CN117816554A - Parcel separation method, system, equipment and sorting system of visual single-piece separation equipment - Google Patents
Parcel separation method, system, equipment and sorting system of visual single-piece separation equipment Download PDFInfo
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- CN117816554A CN117816554A CN202311822270.6A CN202311822270A CN117816554A CN 117816554 A CN117816554 A CN 117816554A CN 202311822270 A CN202311822270 A CN 202311822270A CN 117816554 A CN117816554 A CN 117816554A
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- 238000000926 separation method Methods 0.000 title claims abstract description 50
- 230000000007 visual effect Effects 0.000 title claims abstract description 48
- 239000011159 matrix material Substances 0.000 claims abstract description 69
- 238000000034 method Methods 0.000 abstract description 14
- 230000001276 controlling effect Effects 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
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- 238000012856 packing Methods 0.000 description 1
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Abstract
The invention discloses a parcel separation method, a parcel separation system, parcel separation equipment and a parcel sorting system of visual single-piece separation equipment, wherein the parcel separation method firstly determines the height interval of the current parcel needing to be conveyed outside a belt conveyor matrix; determining the height interval of the height of the previous package; then judging the height interval corresponding to the current package and the previous package; when the height interval corresponding to the current parcel is determined to be the same as the height interval corresponding to the previous parcel or the value in the height interval corresponding to the current parcel is larger than the value in the height interval corresponding to the previous parcel, determining the parcel spacing according to the height interval corresponding to the current parcel, otherwise determining the parcel spacing according to the height interval corresponding to the previous parcel; and finally, controlling a belt conveyor matrix to carry out current package conveying according to the determined package spacing. The method can effectively improve the package supply efficiency of the visual single-piece separating equipment.
Description
Technical Field
The invention relates to the field of logistics sorting, in particular to a parcel separation method, a system, equipment and a sorting system of visual single-piece separation equipment.
Background
The visual single piece separation is to determine the positions of a plurality of packages on the belt conveyor matrix through image recognition and plan the conveying sequence of each package so as to convey the packages out of the belt conveyor matrix one by one.
In various sorting systems, automatic packing can be realized through the cooperation of visual single-piece separation equipment and six-sided code reading conveying devices, the visual single-piece separation equipment is located at the upstream of the six-sided code reading conveying devices, and in order to ensure that the six-sided code reading conveying devices can effectively acquire bar code data of each package, the package interval output by a matrix of a belt conveyor is required to be effectively controlled, and the package separation is carried out according to the fixed package interval when the existing visual single-piece separation equipment separates packages. The fixed package spacing is currently determined according to the package with the maximum height which can be read by the six-sided code reading and conveying device, for example, when the maximum height of the package which can be identified by the six-sided code reading and conveying device reaches 1000mm, the spacing of the adjacent package which is output outside the belt conveyor matrix needs to be controlled to be not less than 800mm, and then the fixed package spacing is not less than 800mm.
This approach, while guaranteeing a stable implementation of subsequent code reading, also results in a loss of packet delivery efficiency.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a parcel separating method, a system, equipment and a sorting system of visual single-piece separating equipment.
The aim of the invention is achieved by the following technical scheme:
the package separation method of the visual single-piece separation equipment comprises the following steps:
s10, determining a height section of each of two packages closest to an output end of a belt conveyor matrix of visual single-piece separation equipment, wherein the two packages are positioned in a half-width area of the belt conveyor matrix close to the output end;
s20, determining whether the height intervals of the two packages are the same, if so, determining the package intervals corresponding to the same height interval; if not, determining the height values in the two height intervals corresponding to the two packages and determining the package spacing corresponding to the height interval with larger height value;
s30, when the moving speeds of the two packages are the same or the front end of the front one of the two packages is located at the output end of the belt conveyor matrix, determining the actual distance between the two packages:
and S40, controlling a belt conveyor matrix according to the determined package spacing and the actual spacing so that when the two packages are output out of the belt conveyor matrix, the spacing of the two packages is equal to the package spacing or the difference value between the two packages and the package spacing does not exceed a threshold value.
Preferably, the height interval comprises a first height interval, a second height interval, a third height interval, a fourth height interval and a fifth height interval, wherein the first height interval is smaller than 300mm, the second height interval is 300-580mm, the third height interval is larger than 580mm and smaller than 750mm, the fourth height interval is 750-980m, and the fifth height interval is larger than 980mm.
