CN114453258A - Parcel sorting system, parcel sorting method, industrial control equipment and storage medium - Google Patents
Parcel sorting system, parcel sorting method, industrial control equipment and storage medium Download PDFInfo
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- CN114453258A CN114453258A CN202011247214.0A CN202011247214A CN114453258A CN 114453258 A CN114453258 A CN 114453258A CN 202011247214 A CN202011247214 A CN 202011247214A CN 114453258 A CN114453258 A CN 114453258A
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- package
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
- B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
- B07C3/082—In which the objects are carried by transport holders and the transport holders form part of the conveyor belts
- B07C3/087—In which the objects are carried by transport holders and the transport holders form part of the conveyor belts the objects being taken up in transport files or holders which are not part of the conveyor belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/10—Apparatus characterised by the means used for detection ofthe destination
- B07C3/14—Apparatus characterised by the means used for detection ofthe destination using light-responsive detecting means
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Abstract
本申请提供了一种包裹分拣系统、包裹分拣方法、工控设备及存储介质，该包裹分拣系统包括：工控设备、输送供给线、搬运设备、扫码设备、翻转设备以及分拣设备；输送供给线用于输送包裹；扫码设备用于对位于其上方的包裹的底部进行扫码识别；搬运设备位于输送供给线的一侧，搬运设备用于对输送供给线上的包裹进行抓取并移动至扫码设备的上方，并将扫码设备扫码后的包裹移动至翻转设备；翻转设备用于将扫码识别成功的包裹竖向翻转并移动至分拣设备；分拣设备用于对翻转设备竖向翻转后的包裹进行分拣。本申请可以使得包裹分拣系统能够对条码位于包裹底部的包裹进行扫码分拣，能够提高包裹的分拣效率。
The application provides a package sorting system, a package sorting method, industrial control equipment and a storage medium. The package sorting system includes: industrial control equipment, conveying and supply lines, handling equipment, code scanning equipment, turning equipment and sorting equipment; The conveying and supply line is used to convey the package; the scanning device is used to scan the code to identify the bottom of the package above it; the handling device is located on one side of the conveying supply line, and the handling device is used to grab the package on the conveying supply line And move it to the top of the scanning device, and move the package scanned by the scanning device to the flipping device; the flipping device is used to vertically flip the package that has been successfully scanned by the code and move it to the sorting device; the sorting device is used for Sort the parcels that have been turned vertically by the turning device. The present application can enable the package sorting system to scan and sort the packages whose barcodes are located at the bottom of the packages, thereby improving the sorting efficiency of the packages.
Description
Technical Field
The application relates to the technical field of parcel sorting, in particular to a parcel sorting system, a parcel sorting method, industrial control equipment and a storage medium.
Background
In traditional parcel letter sorting scene, use the cross band sorting machine in a large number to wrap up the letter sorting, however, the process that the parcel was supplied with on the sorting machine is usually gone on by the manual work, the manual work is tak the parcel away from the spout, then adjust the parcel for the bar code up, put the confession package bench of sorting machine, prior art relies on the manual work to carry out the automatic operation of supplying the package, need the manual work to guarantee the parcel bar code up, can't realize the full automatization of parcel letter sorting process, and it is big to have personnel working strength, the operating condition subalternation problem, the letter sorting efficiency of parcel has been reduced.
That is, parcel letter sorting system can't scan the letter sorting to the parcel that the bar code is located the parcel bottom among the prior art, causes the letter sorting failure, has reduced the letter sorting efficiency of parcel.
Disclosure of Invention
The application aims to provide a parcel sorting system, a parcel sorting method, industrial control equipment and a storage medium, aims to realize full automation of a parcel sorting process, and realizes automatic picking, turning and guiding of parcels into a sorting machine.
In one aspect, the present application provides a parcel sorting system, which includes an industrial control device, a conveying supply line, a handling device, a code scanning device, a turning device, and a sorting device, wherein the industrial control device is configured to control the conveying supply line, the handling device, the code scanning device, the turning device, and the sorting device;
the conveying supply line is used for conveying the packages;
the code scanning equipment is used for scanning and identifying the bottom of the package above the code scanning equipment;
the carrying equipment is positioned on one side of the conveying supply line, and is used for grabbing the packages on the conveying supply line, moving the packages to the position above the code scanning equipment, and moving the packages after code scanning by the code scanning equipment to the overturning equipment;
the overturning equipment is used for overturning the packages successfully identified by the code scanning and moving the packages to the sorting equipment;
the sorting equipment is used for sorting the packages which are vertically overturned by the overturning equipment.
