CN116198909A - Luggage transportation beat control system and method - Google Patents
Luggage transportation beat control system and method Download PDFInfo
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- CN116198909A CN116198909A CN202310147007.5A CN202310147007A CN116198909A CN 116198909 A CN116198909 A CN 116198909A CN 202310147007 A CN202310147007 A CN 202310147007A CN 116198909 A CN116198909 A CN 116198909A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/24—Gearing between driving motor and belt- or chain-engaging elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application provides a baggage transportation beat control system and method, the system comprising: the device comprises a first conveyor belt, a visual guide assembly, a sequence adjusting assembly and a second conveyor belt, wherein the visual guide assembly, the sequence adjusting assembly and the second conveyor belt are arranged above the first conveyor belt. The third conveyor belt is arranged between the first conveyor belt and the second conveyor belt. The vision directing component pair obtains distribution data of baggage that is within range of the vision directing component. The order adjusting component is arranged on the first conveyor belt and adjusts adjacent baggage into sequential baggage according to the distribution data of the baggage. The third conveyor belt is arranged between the first conveyor belt and the second conveyor belt, is a variable speed damping conveyor belt, and accelerates when the preceding baggage enters the third conveyor belt. According to the method, the stacking or parallel baggage is sequentially adjusted, adjacent baggage is adjusted to be conveyed in sequence, and then the speed change of the third conveyor belt is utilized, so that the distance between adjacent baggage is controlled in a preset range, and the simultaneous occurrence of a plurality of baggage in a sorting area is avoided.
Description
Technical Field
The application relates to the technical field of traffic logistics, in particular to a baggage transportation beat control system and method.
Background
Along with the continuous expansion of the construction scale of airports in China, terminal building facilities of airports in all places are also continuously expanded to meet the increasing operation demands, and luggage processing facilities of terminal buildings are also increasingly complex. The terminal building is a main facility for serving passengers in civil aviation, is an exchange convergence point of passenger flows, logistics and information flows, and reflects the industry characteristics of the civil aviation by reasonably, organically and coordinately treating the passenger flows, the luggage flows and the information flows.
The terminal building passenger baggage system is one of important components in airport operation, is the most important system affecting operation efficiency, and directly affects the overall operation condition of the terminal building, wherein baggage transportation and correct destination sorting are targets pursued by baggage transportation system planning, and are important links in terminal building flow.
In the above airline cargo and baggage sorting scenario, however, it is common for multiple pieces of baggage to be present simultaneously within the sorting work area. For example, in a caterpillar conveyor system for aviation baggage, it is common for two or more pieces of baggage to come into contact with each other, such as two or more pieces of baggage stacked on top of each other, and two or more pieces of baggage to come in parallel at the same aisle interface. When this occurs, it is necessary to separate the baggage and to control the spacing between adjacent baggage to a certain extent in order to facilitate the sorting and measurement of different baggage to follow. At present, in order to solve the problems, manual participation is often required to separate the baggage, which is unfavorable for unmanned and automatic transportation of future aviation baggage.
Disclosure of Invention
The application provides a baggage transportation beat control system and method to solve the problem that a plurality of pieces of baggage occur in a sorting work area at the same time.
In a first aspect, the present application provides a baggage transportation beat control system comprising: a first conveyor belt, a second conveyor belt, and a third conveyor belt disposed between the first conveyor belt and the second conveyor belt;
the visual guide assembly is arranged above the first conveyor belt and is used for acquiring distribution data of the baggage entering the range of the visual guide assembly;
the order adjusting component is arranged above the first conveyor belt and is positioned at the rear of the transmission direction of the visual guiding component, and the rear baggage is blocked on the first conveyor belt according to the distribution data;
and a variable speed trigger sensor is arranged at the edge of the third conveyor belt, and monitors the prior baggage entering the third conveyor belt, and adjusts the speed increase of the third conveyor belt.
Further, the visual guide assembly includes: a camera and a visual guidance trigger sensor;
the camera is arranged above the first conveyor belt and is used for collecting baggage images;
the vision guiding trigger sensor is arranged at the sight line edge of the camera and used for triggering the camera to collect images.
Further, the order adjustment component comprises: the fixed rotating shaft and the push rod electric cylinder are connected with the fixed rotating shaft and can be rotationally connected around the fixed rotating shaft; the baffle is connected with the push rod electric cylinder and forms an included angle with the push rod electric cylinder.
Further, a plurality of universal balls are arranged on the lower surface of the baffle plate.
Further, the order adjustment component further comprises: and the signal light emitted by the luggage proximity sensor is positioned in the shadow range of the baffle plate on the first conveyor belt.
