CN116174342A - Board sorting and packaging method, terminal and board production line - Google Patents

Board sorting and packaging method, terminal and board production line Download PDF

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Publication number
CN116174342A
CN116174342A CN202310453962.1A CN202310453962A CN116174342A CN 116174342 A CN116174342 A CN 116174342A CN 202310453962 A CN202310453962 A CN 202310453962A CN 116174342 A CN116174342 A CN 116174342A
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target
plate
sorting
plates
image
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CN202310453962.1A
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CN116174342B (en
Inventor
张岩松
陶新杨
曾桥
柯明波
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Guangzhou Mesedge System Technology Co ltd
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Guangzhou Mesedge System Technology Co ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00Automatic control, checking, warning, or safety devices
    • B65B57/10Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/34Sorting according to other particular properties
    • B07C5/3412Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/361Processing or control devices therefor, e.g. escort memory
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/38Collecting or arranging articles in groups
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00Automatic control, checking, warning, or safety devices

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention provides a plate sorting and packaging method, a terminal and a plate production line, wherein the plate sorting and packaging method comprises the following steps: when the drilled plates pass through the scanner, a target batch number is extracted from plate information of the selected plates, when the fact that the plates of the target batch number are not subjected to packaging analysis is judged, all the plates of the target batch number are subjected to simulation packaging according to a preset packaging algorithm, a packaging scheme is output, when the plates are determined to be the first plates to enter a sorting channel in a target package according to the packaging scheme, the plates are conveyed to the target sorting channel with the minimum congestion degree, an idle target sorting robot is controlled to sort the plates on the target sorting channel to a designated area in a three-dimensional warehouse, and when all the plates of the target package are determined to be placed in the designated area, a boxing device is controlled to carry out lower frame boxing on all the plates of the target package, so that the plates are finely classified and monitored, and normal operation of a sorting packaging procedure is ensured.

Description

Board sorting and packaging method, terminal and board production line
Technical Field
The invention relates to the technical field of plate sorting and packaging, in particular to a plate sorting and packaging method, a terminal and a plate production line.
Background
In the panel processing industry, letter sorting packing is the essential process, and traditional panel letter sorting packing mode does not realize the reasonable call to letter sorting robot to and to panel's fine classification and control, consequently lead to the fact letter sorting passageway to block up in letter sorting in-process easily, and the problem of packing mistake appears in the packing in-process.
In the technical scheme of application number CN 202110774550.9, although the dynamic cache algorithm realizes the dynamic cache and output of the plates and improves the plate sorting efficiency, reasonable calling of a sorting robot and refined sorting and monitoring of the plates are not realized, and the plate sorting and packaging effects are poor.
Disclosure of Invention
The invention provides a plate sorting and packaging method, a terminal and a plate production line, which are used for realizing reasonable calling of a sorting robot, fine sorting and monitoring of plates and avoiding the problems of sorting channel congestion in the plate sorting process and packaging errors in the packaging process.
In order to solve the problems, the invention adopts the following technical scheme:
the invention provides a plate sorting and packing method, which is applied to a control system on a plate production line, wherein the plate production line also comprises a scanner, a sorting robot, a buffer storage rack and a boxing device, the scanner, the sorting robot and the boxing device are respectively and electrically connected with the control system, the buffer storage rack is used for temporarily storing plates, the sorting robot is used for sorting the plates according to a sorting program issued by the control system, and the boxing device is used for boxing the plates, wherein the plate sorting and packing method comprises the following steps:
After the drilled plate passes through a scanner, receiving bar code information corresponding to the plate, which is obtained by the scanner by scanning a bar code stuck on the plate, and inquiring the plate information of the plate according to the bar code information; the plate information comprises the size, shape, weight, material, drilling information and the batch number of the plate, wherein the drilling information comprises the number of drilling holes, hole patterns, hole diameters, hole positions and hole depths;
extracting a target batch number from the plate information of the plates, judging whether the plates with the target batch number are subjected to packaging analysis, if not, carrying out simulation packaging on all the plates with the target batch number according to a preset packaging algorithm, judging whether a simulation packaging result reaches a preset packaging target, and outputting a packaging scheme when the situation that the packaging target is reached is confirmed; the packing scheme comprises the number of packages and target packages in which all plates are put, and the packing targets comprise the minimum number of cartons required for packing or the minimum packing cost;
judging whether the plate is a first plate to enter a sorting channel in the target package according to the package grouping scheme, if so, analyzing the congestion degree of each sorting channel currently, selecting the sorting channel with the minimum congestion degree as a target sorting channel, and conveying the plate to the target sorting channel; the plates of the same target package are conveyed to the same target sorting channel;
Acquiring the working state of a sorting robot, selecting the sorting robot with the working state of an idle state as a target sorting robot, controlling the target sorting robot to sort the plates on the target sorting channel to a designated area in a three-dimensional warehouse, monitoring the working state of the target sorting robot in real time, and conveying the residual plates, which are to be subsequently entered into the target sorting channel, in the target package to a cache rack when the working state of the target sorting robot is monitored to be in a busy state; wherein the plates wrapped by the same target are placed in the same appointed area;
and judging whether all the plates of the target package are placed in the appointed area, if so, controlling a boxing device to carry out lower frame boxing on all the plates of the target package, and sending the boxed plates into a box sealer for paper folding, gluing and box sealing treatment so as to complete the packaging action of all the plates of the target package.
Further, before the step of receiving the bar code information corresponding to the plate obtained by scanning the bar code attached to the plate by the scanner, the method further comprises:
controlling an image pickup device on the board production line to pick up the board to obtain a board image, and performing image preprocessing on the board image to obtain a target board image; the image preprocessing comprises image denoising, binarization processing and morphological processing;
Extracting hole information of the plate from the target plate image by using a Hough transformation algorithm, extracting drilling information of the plate, and calculating an error value of the hole information of the plate and corresponding drilling information; wherein the hole information comprises actual drilling positions, hole patterns, drilling quantity, hole diameters and hole depths;
calculating a first evaluation value of the plate according to the error value and a first weight preset for the hole information, judging whether the first evaluation value of the plate is lower than a first preset evaluation value, if so, judging that the drilling quality of the plate is unqualified, and recycling the plate through a recycling channel;
if not, edge detection is carried out on the target plate image to determine the burr characteristics of the plate, the quantity and the size of the burr characteristics are calculated, a second evaluation value of the plate is calculated according to the quantity and the size of the burr characteristics and a second weight preset for the burr characteristics, whether the second evaluation value of the plate is lower than a second preset evaluation value is judged, if yes, the drilling quality of the plate is judged to be unqualified, and the plate is recovered through a recovery channel;
If not, an ultrasonic wave transmitting device on the board production line is called to transmit high-frequency sound waves to the board, an echo signal returned by ultrasonic waves is received, and the signal characteristics of the echo signal are extracted through an ultrasonic wave signal processing technology; wherein the ultrasonic signal processing technique comprises fourier transform, wavelet transform, envelope analysis and resonance frequency measurement, and the signal characteristics comprise waveform, frequency spectrum and energy;
judging whether the hole state of the plate is qualified according to the signal characteristics of the echo signals, if not, judging that the drilling quality of the plate is unqualified, and recovering the plate through a recovery channel; if yes, judging that the drilling quality of the plate is qualified.
Preferably, the step of obtaining the target plate image after performing image preprocessing on the plate image includes:
converting the plate image into a gray scale image;
comparing the gray image with a preset standard plate image, and calculating SSIM values of the gray image and the standard plate image; the standard plate image is an image meeting the picture requirement, the picture requirement comprises that the definition of the standard plate image is larger than a preset definition, the SSIM value is used for evaluating the similarity between the gray image and the standard plate image from multiple dimensions, and the dimensions comprise brightness, contrast and structure;
Judging whether the SSIM value is larger than a preset SSIM value or not;
if yes, taking the gray level image as a target plate image;
and if not, sequentially carrying out Gaussian smoothing processing, sharpening filtering processing and histogram equalization processing on the gray level image to obtain the target plate image.
Preferably, the step of performing simulated bagging on all the plates of the target batch number according to a preset bagging algorithm includes:
determining that the group package targets the least number of cartons needed for group package;
sequencing all the plates of the target batch number according to the sequence from large to small in size to obtain a sequencing result, and selecting the plates ranked at the first position according to the sequencing result to obtain a first plate;
obtaining size information of all current cartons, comparing the size of the first plate with the size information of each carton to obtain a first comparison result, selecting a plurality of first candidate cartons capable of being placed in the first plate according to the first comparison result, selecting a carton with the size information closest to the size of the first plate from the plurality of first candidate cartons to obtain a first carton, placing the first plate into the first carton, and sequentially placing the rest of the cartons capable of being placed in the first carton into the first carton according to the sorting result until the first carton cannot be placed in the first plate to obtain a first target package;
Selecting the remaining plates which cannot be placed in the first paper boxes as a first plate set, selecting the plates which are arranged at the first position from the first plate set according to the sorting result to obtain a second plate, comparing the size of the second plate with the size information of each remaining paper box to obtain a second comparison result, selecting a plurality of second candidate paper boxes which can be placed in the second plate from the remaining paper boxes according to the second comparison result, selecting the paper box with the size information closest to the size of the second plate from the plurality of second candidate paper boxes to obtain a second paper box, placing the second plate into the second paper box, and sequentially placing the remaining plates of the first plate set into the second paper box according to the sorting result until the second paper box cannot be placed in the plate to obtain a second target package;
and so on until all of the panels are placed in the carton.