The carrying equipment comprises a base and a mechanical arm positioned on the base, the tail end of the mechanical arm is provided with a tail end executing device, the code scanning equipment is connected onto the base, the code scanning equipment is positioned on one side of the conveying supply line, and the height of the top surface of the code scanning equipment is lower than that of the upper surface of the conveying supply line.
The overturning device comprises a driving mechanism, a rotating shaft and a plurality of overturning rods, wherein one end of each overturning rod is fixed on the side surface of the rotating shaft, and the plurality of overturning rods are arranged in intervals among the plurality of conveying lines; when the conveying device is not turned, the rotating shaft and the turning rods cannot exceed the plane where the conveying lines are located, when the conveying device is turned, the driving mechanism drives the rotating shaft to rotate so as to drive the other ends of the turning rods to rise from among the conveying lines to the positions, where the turning rods and the upper surfaces of the conveying lines form preset angles, so that the packages on the conveying device are turned over vertically, and the conveying device is used for moving the turned packages to the sorting equipment.
The conveying lines are arranged on the conveying line, the overturning rods extend in the preset direction, the overturning rods are perpendicular to the preset direction and are arranged at intervals in the direction of the preset direction, and one overturning rod is arranged between every two adjacent conveying lines.
The sorting equipment comprises a package supplying table, an annular sorting machine and a plurality of sorting chutes, wherein the package supplying table is located on one side of the annular sorting machine, the package supplying table is used for receiving packages from the conveying device and moving the packages to the annular sorting machine, the sorting chutes are located on the other side of the annular sorting machine, and the annular sorting machine is used for sorting the packages to the sorting chutes.
The package sorting system comprises a depth camera and an installation portal frame, the installation portal frame is located on one side of the conveying supply line, a suspension rod extending towards the conveying supply line is arranged at the top of the installation portal frame and located above the conveying supply line, the depth camera is fixed on the suspension rod and used for collecting package images on the conveying supply line, and the carrying equipment is used for grabbing packages on the conveying supply line according to the package images and moving the packages to the position above the code scanning equipment.
In one aspect, the present application provides a parcel sorting method, which is applied to the parcel sorting system described in any one of the above, where an execution main body of the parcel sorting method is industrial control equipment, and the parcel sorting method includes:
controlling the carrying equipment to grab the target packages from the conveying supply line;
controlling the carrying equipment to move the target packages to the position above the code scanning equipment;
controlling code scanning equipment to perform code scanning identification on the bottom of the target package;
controlling the handling device to move the target package to the overturning device;
controlling the overturning equipment to vertically overturn the target packages successfully identified by the code scanning and move to the sorting equipment;
and controlling the sorting equipment to sort.
Wherein the control handling apparatus grabs the target package from the delivery supply line, comprising:
acquiring a parcel image shot by a depth camera;
and controlling the carrying equipment to grab the target parcel from the conveying supply line based on the parcel image.
Wherein, the parcel image of shooing of acquireing the depth camera includes:
controlling the delivery supply line to deliver the target package to below the depth camera;
and controlling the depth camera to photograph the target parcel to obtain the parcel image.
Wherein said controlling said handling apparatus to grasp a target parcel from said delivery supply line based on said parcel image comprises:
determining a relative position of the target package and an end effector in the handling apparatus based on the package image;
controlling the handling apparatus to grasp the target package from the delivery supply line based on the relative position.
Wherein the controlling the handling apparatus to move the target parcel above the code scanning apparatus comprises:
and controlling the carrying equipment to horizontally move the target parcel to the position above the code scanning equipment.
Wherein the controlling the handling apparatus to move the target package to the flipping apparatus comprises:
and when the code scanning device successfully scans the code or the code scanning time reaches the preset time, controlling the carrying device to move the target package to the overturning device.