Preferably, the wrapping distance corresponding to the first height interval is not less than 250 mm;
the wrapping distance corresponding to the second height interval is not less than 300mm;
the wrapping distance corresponding to the third height interval is not less than 500 mm;
the wrapping distance corresponding to the fourth height interval is not less than 650 mm;
and the wrapping distance corresponding to the fifth height interval is not less than 800mm.
Preferably, the wrapping distance corresponding to the first height interval is smaller than 300mm;
the wrapping distance corresponding to the second height interval is not more than 350mm;
the wrapping distance corresponding to the third height interval is not more than 550mm;
the wrapping distance corresponding to the fourth height interval is not more than 700mm;
and the wrapping distance corresponding to the fifth height interval is not more than 850mm.
Preferably, the visual singleton separation apparatus employs a 3D camera to acquire the height of the package.
Preferably, the conveyor matrix controls the two packages to maintain a spacing between 450-550mm in the conveying direction of the conveyor matrix and moves them at the same speed.
Preferably, when controlling the same speed of conveyance of the two parcels, the distance between the two parcels is adjusted to be equal to the parcel distance or the difference from the parcel distance does not exceed a threshold value by adjusting the moving speed of at least one of the two parcels.
A package separation system for a visual singleton separation apparatus, comprising:
the height interval determining unit is used for determining the height interval of each of two packages closest to the output end of the belt conveyor matrix on the belt conveyor matrix of the visual single-piece separating device, wherein the two packages are positioned in a half-width area of the belt conveyor matrix close to the output end and keep a preset distance in the conveying direction of the belt conveyor matrix;
the package interval determining unit is used for determining whether the height intervals of the two packages are the same or not, and if yes, determining the package interval corresponding to the same height interval; if not, determining the height values in the two height intervals corresponding to the two packages and determining the package spacing corresponding to the height interval with larger height value;
an actual distance determining unit, configured to determine an actual distance between the two parcels when it is determined that the moving speeds of the two parcels are the same or that the front end of the front one of the two parcels is located at the output end of the belt conveyor matrix:
and the adjusting unit is used for controlling the belt conveyor matrix according to the determined package spacing and the actual spacing so that when the two packages are output out of the belt conveyor matrix, the spacing of the two packages is equal to the package spacing or the difference value between the two packages and the package spacing does not exceed a threshold value.
A visual singleton separation device comprising a processor and a memory, the memory storing a program executable by the processor, the program when executed implementing a parcel separation method as described in any one of the preceding claims.
The sorting system comprises the visual single-piece separating device, and the output end of the visual single-piece separating device is connected with the six-face code reading conveying device.
The technical scheme of the invention has the advantages that:
when each package is output to the belt conveyor matrix, the corresponding package interval is determined according to the heights of the current package and the previous package, and on the premise that the package interval meets the requirement of accurate code reading of a follow-up six-face code reading conveying device, the efficiency loss caused when small and medium-sized packages are separated according to the fixed package interval is avoided, and the package supply efficiency of the visual single-piece separating device can be effectively improved.
When the belt conveyor matrix is arranged, the belt conveyor matrix is conveyed by pulling the package in the conveying direction, and then the package interval is adjusted near the output end of the belt conveyor matrix, so that the separation rate can be effectively improved.
The invention is divided into a plurality of subdivided intervals according to the package height, so that the distance control precision is higher, and the adjustment and code reading requirements of packages with different heights are better met.
When the belt conveyor matrix separates the packages one by one, the two packages at the forefront are moved at a constant speed after being pulled apart by a preset distance, so that the control can be convenient, meanwhile, the distance control requirement of the packages with moderate height can be effectively met through the arrangement of the preset distance, and the adjustment frequency is reduced.
Drawings
FIG. 1 is a schematic process diagram of the parcel separation method of the invention
Fig. 2 is a schematic view of the balance sorting system of the present invention.
Detailed Description
The objects, advantages and features of the present invention are illustrated and explained by the following non-limiting description of preferred embodiments. These embodiments are only typical examples of the technical scheme of the invention, and all technical schemes formed by adopting equivalent substitution or equivalent transformation fall within the scope of the invention.
In the description of the embodiments, it should be noted that the positional or positional relationship indicated by the terms such as "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of description and simplification of description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in the specific orientation, and thus are not to be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Example 1
The package separation method of the visual single-piece separation device disclosed by the invention is described below with reference to the accompanying drawings, the specific structure of the visual single-piece separation device is a known technology, and the visual single-piece separation device generally comprises a diffuser, a belt conveyor matrix, a roller centering machine and a plurality of image acquisition devices for visual identification, preferably a 3D camera, so that the size data, particularly the height data, of each package can be determined. Meanwhile, the position coordinates of each package on the belt conveyor matrix can be determined through the image acquired by the image acquisition device, so that the distance between the packages can be determined, and the corresponding technology is a known technology side and is not described in detail herein.