Further, the luggage proximity sensor is a correlation sensor and comprises a transmitting end and a receiving end, wherein the transmitting end and the receiving end are respectively positioned at two sides of the first conveyor belt.
The beneficial effects are that:
the application provides a luggage transportation beat control system, includes: the device comprises a first conveyor belt, a visual guide assembly, a sequence adjusting assembly and a second conveyor belt, wherein the visual guide assembly, the sequence adjusting assembly and the second conveyor belt are arranged above the first conveyor belt. The third conveyor belt is arranged between the first conveyor belt and the second conveyor belt. A visual guide assembly for acquiring distribution data of baggage entering the range of the visual guide assembly, the distribution data comprising: width, height, pitch, relative reference line position, and relative position in the conveying direction of the baggage. The order adjusting component is arranged on the first conveyor belt and is used for adjusting the stacked or parallel baggage to be the baggage in sequence according to the distribution data of the baggage. The third conveyor belt is arranged between the first conveyor belt and the second conveyor belt, is a variable speed damping conveyor belt, and adjusts the speed of the third conveyor belt to be a second speed when the preceding baggage enters the third conveyor belt, and the speed of the third conveyor belt is a first speed before the preceding baggage enters the third conveyor belt, wherein the first speed is smaller than, greater than or equal to the second speed. According to the method, the stacking or parallel baggage is sequentially adjusted, adjacent baggage is adjusted to be conveyed in sequence, and then the speed change of the third conveyor belt is utilized, so that the distance between adjacent baggage is controlled in a preset range, and the simultaneous occurrence of a plurality of baggage in a sorting area is avoided.
On the other hand, the application also provides a baggage transportation beat control method, which comprises the following steps:
acquiring the width, the height, the distance and the relative reference line position of the baggage and the relative position along the conveying direction, and judging the sequence state of the adjacent baggage;
according to the information of the adjacent baggage, blocking the rear baggage by using a baffle corresponding to the rear baggage, so that the front baggage enters the third conveyor belt, and the rear baggage is blocked behind the baffle;
after the third conveyor belt detects the preceding baggage, accelerating operation;
after the preceding baggage is transported by the second conveyor at a predetermined distance, the following baggage is released so that the following baggage enters the third conveyor.
The beneficial effects are that:
the application provides a baggage transportation beat control method, which comprises the following steps: acquiring the width, the height, the distance and the relative reference line position of the baggage and the relative position along the conveying direction, and judging the sequence state of the adjacent baggage; according to the information of the adjacent baggage, blocking the rear baggage by using a baffle corresponding to the rear baggage, so that the front baggage enters the third conveyor belt, and the rear baggage is blocked behind the baffle; after the third conveyor belt detects the preceding baggage, accelerating operation; after the preceding baggage is transported by the second conveyor at a predetermined distance, the following baggage is released so that the following baggage enters the third conveyor. According to the method, the sequence of the baggage entering the first conveyor belt is adjusted, the adjacent baggage is adjusted to be conveyed in sequence, and then the speed change of the third conveyor belt is utilized, so that the distance between the adjacent baggage is controlled in a preset range, and the simultaneous occurrence of a plurality of baggage in a sorting area is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic structural view of a baggage transportation beat control system according to the present application;
FIG. 2 is a schematic plan view of a baggage transportation beat control system of the present application;
FIG. 3 is a schematic illustration of a luggage state of an example of the present application;
fig. 4 is a schematic structural diagram of an adjusting component according to an embodiment of the present application;
fig. 5 is a flowchart of a baggage transportation beat control method according to an embodiment of the present application;
FIG. 6 is another baggage control process state one of the examples of this application;
FIG. 7 is another baggage control process state two of the examples of this application;
FIG. 8 is another baggage control process state three of the examples of this application;
fig. 9 is another baggage control process state four of the example of the present application.
Detailed Description
In order to facilitate the technical solution of the application, some concepts related to the present application will be described below first.
In the context of air cargo and baggage sorting, it is common for a plurality of pieces of baggage to be present simultaneously in a sorting work area. For example, in a caterpillar conveyor system for aviation baggage, it is common for two or more pieces of baggage to come into contact with each other, such as two or more pieces of baggage stacked on top of each other, and two or more pieces of baggage to come in parallel at the same aisle interface.