On the one hand, this application still provides an industrial control equipment, industrial control equipment includes:
the conveying unit is used for controlling the conveying equipment to grab the target packages from the conveying supply line;
the carrying unit is also used for controlling the carrying equipment to move the target packages to the position above the code scanning equipment;
the code scanning unit is used for controlling code scanning equipment to perform code scanning identification on the bottom of the target package;
the carrying unit is further used for controlling the carrying equipment to move the target package to the overturning equipment;
the overturning unit is used for controlling the overturning equipment to vertically overturn the target packages successfully identified by the code scanning and move the target packages to the sorting equipment;
and the sorting unit is used for controlling the sorting equipment to sort.
The carrying unit is further used for acquiring a package image shot by the depth camera;
and controlling the carrying equipment to grab the target parcel from the conveying supply line based on the parcel image.
The conveying unit is further used for controlling the conveying supply line to convey the target packages to the position below the depth camera;
and controlling the depth camera to photograph the target parcel to obtain the parcel image.
Wherein the handling unit is further configured to determine a relative position of the target package to an end effector in the handling apparatus based on the package image;
controlling the handling apparatus to grasp the target package from the delivery supply line based on the relative position.
Wherein the carrying unit is further used for controlling the carrying device to horizontally move the target parcel above the code scanning device.
The carrying unit is further used for controlling the carrying device to move the target package to the overturning device when the code scanning device is successful in code scanning identification or the code scanning time reaches the preset time.
In one aspect, the present application further provides an industrial control device, which includes:
one or more processors;
a memory; and
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the package sortation system of any of the first aspects.
In one aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, the computer program being loaded by a processor to perform the steps of the package sorting method according to any one of the second aspect.
The application provides a parcel letter sorting system, before removing the parcel to letter sorting equipment and sorting, remove the parcel to sweeping the sign indicating number discernment to the parcel bottom through haulage equipment on the sign indicating number equipment, then utilize tipping arrangement will sweep the parcel that the sign indicating number discernment succeeded and carry out vertical upset, sweep the parcel that the sign indicating number discernment succeeded and belong to the parcel that the bar code is located the parcel bottom, will sweep the vertical upset back of the parcel that the sign indicating number discernment succeeded, can make the bar code of sweeping the parcel bottom that the sign indicating number discernment succeeded expose, thereby can make parcel letter sorting system can sweep the sign indicating number to the parcel that the bar code is located the parcel bottom and sort, can improve the letter sorting efficiency of parcel.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of a parcel sorting system according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a package sorting system according to an embodiment of the present application;
fig. 3 is a detailed schematic diagram of a conveying device of the parcel sorting system according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a package sorting system according to an embodiment of the present application when a turning device carries a package;
fig. 5 is a schematic structural diagram of a turning device in a parcel sorting system according to an embodiment of the present application when turning a parcel vertically;
FIG. 6 is a flow diagram illustrating one embodiment of a method for sorting parcels provided in an embodiment of the present application;
FIG. 7 is a schematic structural diagram of an embodiment of an industrial control device provided in an embodiment of the present application;
fig. 8 is a schematic structural diagram of another embodiment of the industrial control equipment provided in the embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes are not set forth in detail in order to avoid obscuring the description of the present application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
It should be noted that, since the method in the embodiment of the present application is executed in the industrial control device, processing objects of each industrial control device exist in the form of data or information, for example, time, which is substantially time information, and it is understood that, in the subsequent embodiments, if size, number, position, and the like are mentioned, corresponding data exist, so that the industrial control device performs processing, and details are not described herein.
The embodiments of the present application provide a package sorting system, a package sorting method, industrial control equipment, and a storage medium, which are described in detail below.
Referring to fig. 1 to 5, fig. 1 is a schematic view illustrating a scene of a parcel sorting system according to an embodiment of the present application; fig. 2 is a schematic structural diagram of a package sorting system according to an embodiment of the present application; fig. 3 is a detailed schematic diagram of a conveying device of the parcel sorting system according to an embodiment of the present application; fig. 4 is a schematic structural diagram of a turning device in a parcel sorting system according to an embodiment of the present application when a parcel is loaded; fig. 5 is a schematic structural diagram of a turning apparatus in a parcel sorting system according to an embodiment of the present application when turning a parcel vertically.
With reference to fig. 1-5, the package sortation system 10 may include industrial equipment 11.