The visual single-piece separating equipment determines a separating sequence according to the position coordinates of a plurality of packages entering the visual single-piece separating equipment, and controls the start, stop, acceleration and deceleration of belt conveyors at different positions in the belt conveyor matrix in a combined mode so that the plurality of packages entering the visual single-piece separating equipment are output outside the belt conveyor matrix one by one. When the belt conveyor matrix is separated from the packs, part of the packs are first fed into the half-width region of the belt conveyor matrix near its output end and the distance between the packs in the feed direction of the belt conveyor matrix has been pulled apart. The belt matrix may maintain a predetermined spacing between the two packages that are spaced apart and forward-most (closest to the output end of the belt matrix) and continue to move forward at the same speed, with subsequent adjustment of the spacing between the two packages being possible based on the predetermined spacing determined. The predetermined spacing may be designed as desired and it is desirable to ensure that the two packages are not on the same belt conveyor, preferably between 450 mm and 550mm, more preferably between 500 mm and 530 mm. The specific method of controlling the belt conveyor matrix according to the image acquisition device to keep the preset distance between the two forefront packages and move at the same speed is known technology, and will not be described here.
Of course, in other modes, instead of making the two packages at the forefront move at the same speed with a predetermined distance, when it is determined that the front end of the forefront one (one closer to the output end of the belt conveyor matrix) of the two packages is at the output end of the belt conveyor matrix, the actual distance between the two packages is determined and the distance adjustment between the two packages is performed accordingly.
As shown in fig. 1, the package separation method of the visual single-piece separation device comprises the following steps:
s10, determining a height section of each of two packages closest to an output end of the belt conveyor matrix on the belt conveyor matrix, wherein the two packages are positioned in a half-width area of the belt conveyor matrix close to the output end; when the belt conveyor matrix carries out the conveying of each package, parameters such as the height, the position coordinates and the like of each package can be determined according to the image acquired by the image acquisition device.
S20, determining whether the height intervals of the two packages are the same, if so, determining the package intervals corresponding to the same height interval; if not, determining the height values in the two height intervals corresponding to the two packages and determining the package spacing corresponding to the height interval with larger height value;
s30, when the moving speeds of the two packages are the same or the front end of the front one of the two packages is located at the output end of the belt conveyor matrix, determining the actual distance between the two packages:
and S40, controlling a belt conveyor matrix according to the determined package spacing and the actual spacing so that when the two packages are output out of the belt conveyor matrix, the spacing of the two packages is equal to the package spacing or the difference value between the two packages and the package spacing does not exceed a threshold value.
The height interval comprises a first height interval, a second height interval, a third height interval, a fourth height interval and a fifth height interval, wherein the first height interval is smaller than 300mm, the second height interval is 300-580mm, the third height interval is larger than 580mm and smaller than 750mm, the fourth height interval is 750-980m, and the fifth height interval is larger than 980mm.
The wrapping distance corresponding to the first height interval is not less than 250 mm, and the wrapping distance corresponding to the first height interval is less than 300mm; more preferably, the wrapping distance corresponding to the first height interval is between 250 and 275 mm.
The wrapping distance corresponding to the second height interval is not less than 300mm, and the wrapping distance corresponding to the second height interval is not more than 350mm; more preferably, the wrapping distance corresponding to the second height interval is 300-325 mm.
The wrapping distance corresponding to the third height interval is not less than 500 mm, and the wrapping distance corresponding to the third height interval is not more than 550mm; more preferably, the wrapping distance corresponding to the third height interval is between 500 and 525 mm.
The wrapping distance corresponding to the fourth height interval is not less than 650 mm, and the wrapping distance corresponding to the fourth height interval is not more than 700mm; more preferably, the wrapping distance corresponding to the fourth height interval is 650-675 mm.
The wrapping distance corresponding to the fifth height interval is not less than 800mm, the wrapping distance corresponding to the fifth height interval is not more than 850mm, and more preferably, the wrapping distance corresponding to the fifth height interval is 800-825 mm.