Preferably, the step of performing simulated bagging on all the plates of the target batch number according to a preset bagging algorithm includes:
determining the grouping target as the lowest grouping cost;
acquiring a plurality of parameters affecting the package object, setting initial values of the plurality of parameters, and performing repeated iterative computation on the plurality of parameters on the basis of the initial values by using a genetic algorithm; wherein the parameters comprise the size, shape, quantity and material of the paper box, and the numerical value of any at least one parameter is changed during each iteration;
According to the numerical value of each parameter after each iteration, a preset objective function is adjusted, and the plate information of all plates is input into the adjusted objective function so as to calculate a simulation packet result after each iteration; the objective function is used for calculating a simulation package result according to the plate information;
judging whether the simulation packing result reaches a preset packing target or not, if so, outputting the numerical value of each parameter after the last iteration, taking the numerical value of each parameter after the last iteration as a target value, and formulating a packing scheme according to the target value of each parameter; wherein, the package scheme also comprises the size, shape and material of each paper box;
if not, returning to execute the step of performing repeated iterative computation on the parameters based on the initial value by using the genetic algorithm until the simulated packing result reaches a preset packing target.
Further, the plate sorting and packing method further comprises the following steps:
acquiring machine data of each sorting robot on the board production line; wherein the machine data comprises a robot model, a size, a weight and a sorting process of the sorting robot;
Extracting a sorting process from the machine data as target data, determining the machine number of a sorting robot to which the target data belongs, storing the target data of the same machine number in the same storage device, storing the target data of different machine numbers in different storage devices, storing the target data with the same data type in the same storage space in the same storage device, and storing the target data with different data types in different storage spaces; wherein the data types comprise integer type, floating point type and Boolean type;
receiving a query request initiated by a user terminal, receiving face information of the user obtained by shooting by a camera of the terminal, checking the face information of the user, acquiring a user account of the user from the query request after the face information passes the check, calculating the average number of every two adjacent numbers according to the sequence from left to right of the user account, and splicing the average number of every two adjacent numbers to obtain a character string; wherein the user account consists of a plurality of even numbers, the number of digits in the user account being twice the number of machine-numbered characters;
And judging whether the machine number matched with the character string exists or not, if so, acquiring target data from storage equipment corresponding to the matched machine number to obtain query data, and returning the query data to the user.
Preferably, the step of storing the target data belonging to the same machine number in the same storage device includes:
encrypting the target data belonging to the same machine number by utilizing a symmetric encryption algorithm to obtain encrypted target data;
carrying out hash processing on the encrypted target data through a hash algorithm to obtain a standard hash value;
combining the standard hash value with the encryption target data to obtain a ciphertext;
and storing the ciphertext serving as encrypted target data in the same storage device.
Preferably, after the step of returning the query data to the user, the method further includes:
responding to a data decryption request of a user, calculating a hash value of the query data, and obtaining a target hash value;
comparing the target hash value with the standard hash value;
if the target hash value is determined to be consistent with the standard hash value, decrypting the query data by using a symmetric encryption algorithm to obtain plaintext data;
And returning the plaintext data to the user.
The invention provides a terminal comprising a memory and a processor, wherein the memory stores computer readable instructions which, when executed by the processor, cause the processor to perform the steps of the sheet sorting and packaging method as described in any one of the above.
The invention provides a plate production line which comprises a scanner, a sorting robot, a buffer storage rack, a boxing device and a control system, wherein the scanner and a drilling robot are respectively and electrically connected with the control system, the scanner, the sorting robot and the boxing device are respectively and electrically connected with the control system, the buffer storage rack is used for temporarily storing plates, the sorting robot is used for sorting the plates according to a sorting program issued by the control system, the boxing device is used for boxing the plates, and the plate production line is used for executing the steps of the plate sorting and packaging method.
Compared with the prior art, the technical scheme of the invention has at least the following advantages:
according to the plate sorting and packaging method, the terminal and the plate production line, after the drilled plates pass through the scanner, the scanner is received to scan the bar codes stuck on the plates to obtain the bar code information corresponding to the plates, the plate information of the plates is inquired according to the bar code information, the target batch number is extracted from the plate information of the plates, whether the plates with the target batch number are subjected to package analysis or not is judged, if not, all the plates with the target batch number are subjected to simulation package according to a preset package algorithm, and whether the simulation package result reaches a preset package target or not is judged, when the package target is met, a package scheme is output, whether the plates are the first plates to enter a sorting channel in the target package is judged according to the package scheme, if so, the congestion degree of each current sorting channel is analyzed, the sorting channel with the smallest congestion degree is selected as the target sorting channel, and the plates with the same target package are conveyed to the same item of the target sorting channel; acquiring the working state of a sorting robot, selecting the sorting robot with the working state of an idle state as a target sorting robot, controlling the target sorting robot to sort the plates on a target sorting channel to a designated area in a three-dimensional warehouse, monitoring the working state of the target sorting robot in real time, and conveying the rest plates to be subsequently in the target sorting channel in the target package to a cache rack when the working state of the target sorting robot is a busy state, wherein the plates of the same target package are placed in the same designated area; judging whether all the plates of the target package are placed in a designated area, if so, controlling a boxing device to carry out lower frame boxing on all the plates of the target package, and sending the boxed plates into a box sealing machine for paper folding, gluing and sealing treatment, so that the plates of the same batch number are monitored through bar code information, the plates of the same target package in the same batch number are conveyed to the same item label sorting channel, and the plates of the same target package are placed in the same designated area, so that the plates are finely classified, and the problem of packaging errors in the packaging process is avoided; meanwhile, the congestion degree of each sorting channel and the working state of the sorting robot can be monitored in real time so as to comprehensively schedule the buffer frame, the sorting channels and the sorting robot, avoid congestion in the plate sorting process and ensure the normal operation of the sorting procedure; in addition, the refined package is realized by a package scheme with the least number of cartons or the lowest package cost required for generating the package in a package simulating manner.
Drawings
FIG. 1 is a flow chart of one embodiment of a method for sorting and packaging boards according to the present invention;
FIG. 2 is a block diagram of one embodiment of a sheet sorting and packing apparatus of the present invention;
fig. 3 is a block diagram illustrating an internal structure of a terminal according to an embodiment of the present invention.
Detailed Description
In order to enable those skilled in the art to better understand the present invention, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present invention with reference to the accompanying drawings.
In some of the flows described in the specification and claims of the present invention and in the foregoing figures, a plurality of operations appearing in a particular order are included, but it should be clearly understood that the operations may be performed in other than the order in which they appear herein or in parallel, the sequence numbers of the operations such as S11, S12, etc. are merely used to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. In addition, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first" and "second" herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, and are not limited to the "first" and the "second" being different types.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by one of ordinary skill in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein includes all or any element and all combination of one or more of the associated listed items.
It will be understood by those of ordinary skill in the art that unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
Referring to fig. 1, the invention provides a board sorting and packing method, which is applied to a control system of a board production line, wherein the board production line further comprises a scanner, a sorting robot, a buffer storage rack and a packing device, the scanner, the sorting robot and the packing device are respectively and electrically connected with the control system, the buffer storage rack is used for temporarily storing boards, the sorting robot is used for sorting the boards according to a sorting program issued by the control system, and the packing device is used for packing the boards, and the board sorting and packing method comprises the following steps:
s11, after a drilled plate passes through a scanner, receiving bar codes which are stuck on the plate by the scanner to obtain bar code information corresponding to the plate, and inquiring the plate information according to the bar code information to obtain the plate information of the plate; the plate information comprises the size, shape, weight, material, drilling information and the batch number of the plate, wherein the drilling information comprises the number of drilling holes, hole patterns, hole diameters, hole positions and hole depths;
S12, extracting a target batch number from the plate information of the plates, judging whether the plates with the target batch number are subjected to packaging analysis, if not, carrying out simulation packaging on all the plates with the target batch number according to a preset packaging algorithm, judging whether a simulation packaging result reaches a preset packaging target, and outputting a packaging scheme when the situation that the packaging target is reached is confirmed; the packing scheme comprises the number of packages and target packages in which all plates are put, and the packing targets comprise the minimum number of cartons required for packing or the minimum packing cost;
s13, judging whether the plate is a first plate to enter a sorting channel in the target package according to the package grouping scheme, if so, analyzing the congestion degree of each sorting channel currently, selecting the sorting channel with the minimum congestion degree as a target sorting channel, and conveying the plate to the target sorting channel; the plates of the same target package are conveyed to the same target sorting channel;
s14, acquiring the working state of a sorting robot, selecting the sorting robot with the working state of an idle state as a target sorting robot, controlling the target sorting robot to sort the plates on the target sorting channel to a designated area in a three-dimensional warehouse, monitoring the working state of the target sorting robot in real time, and conveying the rest plates, which are to enter the target sorting channel subsequently, in the target package to a cache rack when the working state of the target sorting robot is monitored to be in a busy state; wherein the plates wrapped by the same target are placed in the same appointed area;
And S15, judging whether all the plates of the target package are placed in the appointed area, if so, controlling a boxing device to carry out lower frame boxing on all the plates of the target package, and sending the boxed plates into a box sealer for paper sheet folding, gluing and box sealing treatment so as to complete the packaging action of all the plates of the target package.