In this embodiment of the present application, the industrial control device 11 may be an independent server, or may be a server network or a server cluster composed of servers, for example, the industrial control device 11 described in this embodiment of the present application includes, but is not limited to, a computer, a network host, a single network server, a plurality of network server sets, or a cloud server composed of a plurality of servers. Among them, the Cloud server is constituted by a large number of computers or web servers based on Cloud Computing (Cloud Computing).
In the embodiment of the present application, the parcel sorting system 10 further includes a conveying supply line 12, a carrying device 13, a depth camera 17, a code scanning device 15, an overturning device 16 and a sorting device 14, and the industrial control device 11 is used for controlling the conveying supply line 12, the carrying device 13, the depth camera 17, the code scanning device 15, the overturning device 16 and the sorting device 14. Specifically, the industrial control device 11 is connected with the conveying supply line 12, the carrying device 13, the depth camera 17, the code scanning device 15, the overturning device 16 and the sorting device 14 through a wireless or wired connection manner, and performs instruction or interaction, so as to control the conveying supply line 12, the carrying device 13, the depth camera 17, the code scanning device 15, the overturning device 16 and the sorting device 14.
In the embodiment of the present application, the conveying supply line 12 is used for conveying the packages, and the conveying supply line 12 may be a belt conveying line, a roller conveying line, or the like. The delivery feed line 12 is used to deliver parcels thereon to below the depth camera 17. Specifically, the industrial control device 11 controls the conveying feeding line 12 to rotate or stop so that the parcels on the conveying feeding line 12 can be conveyed to the position below the depth camera 17. The packages on the delivery supply line 12 may be stacked randomly or in a somewhat regular arrangement.
In the embodiment of the present application, the depth camera 17 is located above the feeding line 12 for capturing images of the packages on the feeding line 12. The parcel sorting system 10 comprises a mounting gantry 181, the mounting gantry 181 being located to one side of the conveyor feed line 12, the top of the mounting gantry 181 being provided with a hanger bar 182 extending towards the conveyor feed line 12, the hanger bar 182 being located above the conveyor feed line 12, the depth camera 17 being secured to the hanger bar 182. A depth camera 17 is located above the conveyor feed line 12 for taking a picture of the packages on the conveyor feed line 12. Further, the robotic arm 132 is located within the mounting mast 181. The hanging rod 182 is also provided with an illuminating device 183.
In the embodiment of the present application, the depth camera 17 may be any one of a binocular depth camera, a structured light depth camera, and a light time-of-flight depth camera. Specifically, the optical axis of the depth camera 17 is perpendicular to the surface of the conveying feed line 12. For example, the depth camera 17 is a Kinect depth camera. The depth camera 17 is also called a 3D camera, and as the name implies, the depth distance of the shooting space can be detected by the camera, which is also the biggest difference from a general camera. The common color camera takes pictures that all objects within the camera's view angle can be seen and recorded, but the recorded data does not contain the distance of the objects from the camera. It can only be judged by semantic analysis of the image which objects are farther away from us and which are closer, but there is no exact data. The depth camera 17 solves the problem, and the distance between each point in the image and the camera can be accurately known through the data acquired by the depth camera 17, so that the three-dimensional space coordinate of each point in the image can be acquired by adding the (x, y) coordinate of the point in the 2D image. The real scene can be restored through the three-dimensional coordinates, and the applications such as scene modeling and the like are realized.
In the embodiment of the present application, the depth camera 17 collects the parcel image from above the conveying supply line 12 according to the instruction of the industrial control device 11, and sends the parcel image to the industrial control device 11. The package image includes a 2D image and a 3D image.
In the embodiment of the present application, the carrying device 13 includes a base 19 and a robot 132 located on the base 19, an end effector 131 is disposed at an end of the robot 132, one end of the code scanning device 15 is connected to the base 19, and the code scanning device 15 is connected to the base 19. The code scanning device 15 is arranged on one side of the conveying feeding line 12, and the height of the top surface of the code scanning device 15 is lower than that of the upper surface of the conveying feeding line 12. The code scanning device 15 is used for scanning the bottom of the package above the code scanning device. Sweep a yard equipment 15's top surface height and be less than the height of carrying supply line 12 upper surface, handling equipment 13 is snatching the parcel after, and accessible translation or the mode that descends remove the parcel to the top of sweeping yard equipment 15, avoid the parcel to fall at the removal in-process, and can reduce the displacement of parcel, improve follow-up letter sorting efficiency. Of course, in other embodiments, the height of the top surface of the code scanning device 15 may be higher than the height of the upper surface of the conveying line 12, and the handling device 13 may move the parcel above the code scanning device 15 by lifting.