For example, assume that the closest belt conveyor matrix is the inputThe two packages at the outlet end are in the same moving speed state, and the actual distance between the two packages is 520mm when the two packages move at the same speed; meanwhile, the height interval corresponding to the height of the former one of the two packages (the one closer to the output end of the matrix of the belt conveyor) is the first height interval, and the height interval corresponding to the height of the other one is the fifth height interval, so that the distance between the two packages needs to be controlled according to the package spacing 820mm corresponding to the fifth height interval, namely, when the two packages are conveyed out of the matrix belt conveyor, the distance between the two packages needs to be controlled to be 820mm. Correspondingly, the distance S to be adjusted Adjustment of =820-520=300 mm=0.3 m, and it was determined that it was necessary to increase the spacing between the two packages by 300mm. At this time, the latter one of the two packages may be decelerated to pull the distance therebetween, the former one of the two packages may be accelerated to pull the distance therebetween, or the moving speeds of the two packages may be adjusted simultaneously. In particular, the moving speed of the latter one of the two packages may be reduced to a fixed value or the moving speed of the former one of the two packages may be increased to a fixed value and then be restored to its original speed by running for a predetermined time t. Preferably, the latter one of the two packages is made to pass through the initial velocity V Initially, the method comprises Decelerating to a fixed speed V Adjustment of The fixed speed V Adjustment of Can be determined by testing according to actual needs, and is not limited herein. The displacement during deceleration is equal to (V Adjustment of 2 -V Initially, the method comprises 2 ) And/2 a, the displacements during acceleration are all equal to (V Initially, the method comprises 2 -V Adjustment of 2 ) And/2 a, a is fixed acceleration and deceleration, and the preset time t can be calculated according to the following formula:
S adjustment of +V Initially, the method comprises *t Adjustment of =(V Adjustment of 2 -V Initially, the method comprises 2 )/2a+(V Initially, the method comprises 2 -V Adjustment of 2 )/2a+V Adjustment of *t；
t Adjustment of =(V Adjustment of -V Initially, the method comprises ）/a+(V Initially, the method comprises -V Adjustment of ）/a+t；
Wherein t is Adjustment of For the later of the two packages from the start of the deceleration to the time of return to the original speed.
When the latter one of the two packages is used for speed regulation, the belt conveyor matrix can be used for controlling the movement of the package located behind the latter one of the two packages to be adaptively regulated, and the corresponding regulation is a known technology and is not described herein.
Example 2
The embodiment discloses a parcel separating system of vision single piece separating equipment, includes:
the height interval determining unit is used for determining the height interval of each of two packages closest to the output end of the belt conveyor matrix on the belt conveyor matrix of the visual single-piece separating device, wherein the two packages are positioned in a half-width area of the belt conveyor matrix close to the output end and keep a preset distance in the conveying direction of the belt conveyor matrix;
the package interval determining unit is used for determining whether the height intervals of the two packages are the same or not, and if yes, determining the package interval corresponding to the same height interval; if not, determining the height values in the two height intervals corresponding to the two packages and determining the package spacing corresponding to the height interval with larger height value;
an actual distance determining unit, configured to determine an actual distance between the two parcels when it is determined that the moving speeds of the two parcels are the same or that the front end of the front one of the two parcels is located at the output end of the belt conveyor matrix:
and the adjusting unit is used for controlling the belt conveyor matrix according to the determined package spacing and the actual spacing so that when the two packages are output out of the belt conveyor matrix, the spacing of the two packages is equal to the package spacing or the difference value between the two packages and the package spacing does not exceed a threshold value.
Example 3
The embodiment discloses a visual single-piece separation device, which comprises a processor and a memory, wherein the memory stores a program which can be executed by the processor, and the program realizes the parcel separation method when being executed.
Example 4
This embodiment discloses a sorting system, as shown in fig. 2, which includes the visual single-piece separating device 100, where the output end of the visual single-piece separating device 100 is connected to the six-sided code reading conveying device 200, and a sorting line is connected to the downstream of the six-sided code reading conveying device 200, and the sorting line may be a straight narrow-band sorting machine, or may be other feasible sorting lines, for example, a balance wheel sorting line.
The sorting method of the sorting system comprises the parcel separating method of the visual single-piece separating device, and the parcels output by the visual single-piece separating device are conveyed to the sorting line one by one for sorting after being subjected to code reading through the six-face code reading conveying device and the corresponding sorting grids of the parcels are obtained.
The invention has various embodiments, and all technical schemes formed by equivalent transformation or equivalent transformation fall within the protection scope of the invention.