As described in the above step S11, each sheet is attached with a bar code, which is an identification of the sheet, and has uniqueness, and the bar code is a coded identifier for identifying information of the article, typically consisting of black and white stripes, and can be read and decoded. The bar code may carry various information such as a name, model number, specification, quality, lot number, etc. identifying the item. When a bar code is scanned, the bar code information can be converted into readable information such as numbers or characters by a specific scanner. The method is fast and efficient, and is widely applied to the fields of commodity management, logistics distribution, inventory management, purchasing and the like. Therefore, the bar code stuck on the plate can be scanned by the scanner to obtain the bar code information of the plate, and the plate information corresponding to the plate is obtained by inquiring the database according to the bar code information of the plate.
As described in step S12, after the control system queries the plate information of the plate, the target lot number of the plate is extracted from the plate information of the plate, and whether the plate with the target lot number has been subjected to the group package analysis is determined, that is, whether all the plates with the target lot number are divided into a plurality of packages according to a preset group package algorithm, and the designated target packages in which each plate is placed are determined. If not, performing simulation package on all the plates of the target batch number according to a preset package algorithm at the moment to obtain a simulation package result, wherein the simulation package result comprises the required number of cartons (namely the number of packages) during simulation, package cost, designated cartons or target packages in which all the plates are placed, the placement mode of all the plates in the designated cartons and the like.
And judging whether a simulated package result reaches a preset package target, and outputting a package scheme when the package target is determined to be reached, wherein the package target comprises the least or less than preset number of cartons required for package, the lowest or less than preset value of package cost, and the package scheme comprises the number of packages, the target packages into which each plate is put and the arrangement mode of each plate in the designated cartons. For example, assuming that the target lot number has five plates, after the group package analysis, all the plates of the target lot number can be divided into 3 packages, the first plate is placed in the target package a, the second and third plates are placed in the target package B, and the fourth and fifth plates are placed in the target package C.
Among them, the packing algorithm is a combination optimization problem, whose goal is to find some optimal combinations among given two-dimensional or three-dimensional items, so as to fill as many items as possible in a limited space. The packing algorithm may include the following:
optimal adaptation algorithm: the algorithm sorts the items from large to small in size and then places each item in the smallest box that can hold it.
Worst adaptation algorithm: the algorithm sorts the items first from large to small in size and then places each item in the largest box that can hold it.
First adaptation algorithm: the algorithm places each item in turn into a first box capable of holding it.
Descent adaptation algorithm: the algorithm sorts the articles from large to small according to the size, and then places the articles into the box in a first adaptation algorithm mode.
Binary search algorithm: the algorithm splits the item into a plurality of pieces and searches for an optimal solution in the process of placing the pieces one by one.
As described in step S13 above, when the board is determined to be the first board to enter the sorting channel in the target package, for example, the third board belongs to the third board of the target package B, and the third board is the first board to enter the sorting channel in the five boards of the target package B, the number of boards of each sorting channel is counted, the congestion degree of each sorting channel is determined based on the number analysis of boards, the sorting channel with the smallest congestion degree is selected as the target sorting channel, the board is transported to the target sorting channel, wherein the congestion degree of each sorting channel is positively correlated with the number of boards, the boards of the same target package are all transported to the same target sorting channel, i.e. the five boards of the target package B are all transported to the same target sorting channel, so as to finely sort the boards, and avoid the problems of subsequent sorting errors or packaging errors in the packaging process.
As described in step S14, the working states of the sorting robots include an idle state, a fault state and a busy state, and the sorting robots with the working states of the idle state can be selected as target sorting robots, the target sorting robots are controlled to sort the boards on the target sorting channels to the designated areas in the three-dimensional warehouse, the working states of the target sorting robots are monitored in real time, and when the working states of the target sorting robots are monitored to be busy, the remaining boards to be subsequently entered into the target sorting channels in the target packages are conveyed to the buffer frame, so that congestion of the sorting channels is avoided. Wherein the plates of the same target package are placed in the same designated area, and the designated area can be a shelf or a layer of the shelf.
The buffer storage rack is a tool for storing plates, is usually made of steel or aluminum, and has the characteristics of convenience in carrying, strong bearing capacity, high storage space utilization rate and the like. The buffer storage rack can help the places such as factories and warehouses to optimize the storage space, avoid the problems of deformation, loss and the like of the plates, and improve the operation efficiency and the safety.
As described in step S15 above, when it is monitored that the last sheet of the target package is placed in the same designated area, it is determined that all the sheets of the target package are placed in the designated area, at this time, the control system controls the boxing device to put all the sheets of the target package into a box, that is, assign the robot to the designated area of the three-dimensional warehouse to grab all the sheets of the target package, put them down, and perform boxing, and then send the boxed sheets into the box sealer for sheet folding and glue coating and box sealing treatment, after the box sealing is completed, the box sealer automatically conveys the target package to the outlet, and notifies the control system of completing the box sealing action of the target package, thereby completing the packaging of all the sheets of the target package.
The boxing device is a device for automatically boxing products on a production line, and is generally composed of a plurality of parts such as a conveying device, a positioning device, a clamping device, a packaging material supply system and the like. When the automatic packing box is used, a product enters the positioning device under the drive of the conveying device, the clamp device can position and keep the product in a stable state, then the packing material can be automatically supplied, and the packing material is cut, folded, compacted and bonded, so that the automatic packing of the product is finally completed. The boxing device can greatly improve the production efficiency and quality on a production line, eliminate fatigue and errors in manual operation, reduce the cost and improve the income.
The carton sealing machine is automatic carton sealing equipment and is used for sealing the bottom of the carton. The case sealer is generally composed of a plurality of parts such as a machine body, a conveying device, a sealing device, and the like. When the carton sealing machine is used, the cartons are pushed into the conveying channel in the machine, the carton sealing machine can automatically finish the operation of sealing the bottoms of the cartons according to the set parameters and programs, and the sealed cartons are pushed out of the machine through the conveying device for the next operation. The box sealing machine not only improves the box sealing efficiency and quality, but also can reduce the pollution of manual operation to the production environment and the safety risk to operators.
According to the plate sorting and packaging method, after a drilled plate passes through a scanner, bar codes stuck on the plate are received by the scanner to obtain bar code information corresponding to the plate, the plate information of the plate is obtained according to the bar code information inquiry, a target batch number is extracted from the plate information of the plate, whether the plate with the target batch number is subjected to package analysis or not is judged, if not, all plates with the target batch number are subjected to simulation package according to a preset package algorithm, and whether a simulation package result reaches a preset package target or not is judged, when the package target is met, a package scheme is output, whether the plate is the first plate to be fed into a sorting channel in the target package is judged according to the package scheme, if yes, the congestion degree of each current sorting channel is analyzed, the sorting channel with the smallest congestion degree is selected as the target sorting channel, and the plate is conveyed to the target sorting channel, wherein the plates with the same target package are conveyed to the same target sorting channel; acquiring the working state of a sorting robot, selecting the sorting robot with the working state of an idle state as a target sorting robot, controlling the target sorting robot to sort the plates on a target sorting channel to a designated area in a three-dimensional warehouse, monitoring the working state of the target sorting robot in real time, and conveying the rest plates to be subsequently in the target sorting channel in the target package to a cache rack when the working state of the target sorting robot is a busy state, wherein the plates of the same target package are placed in the same designated area; judging whether all the plates of the target package are placed in a designated area, if so, controlling a boxing device to carry out lower frame boxing on all the plates of the target package, and sending the boxed plates into a box sealing machine for paper folding, gluing and sealing treatment, so that the plates of the same batch number are monitored through bar code information, the plates of the same target package in the same batch number are conveyed to the same item label sorting channel, and the plates of the same target package are placed in the same designated area, so that the plates are finely classified, and the problem of packaging errors in the packaging process is avoided; meanwhile, the congestion degree of each sorting channel and the working state of the sorting robot can be monitored in real time so as to comprehensively schedule the buffer frame, the sorting channels and the sorting robot, avoid congestion in the plate sorting process and ensure the normal operation of the sorting procedure; in addition, the refined package is realized by a package scheme with the least number of cartons or the lowest package cost required for generating the package in a package simulating manner.