The end effector 131 may be a suction cup, a robot, or the like. The robot arm 132 may be a four-axis robot arm, a six-axis robot arm, or the like, which is not limited in this application. The common six-axis robotic arm 132 includes rotation (S-axis), lower arm (L-axis), upper arm (U-axis), wrist rotation (R-axis), wrist swing (B-axis), and wrist swivel (T-axis). Six joints are synthesized to realize six-degree-of-freedom motion of the tail end, so that the tail end execution device 131 can be driven to reach any position in space. The industrial control equipment 11 is used for determining the relative position of the package and the end effector 131 in the carrying equipment 13 according to the package image; the handling device 13 is controlled to pick the target package from the delivery supply line 12 based on the relative position.
In the embodiment of the present application, tipping arrangement 16 includes turning device (not sign) and the conveyor (not sign) of carrying the parcel along predetermineeing the direction, conveyor includes many transfer lanes 161 that set up at the perpendicular orientation of predetermineeing the direction on the interval, the parcel is arranged in and is transported along predetermineeing the direction on many transfer lanes 161, turning device includes actuating mechanism (not shown), a plurality of upset poles 162 on axis of rotation 163 are fixed to axis of rotation 163 and one end, the other end of upset pole 162 can be the free end, upset pole 162 sets up in the interval between many transfer lanes 161. When not turned over, the rotation axis 163 and the turning bars 162 do not go beyond the plane of the conveyor lines 161, for example, below or parallel to the plane of the conveyor lines 161, so that the transport of the packages on the conveyor is not affected. Specifically, the rotating shaft 163 is located below the upper surface of the conveying line 161. When turning over, the other end that actuating mechanism drive axis of rotation 163 rotated in order to drive each upset pole 162 rises to upset pole 162 and transfer chain 161 upper surface and be the angle of predetermineeing from between the multiple transfer chain 161 to be vertical (this is vertical not restricted to vertical) the back upset with the parcel on the conveyor (specifically being multiple transfer chain 161 surface), then conveyor is used for removing the parcel to sorting equipment 14. The conveying line 161 may be a belt conveyor, a roller conveyor, etc., and the present application is not limited thereto.
In the embodiment of the present application, a plurality of turnover rods 162 extend along the preset direction, a plurality of turnover rods 162 are arranged at intervals in the direction perpendicular to the preset direction, and a turnover rod 162 is arranged between two adjacent conveying lines 161. When the other ends of the plurality of turning bars 162 are located below the plurality of conveyor lines 161, the packages on the conveyor device are not turned, and when the driving mechanism drives the rotating shaft 163 to enable the other ends of the plurality of turning bars 162 to be lifted from between the plurality of conveyor lines 161 to the state that the turning bars 162 and the upper surfaces of the conveyor lines 161 form a preset angle, the packages on the conveyor device are turned. Preferably, the turning bar 162 is rotatable to be 90 degrees with the upper surface of the conveying line 161, so that the packages thereon are easily turned because the inclination angle is large enough. Of course, the preset angle can be set according to specific situations.
In the embodiment of the present application, the sorting apparatus 14 includes a parcel feeding table 141, an annular sorting machine 142, and a plurality of sorting chutes 143, the parcel feeding table 141 is located at one side of the annular sorting machine 142, the parcel feeding table 141 is used for receiving parcels from the conveying device and moving to the annular sorting machine 142, the plurality of sorting chutes 143 are located at the other side of the annular sorting machine 142, and the annular sorting machine 142 is used for sorting parcels to the sorting chutes 143.
The ring sorter 142 may be a cross-belt sorting system that is coupled by a main drive belt conveyor and a trolley (simply "dolly") carrying a small belt conveyor, and rotates the belt to perform the sorting of packages as the dolly moves to a designated sorting position. Because the main drive belt conveyor is crossed with the belt conveyor on the "trolley". The main structure of the cross belt type sorting system is that the annular track and the packet supplying platform are the core part of the sorting machine, the photoelectricity is generally installed below the cross belt type sorting system to measure the speed, the linear motor is controlled by the frequency converter to drive the trolley to run at a constant speed, and when the trolley reaches the designated sorting chute, the stepping motor is controlled to rotate reversely or rotate reversely to enable the packet to reach the left chute or the right chute. The supply package platform mainly comprises a scanning platform and three sections of belts, the scanning platform scans the package bar codes, the weight is detected, the bar codes are scanned by a camera, the packages are matched with a sorting chute, and then the packages are matched with a trolley.
