scanning area of the detection device one by one, including:
when a trigger signal sent by the photoelectric switch is received, the detection device is controlled to scan the articles reaching the scanning area of the detection device one by one, and the trigger signal is generated when the photoelectric switch detects the articles.
10. The method of any of claims 1-8, wherein controlling the inspection device to scan items arriving at a scanning area of the inspection device on a case-by-case basis comprises:
and when the trigger signal sent by the timer is received, controlling the detection equipment to scan the articles arriving at the scanning area of the detection equipment one by one, wherein the trigger signal is generated periodically by the timer.
11. The method of any of claims 1-10, further comprising:
receiving a stop operation signal sent by an emergency braking device, wherein the stop operation signal is generated when the emergency braking device detects a user operation;
and controlling the conveying equipment to stop article transmission according to the stop operation signal.
12.1-11, wherein the transfer apparatus comprises two parallel lines of conveying apparatus, the method further comprising:
and controlling the two conveying equipment lines to work alternately.
13. A counterweight system, said system comprising: the system comprises conveying equipment, detecting equipment, sorting equipment, a plurality of sorting grids and a server;
the conveying equipment is used for conveying the articles in a target conveying direction, and the target conveying direction is a direction of conveying the articles to the area where the sorting equipment is located through the area where the detecting equipment is located;
the detection equipment is used for scanning the articles arriving at the scanning area of the detection equipment one by one and sending the scanning result of each article to the server;
the server is used for determining the volume of each article according to the scanning result of each article, and calculating the weight of each article according to the volume of each article; determining a target sorting grid of each article according to the weight of each article, and controlling the sorting equipment to sort the articles into the target grids; the server is further used for monitoring the current total article weight in each sorting grid, and when the current total article weight reaches a target weight threshold value, outputting a packaging prompt for the grid to prompt packaging of all articles in the grid.
14. The counterweight system of claim 13 wherein said detection apparatus comprises: the device comprises one or more of a 3D camera, a grating sensor, a light curtain sensor and an infrared sensor.
15. A counterweight system according to claim 13 or 14, characterized in that said detection device comprises at least: the 3D camera is installed on a support, and the visual field range of the 3D camera is the lower area of the support.
16. The counterweight system according to claim 13 or 14, wherein said detection device comprises a plurality of 3D cameras, said plurality of 3D cameras having different shooting angles from each other.
17. The counterweight system of claim 16, wherein the transfer apparatus comprises: a delivery area conveying device, a detection area conveying device and a sorting area conveying device; the delivery area conveying equipment, the detection area conveying equipment and the sorting area conveying equipment sequentially convey each article in a target conveying direction;
the plurality of 3D cameras includes: and the 3D cameras are arranged in the left and right side areas of the detection area conveying equipment.
18. The counterweight system of claim 16, wherein the transfer apparatus comprises: a delivery area conveying device, a detection area conveying device and a sorting area conveying device; the delivery area conveying equipment, the detection area conveying equipment and the sorting area conveying equipment sequentially convey each article in a target conveying direction;
the plurality of 3D cameras includes: install in the regional 3D camera of the upside of detection zone conveying equipment, and, install in the regional 3D camera of the downside of detection zone conveying equipment, just the conveyer belt that is used for bearing the weight of article that detection zone conveying equipment has is transparent material.
19. The counterweight system of any one of claims 13-18 wherein said sorting apparatus is: one of a sorting shifting sheet, a high-pressure air blowing device and an electric push rod.
20. The counterweight system of any of claims 13-19, wherein the transfer apparatus comprises: the system comprises a piece supply area conveying device, a detection area conveying device arranged in an area where the detection device is located and a sorting area conveying device arranged in an area where the sorting device is located; the counterweight system further includes: a photoelectric switch;
the photoelectric switches are arranged at the front end and the rear end of the detection area transmission equipment and used for sending a trigger signal to the server when an article is detected;
and the server is also used for controlling the detection equipment to scan the articles reaching the scanning area of the detection equipment one by one when receiving the trigger signal.
21. The counterweight system of any of claims 13-19, further comprising: a timer for periodically sending the trigger signal to the server; and the server is also used for controlling the detection equipment to scan the articles reaching the scanning area of the detection equipment one by one when receiving the trigger signal.
22. The counterweight system of any one of claims 13-21 further comprising an emergency brake for sending a stop operation signal to the server upon detection of a user operation; the server is also used for controlling the conveying equipment to stop article transmission according to the stop operation signal.
23. An electronic device comprising a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to implement the steps in the weighting method according to any one of claims 1 to 12.
24. A computer readable storage medium having stored thereon a computer program/instructions, wherein the computer program/instructions, when executed by a processor, implement the steps in the balancing method of any one of claims 1 to 12.
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| CN202210975977.XA CN115435689A (en) | 2022-08-15 | 2022-08-15 | Counterweight method, counterweight system, electronic equipment and medium |
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| CN202210975977.XA CN115435689A (en) | 2022-08-15 | 2022-08-15 | Counterweight method, counterweight system, electronic equipment and medium |
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