In an embodiment, before the step of receiving the bar code information corresponding to the plate obtained by scanning the bar code attached to the plate by the scanner, the method may further include:
controlling an image pickup device on the board production line to pick up the board to obtain a board image, and performing image preprocessing on the board image to obtain a target board image; the image preprocessing comprises image denoising, binarization processing and morphological processing;
extracting hole information of the plate from the target plate image by using a Hough transformation algorithm, extracting drilling information of the plate, and calculating an error value of the hole information of the plate and corresponding drilling information; wherein the hole information comprises actual drilling positions, hole patterns, drilling quantity, hole diameters and hole depths;
calculating a first evaluation value of the plate according to the error value and a first weight preset for the hole information, judging whether the first evaluation value of the plate is lower than a first preset evaluation value, if so, judging that the drilling quality of the plate is unqualified, and recycling the plate through a recycling channel;
if not, edge detection is carried out on the target plate image to determine the burr characteristics of the plate, the quantity and the size of the burr characteristics are calculated, a second evaluation value of the plate is calculated according to the quantity and the size of the burr characteristics and a second weight preset for the burr characteristics, whether the second evaluation value of the plate is lower than a second preset evaluation value is judged, if yes, the drilling quality of the plate is judged to be unqualified, and the plate is recovered through a recovery channel;
If not, an ultrasonic wave transmitting device on the board production line is called to transmit high-frequency sound waves to the board, an echo signal returned by ultrasonic waves is received, and the signal characteristics of the echo signal are extracted through an ultrasonic wave signal processing technology; wherein the ultrasonic signal processing technique comprises fourier transform, wavelet transform, envelope analysis and resonance frequency measurement, and the signal characteristics comprise waveform, frequency spectrum and energy;
judging whether the hole state of the plate is qualified according to the signal characteristics of the echo signals, if not, judging that the drilling quality of the plate is unqualified, and recovering the plate through a recovery channel; if yes, judging that the drilling quality of the plate is qualified.
In this embodiment, quality evaluation of the drilled plate is an important task in machining, mainly to ensure the quality and integrity of the plate, so as to meet the requirements of the next process. According to the embodiment, the hole information of the plate is firstly evaluated through the plate image of the plate, after the evaluation is passed, the burr characteristics are further evaluated, and finally the hole state is evaluated, so that the drilling quality of the plate is evaluated in an all-around mode.
Specifically, the control system controls the image pickup device on the board production line to pick up the board, and receives the image of the board obtained by the image pickup device to obtain the board image.
The control system performs image preprocessing such as denoising, binarization processing, edge enhancement, shadow removal and the like on the plate image to obtain a target plate image, and extracts circular hole information from the target plate image by using a Hough transformation algorithm. The Hough transformation algorithm is an algorithm for image analysis and can be used for detecting specific modes such as straight lines, circles and other shapes in an image. The Hough transform algorithm projects a parameter space of a pattern into another space, where the corresponding parameter points represent a particular pattern, based on the geometric features of the particular pattern in the image. By peak detection and other methods in projection space, the particular pattern represented in the image and its parameters can be determined. Taking a straight line detection as an example, the Hough transformation algorithm firstly converts edge points in an image into a parameter space of a straight line equation, namely, a coordinate system and a polar coordinate system of the straight line are converted to obtain a group of parameters, namely, the slope and intercept of the straight line. Peak detection is then performed in the parameter space, and a straight line is generated at the detected peak, indicating that a straight line exists in the original image. The Hough transform algorithm can detect incomplete, broken, noisy pattern patterns and has some invariance to the rotation and scaling of the pattern.
In one embodiment, the control system may first perform edge detection on the sheet image to obtain edge information of the object in the image. The commonly used edge detection algorithm comprises a Canny algorithm, a Sobel algorithm and the like, and then edge pixel points of the edge information are transformed in a polar coordinate space to obtain an accumulation result of a polar coordinate parameter space. For symmetrical circular holes, hough-circle transformation is generally used; for non-circular holes, a hough-linear transform or an elliptic transform is typically used. And (3) carrying out peak detection on a polar coordinate parameter space obtained by Hough circle transformation, and determining hole information such as drilling positions, apertures and the like according to detection results. And (3) performing non-maximum suppression and peak detection on a polar coordinate parameter space obtained by Hough linear transformation or elliptic transformation to find the best linear or elliptic fitting, and determining hole information such as drilling positions, apertures and the like according to fitting results.
It should be noted that the hough transform algorithm is relatively sensitive to noise, and therefore requires appropriate preprocessing and filtering of the image. Meanwhile, in practical application, parameter adjustment and algorithm optimization are required to be carried out on different images and drilling shapes according to specific conditions so as to obtain a better identification effect.
In addition, in this embodiment, hole information of the plate is compared with corresponding drilling information, an error value of the hole information of the plate and the corresponding drilling information is calculated, and a first evaluation value of the plate is calculated according to the error value and a first weight preset for the hole information, for example, after the inverse of the error value is multiplied by the first weight and standardized, the first evaluation value of the plate is obtained. And judging whether the first evaluation value of the plate is lower than a first preset evaluation value, if so, judging that the drilling quality of the plate is unqualified, and recycling or carrying out secondary processing on the plate through a recycling channel.
If not, features need to be extracted from the processed image. According to the defect type to be detected, targeted characteristics such as flatness, cracks, burrs and the like can be extracted. For the detection of the surface flatness, an edge detection algorithm, such as a Canny algorithm, can be used to detect the flatness of the surface; for defect detection, some classical algorithms such as morphological processing, motion detection, pyramid algorithm, etc. may be used for defect detection and segmentation. According to the embodiment, edge detection is performed on the target plate image to determine the burr characteristics of the plate, the number and the size of the burr characteristics are calculated, a second evaluation value of the plate is calculated according to the number and the size of the burr characteristics and a second weight preset for the burr characteristics, for example, a corresponding basic value is inquired according to the number and the size of the burr characteristics, and the basic value is multiplied by the second weight to obtain the second evaluation value of the plate.
Finally judging whether the second evaluation value of the plate is lower than a second preset evaluation value; if yes, judging that the drilling quality of the plate is unqualified, and recycling or carrying out secondary processing on the plate through a recycling channel; if not, an ultrasonic wave transmitting device on the plate production line is called to transmit high-frequency sound waves to the plate, echo signals returned by the ultrasonic waves are received, signal characteristics of the echo signals are extracted through an ultrasonic wave signal processing technology, and whether the hole state of the plate is qualified or not is judged according to the signal characteristics of the echo signals; if not, judging that the drilling quality of the plate is unqualified, and recycling or carrying out secondary processing on the plate through a recycling channel; if yes, judging that the drilling quality of the plate is qualified, and entering a sorting channel subsequently.
The present embodiment uses the characteristics of acoustic wave propagation to perform ultrasonic detection, which is a nondestructive detection technique. Firstly, high-frequency sound waves are transmitted to a detected plate through an ultrasonic wave transmitting device, and then signals transmitted back by ultrasonic waves are received through the other end of the plate. It is critical here that the transmission and reception of the ultrasonic waves be precisely aligned to ensure that the sound waves penetrate as far as possible into the deep layer of the material being examined, while at the same time precisely receiving the reflected signals. During the propagation process of the sound wave in the detected material, the sound wave can be reflected or scattered by the defects, holes and other structures in the material, so that different echo signals are generated. By detecting the information such as the intensity, time delay, frequency and the like of the echo signals, the structure and defect information inside the detected object can be known.
In ultrasonic detection, automatic identification of the hole state can be achieved by the following steps:
by detecting plates with different hole states, the reference value and the standard curve of the acoustic wave signal under different states are established to serve as the judgment basis of the subsequent hole states. During automatic detection, signals acquired by an ultrasonic detection system are processed and analyzed through an acoustic signal processing technology, and important signal characteristics such as waveforms, frequency spectrums, energy and the like are extracted to further judge the states of the holes.
And comparing the analyzed sound wave signal characteristics according to a standard curve established in the earlier stage to judge whether the hole state is qualified or unqualified. For example, if the ultrasonic detection finds that the inner wall of the hole has cracks, the hole state is considered to be unqualified, and if the inner wall of the hole is flat, the hole state is considered to be qualified.