Those skilled in the art will appreciate that the application environment shown in fig. 1-5 is only one application scenario of the present application, and does not constitute a limitation on the application scenario of the present application, and that other application environments may further include more or less industrial control devices 11 than those shown in fig. 1-5, for example, only 1 industrial control device 11 is shown in fig. 1-5, and it is understood that the parcel sorting system 10 may further include one or more other industrial control devices 11, and is not limited herein.
It should be noted that the scenario diagram of the package sorting system 10 shown in fig. 1 is merely an example, and the package sorting system 10 and the scenario described in the embodiment of the present application are for more clearly illustrating the technical solution of the embodiment of the present application, and do not form a limitation on the technical solution provided in the embodiment of the present application, and as the package sorting system 10 evolves and a new business scenario appears, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.
The embodiment of the present application provides a parcel sorting method, which is applied to the parcel sorting system 10 in any one of the above embodiments, and the execution main body of the parcel sorting method is an industrial control device 11, and the parcel sorting method includes:
controlling the carrying equipment to grab the target packages from the conveying supply line;
controlling the carrying equipment to move the target package to the position above the code scanning equipment;
controlling code scanning equipment to perform code scanning identification on the bottom of the target package;
controlling the carrying equipment to move the target package to the overturning equipment;
controlling overturning equipment to vertically overturn the target packages successfully identified by the code scanning and move the target packages to sorting equipment;
and controlling the sorting equipment to sort.
Referring to fig. 6, fig. 6 is a schematic flow chart of an embodiment of a parcel sorting method provided in the embodiment of the present application. With reference to fig. 1 to 6, in the embodiment of the present application, the parcel sorting method includes:
s301: and controlling the carrying equipment to grab the target packages from the conveying supply line.
In the embodiment of the present application, the control of the handling device 13 to grasp the target package from the conveying supply line 12 includes:
(1) the package image taken by the depth camera 17 is acquired.
In the embodiment of the application, the conveying feeding line 12 is controlled to convey the target packages to the lower part of the depth camera 17; and controlling the depth camera 17 to photograph the target parcel to obtain a parcel image.
Specifically, the conveying supply line 12 is controlled to convey the parcels, when the target parcels appear on the monitoring interface of the depth camera 17 detected by the depth camera 17, the target parcels are determined to be located below the depth camera 17, the conveying supply line 12 is controlled to stop conveying the parcels, and the depth camera 17 is controlled to photograph the target parcels to obtain the parcel images.
(2) The handling device 13 is controlled to grab the target parcel from the delivery supply line 12 based on the parcel image.
In the embodiment of the present application, the relative position of the target parcel and the end effector 131 in the carrier 13 is determined based on the parcel image, and the carrier 13 is controlled to grasp the target parcel from the conveying supply line 12 based on the relative position. The package image includes a 2D image and a 3D image. Specifically, pixel points corresponding to the target package can be obtained from the 2D image through a target detection network model such as a Mask R-CNN model, a DeepMask model, a YOLACT + + model and the like. And then, the three-dimensional space coordinates of the pixel points corresponding to the target package are obtained through the 3D image of the depth camera 17, so that the relative position between the target package and the terminal executing device 131 in the carrying equipment 13 can be obtained.
The depth camera 17 is also called a 3D camera, and as the name implies, the depth distance of the shooting space can be detected by the camera, which is also the biggest difference from a general camera. The common color camera takes pictures that all objects within the camera's view angle can be seen and recorded, but the recorded data does not contain the distance of the objects from the camera. It can only be judged by semantic analysis of the image which objects are farther away from us and which are closer, but there is no exact data. The depth camera 17 solves the problem, and the distance between each point in the image and the camera can be accurately known through the data acquired by the depth camera 17, so that the three-dimensional space coordinate of each point in the image can be acquired by adding the (x, y) coordinate of the point in the 2D image. Object detection is one of the classical problems in computer vision, whose task is to mark the position of objects in an image with a box and to give the class of the object.