Fig. 1 is a schematic structural view of a baggage transportation beat control system according to the present application; fig. 2 is a schematic plan view of a baggage transportation beat control system according to the present application. As shown in fig. 1 and 2, in order to solve the problem that a plurality of pieces of baggage occur simultaneously in a sorting work area, the present application exemplifies a baggage transportation beat control system including: a first conveyor belt 200 and a visual guide assembly 100, an order adjustment assembly 400 and a second conveyor belt 300 disposed over the first conveyor belt. The third conveyor belt is arranged between the first conveyor belt and the second conveyor belt. The vision directing component 100 obtains distribution data of baggage entering the area of the vision directing component, the distribution data comprising: width, height, pitch, relative reference line position, and relative position in the conveying direction of the baggage. The order adjustment assembly 400 is disposed on the first conveyor 200, and adjusts the stacked or parallel baggage to sequential baggage according to the distribution data of the baggage. The third conveyor 500 is disposed between the first conveyor 200 and the second conveyor 300 and is a variable speed dampened conveyor, and the speed of the third conveyor 500 is adjusted to a second speed as the preceding baggage passes into the third conveyor 500, and the speed of the third conveyor 500 is adjusted to a first speed before the preceding baggage passes into the third conveyor 500. The present application adjusts adjacent baggage to be sequentially transported by sequentially adjusting stacked or parallel baggage, and then controls the interval between adjacent baggage within a preset range by using the speed change of the third conveyor 500, thereby avoiding a plurality of baggage to be simultaneously present in the sorting area.
Specifically, the vision guiding assembly 100 is disposed above the first conveyor belt 200, acquires the baggage image data entering the range of the vision guiding assembly, performs feature extraction of point cloud data on the baggage image data, and outlines the outline and the gesture of the baggage to obtain the width, the height, the distance and the relative position along the conveying direction of the baggage.
In some examples of the present application, the visual guide assembly 100 may be a 3D camera and visual guide trigger sensor composition. The vision guidance triggering sensor is positioned at the edge of the vision range of the 3D camera, and when the luggage enters the vision guidance assembly range, the vision guidance triggering sensor guides the 3D camera to start image acquisition. And the 3D camera performs feature extraction of point cloud data on the image data of the luggage, outlines the outline and the gesture of the luggage, and obtains the width, the height and the distance of the luggage and the relative position along the conveying direction.
The width of the baggage is the distance of the baggage on the conveyor belt perpendicular to the conveying direction, and the height is the distance of the baggage from the plane of the conveyor belt. The pitch is the distance between adjacent baggage pieces in the conveying direction, and the relative position in the conveying direction is the relative positional relationship between the position of the baggage piece at the first conveyor 200 and the reference line with the center of the first conveyor 200 as the reference line.
In some embodiments of the present application, the vision guidance triggering sensor 101 detects that the baggage enters the line of sight of the vision guidance assembly 1000, the 3D camera starts image acquisition, acquires multiple sets of images in a preset period of time, extracts the displacement of the target in the continuous images, calculates the flow rate of the first conveyor belt 200, and defines the flow rate as the first conveying speed 200.
In some embodiments of the present application, the 3D camera is triggered to collect continuous images at intervals of 0.2s, extract the displacement of the target in the continuous images, and calculate the flow velocity V of the conveying line.
To facilitate transportation and separation of the articles, in the present example, the conveying plane of the first conveyor belt 200 is disposed higher than the conveying plane of the second conveyor belt 300. In this example, the subsequent baggage is blocked by the order adjustment assembly when the previous baggage enters the third conveyor 500 by the first conveyor 200, and is adjusted to enter the third conveyor 500 by the first conveyor 200, then the second conveyor 300, and then the sorting area after the previous baggage is conveyed a predetermined distance by the second conveyor 300.
The speed of the third conveyor belt 500 is adjusted to the second speed as the prior baggage passes into the third conveyor belt 500, and the speed of the third conveyor belt 500 is the first speed before the prior baggage passes into the third conveyor belt 500. The present application adjusts adjacent baggage to be sequentially transported by sequentially adjusting stacked or parallel baggage, and then controls the interval between adjacent baggage within a preset range by using the speed change of the third conveyor 500, thereby avoiding a plurality of baggage to be simultaneously present in the sorting area. After the preceding baggage enters the second conveyor 300, the speed of the third conveyor 500 is adjusted to the first speed.
In some embodiments of the present application, when the distance between the preceding baggage and the following baggage at the first conveyor belt 200 is less than the preset distance, the transfer speed of the third conveyor belt 500 is adjusted to a second speed after the preceding baggage enters the third conveyor belt 500, where the second speed is greater than the first speed. When the distance between the preceding baggage and the following baggage at the first conveyor 200 is greater than the preset distance, the transmission speed of the third conveyor 500 is adjusted to the second speed after the preceding Li Jinru third conveyor 500, and the second speed is smaller than the first speed at this time, the distance between the preceding baggage and the following baggage can be shortened.