For example, for one steel sheet, the minimum inner diameter of the detection hole is set to 3 mm and the minimum surface length is set to 5 mm. The ultrasonic detection system is used for detecting the steel plate by adopting the needle array probe, and analyzing and processing the acquired acoustic wave signals. For each detected hole, different data are read in the propagation and reflection of the sound wave, and the hole state is judged according to a standard curve established in advance. If the inner wall of the hole has cracks, the state of the hole is automatically considered to be unqualified; if the surface of the hole wall is flat and has no defects, the hole state is automatically considered to be satisfactory. And the circulation detection is carried out, and all hole wall states can be automatically identified and recorded in a data record table, so that the corresponding treatment of the subsequent production flow is facilitated.
Among them, the ultrasonic signal processing technology has the following several kinds:
fourier Transform (FFT): and converting the time domain signal into a frequency domain signal to obtain frequency characteristics and energy distribution.
Wavelet transformation: the distribution of the time sequence in the time-frequency domain and the change rule of the instantaneous frequency and the instantaneous amplitude of the signal are obtained through multiple wavelet decomposition of the signal.
Amplitude Ratio (AR): for comparing the level of front background noise in the detected signal with the intensity of the defect signal, thereby helping to determine the peak position and amplitude of the signal and improving the signal-to-noise ratio.
Envelope analysis: characteristics of the signal, such as peak value, half-width, rise time, fall time, etc., are determined by extracting the signal envelope.
Resonance Frequency (RF) measurement: for metallic materials, the resonant frequency at which the elastic constant changes can be detected, and differences in different material types or structures can be identified by measuring and comparing the reflected signal strengths at different frequencies.
For ultrasonic detection, the ultrasonic signals are analyzed and processed through the technology, so that defects and structural characteristics inside the detected object can be judged more accurately, and more accurate quality detection and monitoring are realized.
In an embodiment, the step of obtaining the target plate image after the image preprocessing of the plate image may specifically include:
converting the plate image into a gray scale image;
comparing the gray image with a preset standard plate image, and calculating SSIM values of the gray image and the standard plate image; the standard plate image is an image meeting the picture requirement, the picture requirement comprises that the definition of the standard plate image is larger than a preset definition, the SSIM value is used for evaluating the similarity between the gray image and the standard plate image from multiple dimensions, and the dimensions comprise brightness, contrast and structure;
judging whether the SSIM value is larger than a preset SSIM value or not;
if yes, taking the gray level image as a target plate image;
and if not, sequentially carrying out Gaussian smoothing processing, sharpening filtering processing and histogram equalization processing on the gray level image to obtain the target plate image.
In this embodiment, the control system may perform image graying processing on the panel image to obtain a gray image. The image gradation processing refers to a process of converting one color image into a gradation image. In a gray scale image, the value of each pixel is related only to the brightness or gray scale in the image, and not to the color. When converting a color image into a gray-scale image, a weighted average method is generally used, that is, color values of three channels of red, green and blue are weighted and averaged according to a certain weight to obtain a gray-scale value, which is used as the gray-scale value of the pixel point in the gray-scale image. The weights here can be adjusted in different situations. In practical applications, the gray scale processing of the image is usually not only a simple weighted average of color channels, but also further processing of the result, such as gray stretching and contrast enhancement of gray scale values, is performed to achieve better visual effect and facilitate subsequent processing of the image.
SSIM (Structural Similarity Index) is a method for measuring the similarity of two images, and the SSIM value represents the similarity of two images in terms of structure, brightness, contrast, and the like. It calculates the local structural similarity of each part by dividing the image into a plurality of parts similar to the spatial frequency channel, and calculates the overall similarity on the local structural similarity of the parts. Therefore, SSIM can better evaluate the similarity of two images and is more robust to noise, distortion, compression, and the like than simple pixel comparison. The SSIM can better simulate the sensitivity of the human visual system to structural information, and meanwhile, the influence of factors such as brightness, contrast and the like on the similarity is also considered.
SSIM values range from 0 to 1, with values closer to 1 indicating that the two images are more similar; the closer the value is to 0, the more dissimilar the two images are. Typically, SSIM values above 0.95 indicate that the two images are very similar, and below 0.75 indicate that the two images differ significantly.
In this embodiment, a standard board image is prepared in advance, where the standard board image is an image that meets the requirement of the picture, for example, the definition of the standard board image is greater than a preset definition, so that by comparing the gray image with the preset standard board image, the SSIM value of the gray image and the standard board image is calculated, whether the definition of the gray image meets the requirement can be determined skillfully, and when it is determined that the SSIM value is greater than the preset SSIM value, it is determined that the definition of the gray image meets the requirement, and the gray image is used as the target board image.
Otherwise, gaussian smoothing, sharpening filtering and histogram equalization are sequentially carried out on the gray level image so that the definition of the gray level image meets the requirement, and a target plate image is obtained.
The Gaussian smoothing is a linear smoothing filtering algorithm, and can be used for reducing image noise and removing smaller details in an image, and meanwhile, a larger structure of the image is reserved. The core idea of gaussian smoothing is to slide a rectangular window over the whole image, and to weight average the pixels within the window, where the weights are given by a two-dimensional gaussian function. The result of gaussian smoothing is that the image becomes blurred, but the edge and structure information is still relatively sharp.
Sharpening filtering is an image enhancement algorithm that can improve the sharpness and edge information of an image. The core idea of sharpening filtering is to differentiate between the original image and the gaussian blurred version of the image so that the edge and structure information is further enhanced. In particular, sharpening filtering may use the Laplacian or some more complex convolution kernel to highlight edge features of the image.
Histogram equalization is a pixel remapping algorithm whose purpose is to optimize the contrast and brightness distribution of an image. The core idea of histogram equalization is to uniformly distribute the histogram of the image by reassigning the gray values of the pixels. After histogram equalization, the contrast of dark and bright areas in the image is significantly enhanced, and the overall sharpness of the image is also improved.
In an embodiment, the step of performing the simulation packaging on all the plates of the target lot number according to a preset packaging algorithm may specifically include:
determining that the group package targets the least number of cartons needed for group package;
sequencing all the plates of the target batch number according to the sequence from large to small in size to obtain a sequencing result, and selecting the plates ranked at the first position according to the sequencing result to obtain a first plate;
obtaining size information of all current cartons, comparing the size of the first plate with the size information of each carton to obtain a first comparison result, selecting a plurality of first candidate cartons capable of being placed in the first plate according to the first comparison result, selecting a carton with the size information closest to the size of the first plate from the plurality of first candidate cartons to obtain a first carton, placing the first plate into the first carton, and sequentially placing the rest of the cartons capable of being placed in the first carton into the first carton according to the sorting result until the first carton cannot be placed in the first plate to obtain a first target package;
selecting the remaining plates which cannot be placed in the first paper boxes as a first plate set, selecting the plates which are arranged at the first position from the first plate set according to the sorting result to obtain a second plate, comparing the size of the second plate with the size information of each remaining paper box to obtain a second comparison result, selecting a plurality of second candidate paper boxes which can be placed in the second plate from the remaining paper boxes according to the second comparison result, selecting the paper box with the size information closest to the size of the second plate from the plurality of second candidate paper boxes to obtain a second paper box, placing the second plate into the second paper box, and sequentially placing the remaining plates of the first plate set into the second paper box according to the sorting result until the second paper box cannot be placed in the plate to obtain a second target package;
And so on until all of the panels are placed in the carton.
In this embodiment, the control system may take the minimum number of cartons required for packaging as a packaging target, in a boxing simulation process, sort all the boards of the target batch number according to a sequence from large to small in size to obtain a sorting result, select boards arranged at a first position as first boards according to the sorting result, obtain size information of all the current cartons at the same time, where the size information includes a length, a height and a width of the cartons, compare the size of the first board with the size information of each carton, respectively calculate a difference value of the first board and each carton in length, a difference value of the first board in height and a difference value of the width, respectively accumulate the difference values to obtain an accumulated difference value of the first board and each carton, select a plurality of first candidate cartons capable of being placed into the first board according to the first comparison result, select a carton with size information closest to (for example, the accumulated difference value is the smallest) from the plurality of first candidate cartons to obtain a first carton, place the first carton, sequentially place the first carton into the first candidate cartons, and place the first carton into the first carton as a first board, and place the first board cannot be placed into the first board until the first carton is not placed into the first board, and the first board can not be placed into the first board.
And similarly, comparing the size of the second plate with the size information of each remaining paper box to obtain a second comparison result, selecting a plurality of second candidate paper boxes capable of being placed into the second plate from the remaining paper boxes according to the second comparison result, selecting the paper box with the size information closest to the size of the second plate from the plurality of second candidate paper boxes to obtain a second paper box, placing the second plate into the second paper box, and sequentially placing the remaining plates of the first plate set into the second paper box according to the sorting result until the second paper box cannot be placed into the plate.