Claims (10)
1. The package separation method of the visual single-piece separation equipment is characterized by comprising the following steps of:
s10, determining a height section of each of two packages closest to an output end of a belt conveyor matrix of visual single-piece separation equipment, wherein the two packages are positioned in a half-width area of the belt conveyor matrix close to the output end;
s20, determining whether the height intervals of the two packages are the same, if so, determining the package intervals corresponding to the same height interval; if not, determining the height values in the two height intervals corresponding to the two packages and determining the package spacing corresponding to the height interval with larger height value;
s30, when the moving speeds of the two packages are the same or the front end of the front one of the two packages is located at the output end of the belt conveyor matrix, determining the actual distance between the two packages:
and S40, controlling a belt conveyor matrix according to the determined package spacing and the actual spacing so that when the two packages are output out of the belt conveyor matrix, the spacing of the two packages is equal to the package spacing or the difference value between the two packages and the package spacing does not exceed a threshold value.
2. The package separation method of a visual single piece separation device according to claim 1, wherein: the height interval comprises a first height interval, a second height interval, a third height interval, a fourth height interval and a fifth height interval, wherein the first height interval is smaller than 300mm, the second height interval is 300-580mm, the third height interval is larger than 580mm and smaller than 750mm, the fourth height interval is 750-980m, and the fifth height interval is larger than 980mm.
3. The package separation method of the visual single-piece separation device according to claim 2, wherein:
the wrapping distance corresponding to the first height interval is not less than 250 mm;
the wrapping distance corresponding to the second height interval is not less than 300mm;
the wrapping distance corresponding to the third height interval is not less than 500 mm;
the wrapping distance corresponding to the fourth height interval is not less than 650 mm;
and the wrapping distance corresponding to the fifth height interval is not less than 800mm.
4. A package separation method of a visual singleton separation apparatus as defined in claim 3, wherein:
the wrapping distance corresponding to the first height interval is smaller than 300mm;
the wrapping distance corresponding to the second height interval is not more than 350mm;
the wrapping distance corresponding to the third height interval is not more than 550mm;
the wrapping distance corresponding to the fourth height interval is not more than 700mm;
and the wrapping distance corresponding to the fifth height interval is not more than 850mm.
5. The visual single-piece separating apparatus of claim 1, wherein: the visual singleton separation apparatus employs a 3D camera to acquire the height of the package.
6. The visual single-piece separating apparatus of claim 1, wherein: the belt matrix controls the two packages to maintain a spacing between 450-550mm in the direction of conveyance of the belt matrix and moves them at the same speed.
7. A package separation method for a visual single piece separation device according to any one of claims 1-6, wherein: by adjusting the speed of movement of at least one of the two parcels such that the spacing between them is adjusted to be equal to the parcel spacing or the difference from the parcel spacing does not exceed a threshold.
8. A package separation system for a visual singleton separation apparatus, comprising:
the height interval determining unit is used for determining the height interval of each of two packages closest to the output end of the belt conveyor matrix on the belt conveyor matrix of the visual single-piece separating device, wherein the two packages are positioned in a half-width area of the belt conveyor matrix close to the output end and keep a preset distance in the conveying direction of the belt conveyor matrix;
the package interval determining unit is used for determining whether the height intervals of the two packages are the same or not, and if yes, determining the package interval corresponding to the same height interval; if not, determining the height values in the two height intervals corresponding to the two packages and determining the package spacing corresponding to the height interval with larger height value;
an actual distance determining unit, configured to determine an actual distance between the two parcels when it is determined that the moving speeds of the two parcels are the same or that the front end of the front one of the two parcels is located at the output end of the belt conveyor matrix:
and the adjusting unit is used for controlling the belt conveyor matrix according to the determined package spacing and the actual spacing so that when the two packages are output out of the belt conveyor matrix, the spacing of the two packages is equal to the package spacing or the difference value between the two packages and the package spacing does not exceed a threshold value.
9. A visual singleton separation apparatus comprising a processor and a memory, the memory storing a program executable by the processor, characterized in that: the program when executed implements the parcel separation method of any one of claims 1 to 7.
10. Sorting system, its characterized in that: the visual single-piece separating device comprises the visual single-piece separating device according to claim 9, wherein the output end of the visual single-piece separating device is connected with a six-sided code reading conveying device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311822270.6A CN117816554A (en) | 2023-12-27 | 2023-12-27 | Parcel separation method, system, equipment and sorting system of visual single-piece separation equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311822270.6A CN117816554A (en) | 2023-12-27 | 2023-12-27 | Parcel separation method, system, equipment and sorting system of visual single-piece separation equipment |
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| CN117816554A true CN117816554A (en) | 2024-04-05 |
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| CN202311822270.6A Pending CN117816554A (en) | 2023-12-27 | 2023-12-27 | Parcel separation method, system, equipment and sorting system of visual single-piece separation equipment |
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| CN (1) | CN117816554A (en) |
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