Fig. 3 is a schematic diagram of a baggage status in the example of the present application, where when two pieces of baggage are detected simultaneously in the line of sight of the visual guiding assembly, the width Wa, the height Za, the length La, and the first line Li Xiangdui of reference line of the first piece of baggage are acquired to be located on the right side; the width Wb, the height Za, the length Lb, and the second baggage are positioned on the left side with respect to the reference line. And judging whether the first luggage and the second luggage which enter the range of the visual guide assembly simultaneously are stacked or parallel or not according to the acquired data.
In this example, the width W of the baggage is a distance of the baggage in a direction perpendicular to the reference line, the length of the baggage is a distance of the baggage in the direction of the reference line, and the height of the baggage is a distance of an upper surface of the baggage from a conveying plane of the conveyor belt.
The positional relationship of the baggage with respect to the reference line is a positional relationship between the center of the baggage and the reference line with the reference line as a center point.
In the present embodiment, the sequence adjustment assembly 400 includes first and second adjustment members 402 positioned on either side of the reference line, and a baggage proximity sensor 401 positioned on the side of the first conveyor belt 200 for monitoring the time of baggage entering the third conveyor belt 500 from the first conveyor belt 200. Depending on the luggage status, one of the first adjustment member 401 or the second adjustment member 402 is adjusted to descend so as to block the succeeding luggage or the luggage stacked above behind the barrier. The preceding baggage or the baggage located below is preferentially transferred to the third conveyor belt 500 by the first conveyor belt 200.
As in the example of the present application, the front end position of the adjustment member after being lowered is located at the junction of the first conveyor belt 200 and the second conveyor belt 300.
Corresponding to the positions of the adjustment members in the sequence adjustment assembly 400, the first adjustment member 401 is located above the corresponding one side of the reference line and the second adjustment member 402 is located above the other side of the reference line. When it is determined that the baggage to be blocked is located in the corresponding direction of the first adjusting member 401, the first adjusting member 401 is controlled to be inclined downward, and the baggage of the corresponding passage is blocked.
In some embodiments of the present application, the first adjusting component 401 and the second adjusting component 402 may be flexible baffles, and the specific structure is shown in fig. 4, and fig. 4 is a schematic structural diagram of an adjusting component provided in an embodiment of the present application, including: a fixed rotating shaft 4011, a push rod electric cylinder 4012 and a baffle 4013.
The fixed rotating shaft 4011 is positioned in the middle of the push rod electric cylinder 4012, and the push rod electric cylinder 4012 can be rotatably connected around the fixed rotating shaft 4011. A baffle 4013 is located at the end of the pushrod cylinder 4012, near the first conveyor belt 2002000,
the adjusting members are disposed above the first conveyor belt 200, and the projections of the first adjusting member 401 and the second adjusting member 402 on the first conveyor belt 200 are respectively located at two sides of the reference line. The first end of the fixed rotating shaft 4011 is fixed on the bracket, the push rod electric cylinder 4012 is connected with the second end of the fixed rotating shaft 4011, and the push rod electric cylinder 4012 can be rotatably connected around the fixed rotating shaft 4011. The pushrod electric cylinder 4012 is also connected to a baffle.
The push rod electric cylinder 4012 can be arranged to be of a telescopic structure, the baffle is connected with the push rod electric cylinder 4012, and the height and the angle of the baffle and the first conveyor belt 200 can be adjusted by the push rod electric cylinder 4012 in the telescopic process.
In some embodiments of the present application, the order adjustment assembly 400 further includes a baggage proximity sensor disposed on a side of the first conveyor belt 200, which may be a correlation sensor, with a transmitting end disposed on one side and a receiving end disposed on the other side. When the luggage is transported between the opposite-emission sensors, the receiving end can not receive the light signal of the emitting end, and then the luggage approaching signal is triggered. Based on the time of the baggage approaching signal and the length of the corresponding baggage, the time of the preceding baggage entering the second conveyor belt 300 is calculated, and when the preceding baggage enters the second conveyor belt 300, the corresponding adjusting means is controlled to descend so as to block the following baggage behind the adjusting means.
In some examples of the present application, to achieve a flexible barrier to luggage, sets of universal balls are provided below the barrier. The universal ball can slide reversely according to the stress condition, so that the transmission speed of the rear luggage in the conveying direction is reduced.