And by analogy, according to the operation mode until all the plates are placed in the cartons, a carton packing scheme with the minimum number of cartons required for packing is generated in a simulated packing mode, and fine packing is realized.
In an embodiment, the step of performing the simulation packaging on all the plates of the target lot number according to a preset packaging algorithm may specifically include:
determining the grouping target as the lowest grouping cost;
acquiring a plurality of parameters affecting the package object, setting initial values of the plurality of parameters, and performing repeated iterative computation on the plurality of parameters on the basis of the initial values by using a genetic algorithm; wherein the parameters comprise the size, shape, quantity and material of the paper box, and the numerical value of any at least one parameter is changed during each iteration;
According to the numerical value of each parameter after each iteration, a preset objective function is adjusted, and the plate information of all plates is input into the adjusted objective function so as to calculate a simulation packet result after each iteration; the objective function is used for calculating a simulation package result according to the plate information;
judging whether the simulation packing result reaches a preset packing target or not, if so, outputting the numerical value of each parameter after the last iteration, taking the numerical value of each parameter after the last iteration as a target value, and formulating a packing scheme according to the target value of each parameter; wherein, the package scheme also comprises the size, shape and material of each paper box;
if not, returning to execute the step of performing repeated iterative computation on the parameters based on the initial value by using the genetic algorithm until the simulated packing result reaches a preset packing target.
In this embodiment, the control system may determine the packing cost as a packing target at the lowest, then obtain a plurality of parameters affecting the packing target, such as the size, shape, number and material of the carton, set the initial value of each parameter at the same time, then perform iterative computation on the plurality of parameters by using the genetic algorithm on the basis of the initial value, and then adjust the preset objective function based on the values of each parameter after each iteration; the objective function is used for calculating a simulation package result according to the plate information.
Genetic algorithms are optimization algorithms that are used to solve complex problems in the fields of computer science, engineering and applied mathematics by simulating natural selection and genetic mechanisms. Genetic algorithms were invented based on observations and mathematical modeling of the natural evolution process. The "population" in the algorithm is made up of a number of "individuals. In genetic algorithms, each individual has a code (typically represented by a binary string) representing a set of potential solutions. The key to the algorithm is the fitness function, i.e. the objective function, which is used to measure the fitness of each individual, i.e. the quality of the solution.
Genetic algorithms simulate natural selection and genetic mechanisms to generate new individuals for a population. Each iteration will select an individual (i.e., parameter) with higher fitness, and the next generation of individuals is generated by operations such as crossover and mutation. Crossover operations simulate mating between individuals in nature, while mutation operations simulate DNA mutation processes. Over multiple iterations, individuals in the population gradually tend towards the optimal solution for the solution.
In this embodiment, the plate information of all the plates is input into the adjusted objective function to calculate the simulated packing result after each iteration, when the simulated packing result is determined to reach the preset packing target, the numerical value setting of each parameter is reasonable, the numerical value of each parameter after the last iteration is output, the numerical value of each parameter after the last iteration is taken as the target value, and the packing scheme is formulated according to the target value of the parameter, such as the number of required cartons, the size, shape and material of each carton, so that the packing scheme with the lowest packing cost is automatically generated.
In an embodiment, the board sorting and packing method may further include:
acquiring machine data of each sorting robot on the board production line; wherein the machine data comprises a robot model, a size, a weight and a sorting process of the sorting robot;
extracting a sorting process from the machine data as target data, determining the machine number of a sorting robot to which the target data belongs, storing the target data of the same machine number in the same storage device, storing the target data of different machine numbers in different storage devices, storing the target data with the same data type in the same storage space in the same storage device, and storing the target data with different data types in different storage spaces; wherein the data types comprise integer type, floating point type and Boolean type;
receiving a query request initiated by a user terminal, receiving face information of the user obtained by shooting by a camera of the terminal, checking the face information of the user, acquiring a user account of the user from the query request after the face information passes the check, calculating the average number of every two adjacent numbers according to the sequence from left to right of the user account, and splicing the average number of every two adjacent numbers to obtain a character string; wherein the user account consists of a plurality of even numbers, the number of digits in the user account being twice the number of machine-numbered characters;
And judging whether the machine number matched with the character string exists or not, if so, acquiring target data from storage equipment corresponding to the matched machine number to obtain query data, and returning the query data to the user.
According to the embodiment, a sorting process is extracted from machine data to serve as target data, the target data is stored in a distributed mode, namely, the machine number of a sorting robot to which the target data belongs is determined, a mapping relation between the machine number and storage equipment is constructed, the target data of the same machine number is stored in the same storage equipment, and the target data of different machine numbers are stored in different storage equipment, so that classification management of the data is achieved, and searching is facilitated; and in the same storage device, the target data with the same data type are stored in the same storage space, and the target data with different data types are stored in different storage spaces, so that the data can be managed conveniently.
When data is queried, face recognition is needed to be carried out on a user to avoid data leakage, then, the average number of every two adjacent numbers is spliced according to the sequence from left to right of a user account to obtain a character string, whether the character string is partially matched or completely matched with a machine number corresponding to storage equipment to be queried is judged, if so, target data is acquired from the matched storage equipment to obtain query data, the query data is returned to the user, and therefore, the mapping relation between the user and the storage equipment is constructed, and illegal acquisition of private data of other people is avoided. For example, when the user account is 88642468, the corresponding character string is 8537, and when the machine number corresponding to a certain storage device is 8537, the target data is acquired from the storage device.
In an embodiment, the step of storing the target data of the same machine number in the same storage device may specifically include:
encrypting the target data belonging to the same machine number by utilizing a symmetric encryption algorithm to obtain encrypted target data;
carrying out hash processing on the encrypted target data through a hash algorithm to obtain a standard hash value;
combining the standard hash value with the encryption target data to obtain a ciphertext;
and storing the ciphertext serving as encrypted target data in the same storage device.
In the present embodiment, the symmetric encryption algorithm is an encryption algorithm that uses the same key for encryption and decryption. In symmetric encryption algorithms, after data is encrypted, only the person holding the key can decrypt the data, as the key is critical to encryption and decryption. The symmetric encryption algorithm has high encryption and decryption speed and high efficiency.
The Hash algorithm is a function of mapping messages of arbitrary length to fixed-length Hash values (Hash values), and is generally used to ensure the integrity of data and to verify the uniqueness of the data. The hash algorithm is characterized by a fast and fixed length of the hash value output, and different messages will typically generate different hash values. If a piece of data is tampered with, the hash value it generates will change, so that it can be checked whether the data has been tampered with by comparing the hash values. Furthermore, a hash algorithm may be used for password storage, for example by storing the hash value in the database after hashing the user's password, thereby ensuring that the user's actual password is not compromised even if the database is compromised.
According to the embodiment, the target data with the same machine number is encrypted by utilizing the symmetric encryption algorithm to obtain encrypted target data, the encrypted target data is hashed by the hash algorithm to obtain a standard hash value, the standard hash value is combined with the encrypted target data to obtain a ciphertext, and the ciphertext is stored in the same storage device as the encrypted target data, so that the integrity and the safety of the data can be improved by combining the symmetric encryption algorithm with the hash algorithm.
In an embodiment, after the step of returning the query data to the user, the method may further include:
responding to a data decryption request of a user, calculating a hash value of the query data, and obtaining a target hash value;
comparing the target hash value with the standard hash value;
if the target hash value is determined to be consistent with the standard hash value, decrypting the query data by using a symmetric encryption algorithm to obtain plaintext data;
and returning the plaintext data to the user.
In this embodiment, after receiving encrypted query data, the control system calculates a hash value of the query data to obtain a target hash value, compares the target hash value with the standard hash value, if it is determined that the target hash value is consistent with the standard hash value, it indicates that the query data is not tampered, then decrypts the query data by using a symmetric encryption algorithm to obtain plaintext data, and returns the plaintext data to the user. If the target hash value is inconsistent with the standard hash value, the query data is tampered.
The embodiment can ensure the integrity of data by combining the symmetric encryption algorithm with the hash algorithm, because even if an attacker intercepts the data and obtains a key, the data cannot be tampered with, because the hash value of the tampered data is different from the hash value of the original data. In addition, since the hash function is irreversible, an attacker cannot know the normal data content. In addition, the hash algorithm can reduce the transmission quantity of data, reduce the load of the network and improve the performance of the system.