As shown in fig. 3, two pieces of luggage are detected at the same time, and the width Wa, the height Za, and the first line Li Xiangdui of the first piece of luggage are acquired to be positioned on the right side; the width Wb, the height Za, and the second baggage are positioned on the left side with respect to the reference line. And the second baggage is preceded and the first baggage is followed. The centre of the first item of luggage is located to the right of L/2 and belongs to the blocking category of the second adjustment member 402, the second adjustment member 402 is then lowered to the blocking, and the height Za of the first item of luggage is used to determine the magnitude of the lowering of the second adjustment member 402.
The third conveyor 500 is provided with a variable speed trigger sensor that triggers the edge of the preceding baggage entering the third conveyor 500, and the speed of the third conveyor 500 becomes the first speed.
In the embodiment of the present application, in order to maintain the distance between adjacent baggage within the preset distance range, the conveying speed of the third conveyor belt 500 is adjusted to the first speed after the previous baggage leaves the third conveyor belt 500.
Accordingly, the present application discloses a baggage transportation beat control system comprising: a first conveyor 200200 and a visual guide assembly 100, an order adjustment assembly 400 and a second conveyor 300 disposed over the first conveyor 200. The vision directing component 100 obtains distribution data for baggage entering the area of the vision directing component, the distribution data comprising: width, height, spacing and relative position of the baggage in the conveying direction. The order adjustment assembly 400 is disposed on the first conveyor 200, and adjusts the stacked or parallel baggage to sequential baggage according to the distribution data of the baggage. The third conveyor 500 is disposed between the first conveyor 200 and the second conveyor 300 and is a variable speed dampened conveyor, and the speed of the third conveyor 500 is adjusted to a second speed as the preceding baggage passes into the third conveyor 500, and the speed of the third conveyor 500 is adjusted to a first speed before the preceding baggage passes into the third conveyor 500. The present application adjusts adjacent baggage to be sequentially transported by sequentially adjusting stacked or parallel baggage, and then controls the interval between adjacent baggage within a preset range by using the speed change of the third conveyor 500, thereby avoiding a plurality of baggage to be simultaneously present in the sorting area.
The vision guiding assembly comprises a 3D camera and a vision guiding trigger sensor 101, wherein the vision guiding trigger sensor is arranged at the side edge of the first conveyor belt 200 and is positioned in the sight range of the 3D camera. The baggage enters the range of the vision guiding triggering sensor, and the 3D camera is triggered to acquire the baggage state picture. The sequence adjustment assembly 400 includes a first adjustment member 401 and a second adjustment member 402 positioned on either side of the fiducial line, and a baggage proximity sensor positioned on the side of the first conveyor belt 200 for monitoring the time of baggage entering the second conveyor belt 300 from the first conveyor belt 200. The adjusting member, which adjusts the corresponding side of the rear luggage, is lowered according to the luggage state so as to block the rear luggage behind the adjusting member.
The adjusting part includes: a fixed rotating shaft 4011, a push rod electric cylinder 4012 and a baffle. The fixed rotating shaft 4011 is fixed on a bracket above the first conveyor belt 200, the push rod electric cylinder 4012 is connected with a second end of the fixed rotating shaft 4011, and the push rod electric cylinder 4012 can be rotatably connected around the fixed rotating shaft 4011. The push rod electric cylinder 4012 is also connected with the baffle, and the push rod electric cylinder 4012 can adjust the descending amplitude of the baffle.
The third conveyor 500 is also provided with a variable speed trigger sensor that triggers the side speed of the preceding baggage entering the third conveyor 500, the speed of the third conveyor 500 becoming the first speed. After the preceding baggage arrives within the preset range at the conveying distance of the second conveyor belt 300, the conveying speed of the third conveyor belt 500 is adjusted to the second speed.
As shown in fig. 5, the present application further provides a baggage transportation beat control method, which is applicable to the baggage transportation beat control system provided in the present application, including:
s100: and acquiring the width, the height, the distance, the relative datum line position and the relative position along the conveying direction of the baggage, and judging the sequence state of the adjacent baggage.
S200: according to the information of the preceding luggage and the following luggage, the following luggage is blocked by using the baffle corresponding to the following luggage, so that the preceding luggage enters the third conveyor belt, and the following luggage is blocked behind the baffle.
S300: the third conveyor belt accelerates after detecting the preceding baggage.
S400: after the preceding baggage is transported by the second conveyor at a predetermined distance, the following baggage is released so that the following baggage enters the third conveyor.
In this application, stop the luggage behind through the baffle, accelerate the unloading after preceding luggage gets into next conveyer belt for the distance of the less adjacent luggage of interval originally increases, and the interval control of adjacent luggage is in predetermineeing the within range, avoids a plurality of luggage to appear in the letter sorting region simultaneously.
In some examples of the present application, further comprising: the vision guide triggering sensor detects that the luggage enters the sight range, the triggering camera acquires images of the luggage in the sight range, and the contour and the gesture of the luggage entering the vision component range are detected.
And extracting characteristics of point cloud data from the image data of the luggage, outlining the outline and the gesture of the luggage, and obtaining the width, the height and the distance of the luggage and the relative position along the conveying direction. Adjacent baggage is defined as preceding baggage and succeeding baggage depending on the relative positions of the adjacent baggage in the conveying direction.
In some examples of the present application, blocking the following baggage with a baffle corresponding to the following baggage such that the preceding baggage enters the third conveyor belt, based on information of the preceding baggage and the following baggage, the following baggage blocking behind the baffle, further comprises: the time when the preceding baggage arrives at the third conveyor belt is calculated from the conveying speed of the first conveyor belt and the position information of the preceding baggage. The barrier above the corresponding rear baggage is lowered according to the time when the preceding baggage arrives at the third conveyor belt, so that the rear baggage is blocked to the rear of the barrier.
In some embodiments of the present application, the position information of the first baggage is recorded using the baggage proximity sensor, and the time at which the previous baggage enters the second conveyor is calculated using the length, width, and conveying speed of the first conveyor.
After the preceding baggage is transported by the second conveyor at a predetermined distance, the following baggage is released so that the following baggage enters the third conveyor.
In some embodiments of the present application, the baggage transportation beat control method further comprises: an correlation sensor is used to monitor whether the baggage is in the line of sight of the camera. When the luggage enters the sight range of the camera, the camera is triggered to collect images of the luggage in the sight range, and the outline and the gesture of the luggage entering the vision component range are detected.
In some embodiments of the present application, blocking the following baggage with a baffle corresponding to the following baggage such that the following baggage enters the third conveyor belt according to information of the following baggage and the preceding baggage, the blocking of the following baggage behind the baffle, comprises:
s201: whether baffle control is required is determined based on the distance between the following baggage and the following baggage. If the distance between the rear luggage and the rear luggage is greater than or equal to a preset limit threshold value, baffle control is not needed; if the distance between the following baggage and the following baggage is smaller than a preset limiting threshold value, a barrier control is required.
S202: and determining the position of the baffle to be controlled according to the relative reference line position of the rear baffle. Specifically, if the rear baggage is located at the left side of the reference line of the conveyor, controlling the corresponding barrier located at the left side of the reference line; if the trailing baggage is located to the right of the reference line of the conveyor, the corresponding barrier is controlled to the right of the reference line.
S203: the time at which the flap is controlled to descend is determined on the basis of the relative position of the preceding baggage in the conveying direction. Specifically, in some embodiments of the present application, the time at which the preceding baggage enters the blanking position is calculated from the relative position of the preceding baggage in the conveying direction, and the barrier is controlled to descend so that the following baggage is blocked behind the barrier, based on the time at which the preceding baggage enters the blanking position.
S204: the descending height of the baffle is controlled according to the height of the rear luggage. The baffle was first lowered 10cm above the top of the baggage and then lowered 10cm above the first conveyor.
Fig. 6 to 9 are schematic views of a baggage control process according to the present application, in which fig. 6 is a first baggage control process state, fig. 7 is a second baggage control process state, fig. 8 is a third baggage control process state, and fig. 9 is a fourth baggage control process state. As shown in the figure, the figure shows a single-sided luggage string as an example.
As shown in the figure, the visual guidance trigger sensor detects that two pieces of luggage are present on either side of the reference line. And detecting the profile and the gesture of the baggage entering the range of the visual component, acquiring the width, the height and the distance of the baggage and the relative position along the conveying direction, and judging the sequence state of the adjacent baggage.
In the present example, the width of the baggage is the distance of the baggage on the conveyor perpendicular to the conveying direction and the height is the distance of the baggage from the plane of the conveyor. The distance is the distance between adjacent baggage and the first conveyor, and the relative position along the conveying direction is the relative position relation between the position of the baggage on the first conveyor and the reference line.
And after the camera is triggered, continuous image acquisition is carried out at intervals of 0.2s, displacement of a target in the continuous images is extracted, and the flow speed V of the conveying line is calculated. The heights Za and Zb of the following baggage, and the preceding lengths La and Lb are acquired.