Referring to fig. 2, an embodiment of the present invention further provides a board sorting and packaging device, including:
the receiving module 21 is configured to receive bar code information corresponding to a board, which is obtained by scanning a bar code stuck on the board by the scanner, after the board after drilling passes through the scanner, and obtain board information of the board according to the bar code information inquiry; the plate information comprises the size, shape, weight, material, drilling information and the batch number of the plate, wherein the drilling information comprises the number of drilling holes, hole patterns, hole diameters, hole positions and hole depths;
the simulation module 22 is configured to extract a target batch number from the plate information of the plates, determine whether the plates with the target batch number have been subjected to a packing analysis, if not, perform a simulation packing on all the plates with the target batch number according to a preset packing algorithm, determine whether a simulation packing result reaches a preset packing target, and output a packing scheme when determining that the packing target is reached; the packing scheme comprises the number of packages and target packages in which all plates are put, and the packing targets comprise the minimum number of cartons required for packing or the minimum packing cost;
The analysis module 23 is configured to determine whether the board is a first board to enter a sorting channel in the target package according to the package grouping scheme, if so, analyze the congestion degree of each sorting channel currently, select a sorting channel with the smallest congestion degree as a target sorting channel, and convey the board to the target sorting channel; the plates of the same target package are conveyed to the same target sorting channel;
the control module 24 is configured to obtain a working state of the sorting robot, select the sorting robot with a working state being an idle state as a target sorting robot, control the target sorting robot to sort the boards on the target sorting channel to a designated area in the stereo library, monitor the working state of the target sorting robot in real time, and when the working state of the target sorting robot is monitored to be a busy state, convey the remaining boards in the target package, which are to be subsequently entered into the target sorting channel, to a cache rack; wherein the plates wrapped by the same target are placed in the same appointed area;
and the boxing module 25 is used for judging whether all the plates of the target package are placed in the designated area, if yes, controlling the boxing device to carry out frame-down boxing on all the plates of the target package, and sending the boxed plates into a box sealer for paper folding, gluing and box sealing treatment so as to complete the packaging action of all the plates of the target package.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
The terminal provided by the invention comprises a memory and a processor, wherein the memory stores computer readable instructions, and the computer readable instructions, when executed by the processor, enable the processor to execute the steps of the plate sorting and packaging method.
In an embodiment, referring to fig. 3, the terminal provided in an embodiment of the present application may be a computer device, and the internal structure of the terminal may be as shown in fig. 3. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the computer is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing relevant data of the plate sorting and packing method. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by a processor, implements the sheet sorting and packing method described in the above embodiments.
In one embodiment, the present invention also provides a storage medium storing computer readable instructions that, when executed by one or more processors, cause the one or more processors to perform the sheet sorting and bagging method described above. Wherein the storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
In one embodiment, the invention provides a plate production line, which comprises a scanner, a sorting robot, a buffer storage rack, a boxing device and a control system, wherein the scanner and a drilling robot are respectively and electrically connected with the control system, the scanner, the sorting robot and the boxing device are respectively and electrically connected with the control system, the buffer storage rack is used for temporarily storing plates, the sorting robot is used for sorting the plates according to a sorting program issued by the control system, the boxing device is used for boxing the plates, and the plate production line is used for executing the steps of the plate sorting and packaging method. The plate sorting and packaging method comprises the following steps:
after the drilled plate passes through a scanner, receiving bar code information corresponding to the plate, which is obtained by the scanner by scanning a bar code stuck on the plate, and inquiring the plate information of the plate according to the bar code information; the plate information comprises the size, shape, weight, material, drilling information and the batch number of the plate, wherein the drilling information comprises the number of drilling holes, hole patterns, hole diameters, hole positions and hole depths;
Extracting a target batch number from the plate information of the plates, judging whether the plates with the target batch number are subjected to packaging analysis, if not, carrying out simulation packaging on all the plates with the target batch number according to a preset packaging algorithm, judging whether a simulation packaging result reaches a preset packaging target, and outputting a packaging scheme when the situation that the packaging target is reached is confirmed; the packing scheme comprises the number of packages and target packages in which all plates are put, and the packing targets comprise the minimum number of cartons required for packing or the minimum packing cost;
judging whether the plate is a first plate to enter a sorting channel in the target package according to the package grouping scheme, if so, analyzing the congestion degree of each sorting channel currently, selecting the sorting channel with the minimum congestion degree as a target sorting channel, and conveying the plate to the target sorting channel; the plates of the same target package are conveyed to the same target sorting channel;
acquiring the working state of a sorting robot, selecting the sorting robot with the working state of an idle state as a target sorting robot, controlling the target sorting robot to sort the plates on the target sorting channel to a designated area in a three-dimensional warehouse, monitoring the working state of the target sorting robot in real time, and conveying the residual plates, which are to be subsequently entered into the target sorting channel, in the target package to a cache rack when the working state of the target sorting robot is monitored to be in a busy state; wherein the plates wrapped by the same target are placed in the same appointed area;
And judging whether all the plates of the target package are placed in the appointed area, if so, controlling a boxing device to carry out lower frame boxing on all the plates of the target package, and sending the boxed plates into a box sealer for paper folding, gluing and box sealing treatment so as to complete the packaging action of all the plates of the target package.
Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of a computer program stored in a storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a nonvolatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a random access Memory (Random Access Memory, RAM).
As can be seen from the above embodiments, the present invention has the following advantages:
according to the plate sorting and packaging method, the terminal and the plate production line, after the drilled plates pass through the scanner, the scanner is received to scan the bar codes stuck on the plates to obtain the bar code information corresponding to the plates, the plate information of the plates is inquired according to the bar code information, the target batch number is extracted from the plate information of the plates, whether the plates with the target batch number are subjected to package analysis or not is judged, if not, all the plates with the target batch number are subjected to simulation package according to a preset package algorithm, and whether the simulation package result reaches a preset package target or not is judged, when the package target is met, a package scheme is output, whether the plates are the first plates to enter a sorting channel in the target package is judged according to the package scheme, if so, the congestion degree of each current sorting channel is analyzed, the sorting channel with the smallest congestion degree is selected as the target sorting channel, and the plates with the same target package are conveyed to the same item of the target sorting channel; acquiring the working state of a sorting robot, selecting the sorting robot with the working state of an idle state as a target sorting robot, controlling the target sorting robot to sort the plates on a target sorting channel to a designated area in a three-dimensional warehouse, monitoring the working state of the target sorting robot in real time, and conveying the rest plates to be subsequently in the target sorting channel in the target package to a cache rack when the working state of the target sorting robot is a busy state, wherein the plates of the same target package are placed in the same designated area; judging whether all the plates of the target package are placed in a designated area, if so, controlling a boxing device to carry out lower frame boxing on all the plates of the target package, and sending the boxed plates into a box sealing machine for paper folding, gluing and sealing treatment, so that the plates of the same batch number are monitored through bar code information, the plates of the same target package in the same batch number are conveyed to the same item label sorting channel, and the plates of the same target package are placed in the same designated area, so that the plates are finely classified, and the problem of packaging errors in the packaging process is avoided; meanwhile, the congestion degree of each sorting channel and the working state of the sorting robot can be monitored in real time so as to comprehensively schedule the buffer frame, the sorting channels and the sorting robot, avoid congestion in the plate sorting process and ensure the normal operation of the sorting procedure; in addition, the refined package is realized by a package scheme with the least number of cartons or the lowest package cost required for generating the package in a package simulating manner.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (10)

1. The utility model provides a panel letter sorting packing method, its characterized in that is applied to the control system on the panel production line, the panel production line still includes scanner, letter sorting robot, buffer memory frame and vanning device, scanner, letter sorting robot and vanning device respectively with control system electric connection, buffer memory frame is used for interim depositing panel, letter sorting robot is used for sorting the panel according to the letter sorting procedure that control system issued, vanning device is used for vanning the panel, panel letter sorting packing method includes:
After the drilled plate passes through a scanner, receiving bar code information corresponding to the plate, which is obtained by the scanner by scanning a bar code stuck on the plate, and inquiring the plate information of the plate according to the bar code information; the plate information comprises the size, shape, weight, material, drilling information and the batch number of the plate, wherein the drilling information comprises the number of drilling holes, hole patterns, hole diameters, hole positions and hole depths;
extracting a target batch number from the plate information of the plates, judging whether the plates with the target batch number are subjected to packaging analysis, if not, carrying out simulation packaging on all the plates with the target batch number according to a preset packaging algorithm, judging whether a simulation packaging result reaches a preset packaging target, and outputting a packaging scheme when the situation that the packaging target is reached is confirmed; the packing scheme comprises the number of packages and target packages in which all plates are put, and the packing targets comprise the minimum number of cartons required for packing or the minimum packing cost;
judging whether the plate is a first plate to enter a sorting channel in the target package according to the package grouping scheme, if so, analyzing the congestion degree of each sorting channel currently, selecting the sorting channel with the minimum congestion degree as a target sorting channel, and conveying the plate to the target sorting channel; the plates of the same target package are conveyed to the same target sorting channel;
Acquiring the working state of a sorting robot, selecting the sorting robot with the working state of an idle state as a target sorting robot, controlling the target sorting robot to sort the plates on the target sorting channel to a designated area in a three-dimensional warehouse, monitoring the working state of the target sorting robot in real time, and conveying the residual plates, which are to be subsequently entered into the target sorting channel, in the target package to a cache rack when the working state of the target sorting robot is monitored to be in a busy state; wherein the plates wrapped by the same target are placed in the same appointed area;
and judging whether all the plates of the target package are placed in the appointed area, if so, controlling a boxing device to carry out lower frame boxing on all the plates of the target package, and sending the boxed plates into a box sealer for paper folding, gluing and box sealing treatment so as to complete the packaging action of all the plates of the target package.