In this application, a preceding baggage refers to a baggage of which the contour edge is closest to the direction of the second conveyor belt among adjacent baggage. In the figure, the feed opening is the joint of the first conveyor belt and the third conveyor belt.
The preceding baggage Lb first reaches the baggage proximity sensor below the barrier, and after the lapse of time Lb/V, the barrier falls to be blocked in the following baggage La, and deceleration separation is performed. Where Lb is the length of the preceding baggage in the conveying direction, and V is the conveying speed of the first conveyor.
During the fall of the baffle, the baffle is first adapted to the height Za of the rear luggage, reaches a position about 10cm below the height of the rear luggage, and then continues to push down to a position about 10cm above the bottom. The bottom here, i.e. the first conveyor belt, is in contact with the baggage.
Because the position of luggage separation is close to the feed opening, when preceding luggage Lb triggers the variable speed trigger sensor earlier, can trigger the whereabouts that the damping transfer chain accelerates Lb of variable speed fast, make enough big gap for the unloading of baffle separation. After the preceding baggage is transported by the second conveyor at a predetermined distance, the following baggage is released so that the following baggage enters the second conveyor.
In some embodiments of the present application, the baffle may meet the arrival of the baggage in a blocking posture as a normal state in consideration of the direction change and rolling caused by the opposite direction power blocking of the baggage in dynamic traveling, so as to avoid the reaction, and the blocking is broken through. Thus, in the starting state, the first baffle and the second baffle are spaced less than 10cm from the lower surface of the first conveyor belt, and the baggage on the first conveyor belt is blocked. When the luggage enters the sight range of the vision guiding assembly, the 3D camera is triggered to collect the luggage state picture. The order adjustment assembly includes a first adjustment member and a second adjustment member positioned on opposite sides of the datum line, and a baggage proximity sensor positioned on a side of the first conveyor for monitoring a time of baggage entering the second conveyor from the first conveyor. The adjusting member on the side of the rear first Li Duiying is adjusted to be lifted so that the front baggage passes, and the rear baggage is blocked behind the adjusting member according to the state of the baggage.
Accordingly, the present application discloses a baggage transportation beat control system and method, the system comprising: the device comprises a first conveyor belt, a visual guide assembly, a sequence adjusting assembly and a second conveyor belt, wherein the visual guide assembly, the sequence adjusting assembly and the second conveyor belt are arranged above the first conveyor belt. The vision guide assembly acquires distribution data of luggage entering the range of the vision guide assembly, and the distribution data comprises: width, height, spacing and relative position of the baggage in the conveying direction. The order adjusting component is arranged on the first conveyor belt and is used for adjusting the stacked or parallel baggage to be the baggage in sequence according to the distribution data of the baggage. The third conveyor belt is arranged between the first conveyor belt and the second conveyor belt, is a variable speed damping conveyor belt, and adjusts the speed of the third conveyor belt to be a second speed when the preceding baggage enters the third conveyor belt, and the speed of the third conveyor belt is a first speed before the preceding baggage enters the third conveyor belt. According to the method, the stacking or parallel baggage is sequentially adjusted, adjacent baggage is adjusted to be conveyed in sequence, and then the speed change of the third conveyor belt is utilized, so that the distance between adjacent baggage is controlled in a preset range, and the simultaneous occurrence of a plurality of baggage in a sorting area is avoided.
Since the foregoing embodiments are all described in other modes by reference to the above, the same parts are provided between different embodiments, and the same and similar parts are provided between the embodiments in the present specification. And will not be described in detail herein.
It should be noted that in this specification, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a circuit structure, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such circuit structure, article, or apparatus. Without further limitation, the statement "comprises" or "comprising" a … … "does not exclude that an additional identical element is present in a circuit structure, article or apparatus that comprises the element.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
The above-described embodiments of the present application are not intended to limit the scope of the present application.
Claims (10)
1. A baggage transportation beat control system, comprising:
a first conveyor belt (200), a second conveyor belt (300) and a third conveyor belt (500), the third conveyor belt (500) being disposed between the first conveyor belt (200) and the second conveyor belt (300);
the vision guiding assembly (100) is arranged above the first conveyor belt (200) and is used for acquiring distribution data of baggage entering the range of the vision guiding assembly;
the order adjustment assembly (400) is arranged above the first conveyor belt (200), is positioned behind the visual guide assembly (100), adjusts the parallel baggage into a sequence according to the distribution data, and blocks the subsequent baggage on the first conveyor belt (200);
a variable speed trigger sensor (301) is arranged at the edge of the third conveyor belt (300), and the variable speed trigger sensor (301) monitors that the speed of the third conveyor belt (300) is regulated when the preceding baggage enters the third conveyor belt.
2. The baggage transportation beat control system of claim 1, wherein the visual guide assembly (100) comprises: a camera and vision-guided trigger sensor (101);
the camera is arranged above the first conveyor belt (200) and is used for collecting baggage images;
the vision guiding triggering sensor (101) is arranged at the sight line edge of the camera and used for triggering the camera to collect images.
3. The baggage transportation beat control system of claim 1, wherein the order adjustment assembly (400) comprises:
a first adjustment member (401) and a second adjustment member (402) located on both sides of a reference line of the first conveyor belt;
the first adjusting part includes: a fixed rotating shaft (4011);
a push rod electric cylinder (4012) connected with the fixed rotating shaft (4011) and capable of rotating around the fixed rotating shaft (4011); the fixed rotating shaft (4011) is positioned in the middle of the push rod electric cylinder (4012),
and a baffle plate (4013) connected to the push rod electric cylinder (4012) and located at an end of the push rod electric cylinder (4012).
4. A baggage transportation beat control system according to claim 3, characterised in that the baffle (4013) is at an acute angle to the push rod cylinder (4012).
5. A luggage transportation beat control system according to claim 3, characterised in that the lower surface of the baffle (4013) is provided with a plurality of universal balls.
6. A baggage transportation beat control system according to claim 3, characterised in that the order adjustment assembly (400) further comprises: a baggage proximity sensor (403), the signal light emitted by the baggage proximity sensor (403) is located within a shadow range of the shutter in the first conveyor belt (200).
7. The baggage transportation beat control system of claim 6, wherein the baggage proximity sensor (403) is an correlation sensor comprising a transmitting end and a receiving end, the transmitting end and the receiving end being located on either side of the first conveyor belt, respectively.
8. A baggage transportation beat control method, comprising:
acquiring the width, the height, the distance and the relative reference line position of the baggage and the relative position along the conveying direction, and judging the sequence state of the adjacent baggage;
according to the information of the adjacent baggage, blocking the rear baggage by using a baffle corresponding to the rear baggage, so that the front baggage enters the third conveyor belt, and the rear baggage is blocked behind the baffle;
after the third conveyor belt detects the preceding baggage, accelerating operation;
after the preceding baggage is transported by the second conveyor at a predetermined distance, the following baggage is released so that the following baggage enters the third conveyor.
9. The baggage transportation beat control method of claim 8, wherein before the acquiring of the width, height, pitch, relative reference line position, and relative position in the transportation direction of the baggage, further comprising: the vision guide triggering sensor detects that the luggage enters the sight range, the triggering camera acquires images of the luggage in the sight range, and the contour and the gesture of the luggage entering the vision component range are detected.
10. The method of controlling a takt time for transporting luggage according to claim 8, wherein the blocking of the preceding luggage by the corresponding barrier of the following luggage based on the information of the following luggage and the preceding luggage so that the preceding luggage enters the third conveyor belt, the blocking of the following luggage behind the barrier includes:
judging whether baffle control is needed or not according to the distance between the preceding luggage and the following luggage;
if the baffle control is required, determining the position of the baffle to be controlled according to the position of the rear luggage relative to the datum line;
determining the descending time of the control baffle according to the relative position of the prior baggage along the conveying direction;
the descending height of the baffle is controlled according to the height of the rear luggage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310147007.5A CN116198909A (en) | 2023-02-15 | 2023-02-15 | Luggage transportation beat control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310147007.5A CN116198909A (en) | 2023-02-15 | 2023-02-15 | Luggage transportation beat control system and method |
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| Publication Number | Publication Date |
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| CN116198909A true CN116198909A (en) | 2023-06-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310147007.5A Pending CN116198909A (en) | 2023-02-15 | 2023-02-15 | Luggage transportation beat control system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117282685A (en) * | 2023-06-16 | 2023-12-26 | 北京万相融通科技股份有限公司 | System for intelligent sorting of checked baggage |
| CN117282685B (en) * | 2023-06-16 | 2024-05-17 | 北京万相融通科技股份有限公司 | System for intelligent sorting of checked baggage |
-
2023
- 2023-02-15 CN CN202310147007.5A patent/CN116198909A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117282685A (en) * | 2023-06-16 | 2023-12-26 | 北京万相融通科技股份有限公司 | System for intelligent sorting of checked baggage |
| CN117282685B (en) * | 2023-06-16 | 2024-05-17 | 北京万相融通科技股份有限公司 | System for intelligent sorting of checked baggage |
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