2. The sheet sorting and packing method according to claim 1, further comprising, before the step of receiving the bar code information corresponding to the sheet obtained by scanning the bar code attached to the sheet by the scanner:
Controlling an image pickup device on the board production line to pick up the board to obtain a board image, and performing image preprocessing on the board image to obtain a target board image; the image preprocessing comprises image denoising, binarization processing and morphological processing;
extracting hole information of the plate from the target plate image by using a Hough transformation algorithm, extracting drilling information of the plate, and calculating an error value of the hole information of the plate and corresponding drilling information; wherein the hole information comprises actual drilling positions, hole patterns, drilling quantity, hole diameters and hole depths;
calculating a first evaluation value of the plate according to the error value and a first weight preset for the hole information, judging whether the first evaluation value of the plate is lower than a first preset evaluation value, if so, judging that the drilling quality of the plate is unqualified, and recycling the plate through a recycling channel;
if not, edge detection is carried out on the target plate image to determine the burr characteristics of the plate, the quantity and the size of the burr characteristics are calculated, a second evaluation value of the plate is calculated according to the quantity and the size of the burr characteristics and a second weight preset for the burr characteristics, whether the second evaluation value of the plate is lower than a second preset evaluation value is judged, if yes, the drilling quality of the plate is judged to be unqualified, and the plate is recovered through a recovery channel;
If not, an ultrasonic wave transmitting device on the board production line is called to transmit high-frequency sound waves to the board, an echo signal returned by ultrasonic waves is received, and the signal characteristics of the echo signal are extracted through an ultrasonic wave signal processing technology; wherein the ultrasonic signal processing technique comprises fourier transform, wavelet transform, envelope analysis and resonance frequency measurement, and the signal characteristics comprise waveform, frequency spectrum and energy;
judging whether the hole state of the plate is qualified according to the signal characteristics of the echo signals, if not, judging that the drilling quality of the plate is unqualified, and recovering the plate through a recovery channel; if yes, judging that the drilling quality of the plate is qualified.
3. The method of claim 2, wherein the step of obtaining the target sheet image after the image preprocessing is performed on the sheet image comprises:
converting the plate image into a gray scale image;
comparing the gray image with a preset standard plate image, and calculating SSIM values of the gray image and the standard plate image; the standard plate image is an image meeting the picture requirement, the picture requirement comprises that the definition of the standard plate image is larger than a preset definition, the SSIM value is used for evaluating the similarity between the gray image and the standard plate image from multiple dimensions, and the dimensions comprise brightness, contrast and structure;
Judging whether the SSIM value is larger than a preset SSIM value or not;
if yes, taking the gray level image as a target plate image;
and if not, sequentially carrying out Gaussian smoothing processing, sharpening filtering processing and histogram equalization processing on the gray level image to obtain the target plate image.
4. The method according to claim 1, wherein the step of performing simulated bagging on all the plates of the target lot number according to a preset bagging algorithm includes:
determining that the group package targets the least number of cartons needed for group package;
sequencing all the plates of the target batch number according to the sequence from large to small in size to obtain a sequencing result, and selecting the plates ranked at the first position according to the sequencing result to obtain a first plate;
obtaining size information of all current cartons, comparing the size of the first plate with the size information of each carton to obtain a first comparison result, selecting a plurality of first candidate cartons capable of being placed in the first plate according to the first comparison result, selecting a carton with the size information closest to the size of the first plate from the plurality of first candidate cartons to obtain a first carton, placing the first plate into the first carton, and sequentially placing the rest of the cartons capable of being placed in the first carton into the first carton according to the sorting result until the first carton cannot be placed in the first plate to obtain a first target package;
Selecting the remaining plates which cannot be placed in the first paper boxes as a first plate set, selecting the plates which are arranged at the first position from the first plate set according to the sorting result to obtain a second plate, comparing the size of the second plate with the size information of each remaining paper box to obtain a second comparison result, selecting a plurality of second candidate paper boxes which can be placed in the second plate from the remaining paper boxes according to the second comparison result, selecting the paper box with the size information closest to the size of the second plate from the plurality of second candidate paper boxes to obtain a second paper box, placing the second plate into the second paper box, and sequentially placing the remaining plates of the first plate set into the second paper box according to the sorting result until the second paper box cannot be placed in the plate to obtain a second target package;
and so on until all of the panels are placed in the carton.
5. The method according to claim 1, wherein the step of performing simulated bagging on all the plates of the target lot number according to a preset bagging algorithm includes:
determining the grouping target as the lowest grouping cost;
Acquiring a plurality of parameters affecting the package object, setting initial values of the plurality of parameters, and performing repeated iterative computation on the plurality of parameters on the basis of the initial values by using a genetic algorithm; wherein the parameters comprise the size, shape, quantity and material of the paper box, and the numerical value of any at least one parameter is changed during each iteration;
according to the numerical value of each parameter after each iteration, a preset objective function is adjusted, and the plate information of all plates is input into the adjusted objective function so as to calculate a simulation packet result after each iteration; the objective function is used for calculating a simulation package result according to the plate information;
judging whether the simulation packing result reaches a preset packing target or not, if so, outputting the numerical value of each parameter after the last iteration, taking the numerical value of each parameter after the last iteration as a target value, and formulating a packing scheme according to the target value of each parameter; wherein, the package scheme also comprises the size, shape and material of each paper box;
if not, returning to execute the step of performing repeated iterative computation on the parameters based on the initial value by using the genetic algorithm until the simulated packing result reaches a preset packing target.
6. The sheet sorting and packing method according to claim 1, further comprising:
acquiring machine data of each sorting robot on the board production line; wherein the machine data comprises a robot model, a size, a weight and a sorting process of the sorting robot;
extracting a sorting process from the machine data as target data, determining the machine number of a sorting robot to which the target data belongs, storing the target data of the same machine number in the same storage device, storing the target data of different machine numbers in different storage devices, storing the target data with the same data type in the same storage space in the same storage device, and storing the target data with different data types in different storage spaces; wherein the data types comprise integer type, floating point type and Boolean type;
receiving a query request initiated by a user terminal, receiving face information of the user obtained by shooting by a camera of the terminal, checking the face information of the user, acquiring a user account of the user from the query request after the face information passes the check, calculating the average number of every two adjacent numbers according to the sequence from left to right of the user account, and splicing the average number of every two adjacent numbers to obtain a character string; wherein the user account consists of a plurality of even numbers, the number of digits in the user account being twice the number of machine-numbered characters;
And judging whether the machine number matched with the character string exists or not, if so, acquiring target data from storage equipment corresponding to the matched machine number to obtain query data, and returning the query data to the user.
7. The sheet sorting and packing method according to claim 6, wherein the step of storing the target data belonging to the same machine number in the same storage device includes:
encrypting the target data belonging to the same machine number by utilizing a symmetric encryption algorithm to obtain encrypted target data;
carrying out hash processing on the encrypted target data through a hash algorithm to obtain a standard hash value;
combining the standard hash value with the encryption target data to obtain a ciphertext;
and storing the ciphertext serving as encrypted target data in the same storage device.
8. The sheet sorting and packaging method according to claim 7, further comprising, after the step of returning the query data to the user:
responding to a data decryption request of a user, calculating a hash value of the query data, and obtaining a target hash value;
Comparing the target hash value with the standard hash value;
if the target hash value is determined to be consistent with the standard hash value, decrypting the query data by using a symmetric encryption algorithm to obtain plaintext data;
and returning the plaintext data to the user.
9. A terminal comprising a memory and a processor, the memory having stored therein computer readable instructions which, when executed by the processor, cause the processor to perform the steps of the sheet sorting and bagging method of any one of claims 1 to 8.
10. The utility model provides a panel production line, its characterized in that includes scanner, letter sorting robot, buffer memory frame, vanning device and control system, scanner and drilling robot respectively with control system electric connection, scanner, letter sorting robot and vanning device respectively with control system electric connection, the buffer memory frame is used for interim depositing panel, the letter sorting robot is used for following the letter sorting procedure that control system issued sorts panel, vanning device is used for vanning panel, panel production line is used for carrying out the step of panel letter sorting packing method according to any one of claims 1 to 8.
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