In other embodiments, the movement path of the end effector 131 in the conveying apparatus 13 may be preset, and the conveying apparatus 13 is controlled to move the end effector 131 to a specified position to grasp a parcel, so that the target parcel may be positioned without depending on the depth camera 17.
S302: and controlling the carrying equipment to move the target packages to the position above the code scanning equipment.
In the embodiment of the present application, a preset scanning point above the code scanning device 15 is set as an end point of the transporting device 13 moving the target package, and the transporting device 13 is controlled to move the target package to the preset scanning point above the code scanning device 15. The preset scanning point is located on the optical axis of the code scanning device 15. The code scanning device 15 may be a laser scanner, a camera, or the like, and an optical axis of the code scanning device 15 is in a vertical direction, so that a package right above the code scanning device can be scanned.
In a specific embodiment, the carrying device 13 is controlled to horizontally move the target packages to the position above the code scanning device 15, so that the moving distance of the packages can be reduced, the packages are prevented from falling off, and the sorting efficiency is improved.
In another specific embodiment, the area of the target parcel is obtained based on the parcel image, and the vertical code scanning distance between the preset scanning point of the target parcel and the lens of the scanning device is determined based on the area of the target parcel image, wherein the vertical code scanning distance is in direct proportion to the area of the target parcel image. When the parcel is large, the bar code of the target parcel can be prevented from exceeding the code scanning range of the code scanning device 15 by increasing the code scanning vertical distance.
S303: and controlling the code scanning equipment to scan and identify the bottom of the target package.
In a specific embodiment, the code scanning device 15 is vertically slidably connected to the base 19, and the code scanning device 15 is controlled to move vertically to perform code scanning identification on the bottom of the target package. By adjusting the distance between the code scanning device 15 and the target package for focusing, the efficiency of code scanning recognition can be improved.
S304: and controlling the carrying equipment to move the target packages to the overturning equipment.
In the embodiment of the application, the carrying device 13 is controlled to move the target package to the turnover device 16 when the code scanning device 15 scans the code successfully or the code scanning time reaches the preset time. The preset time is set according to specific situations, such as 2s, 3s, etc., and the application is not limited thereto. The code scanning device 15 successfully scans codes, indicates that the bottom of the target package has a bar code, and needs to be vertically turned over to expose the bar code of the target package, so that the subsequent sorting device 14 can smoothly scan and sort the target package. When the code scanning time reaches the preset time, the fact that the bottom of the target package is possibly not provided with the bar code or the bar code cannot be identified is indicated, time is wasted when the code scanning is continued, and the carrying device 13 is controlled to move the target package to the overturning device 16.
S305: and controlling the overturning equipment to vertically overturn the target packages successfully identified by the code scanning and move the target packages to the sorting equipment.
In the embodiment of the present application, the conveyor is controlled to stop, and the driving mechanism is controlled to drive the rotating shaft 163 to rotate so as to lift the other ends of the turning rods 162 from among the conveying lines 161, so as to turn the parcels on the conveyor vertically, and the conveyor is used for moving the parcels to the sorting equipment 14. Wherein, can with the vertical upset 90 degrees or 180 degrees of parcel on the conveyor, set up according to particular case can. Because the target parcel successfully identified by scanning the code is the parcel of which the bar code is positioned at the bottom of the parcel, the bar code can be exposed after the parcel is vertically turned over, and therefore the sorting equipment 14 can conveniently scan and sort the parcel.
Further, for the target packages which fail to be scanned and identified, the driving mechanism is controlled to stop running, and the conveying device is controlled to directly move the target packages which fail to be scanned and identified to the sorting equipment 14. Since the target packages which fail to be identified by scanning are packages with bar codes on the side and top of the packages, the bar codes themselves are already exposed, and can be scanned and sorted directly by the sorting equipment 14.
S306: and controlling the sorting equipment to sort.
In the embodiment of the present application, after the control package supplying table 141 scans the target packages, the target packages are moved to the annular sorting machine 142, and the annular sorting machine 142 sorts the target packages to the corresponding sorting chutes 143.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an embodiment of the industrial control device provided in the embodiment of the present application.
The application also provides an industrial control equipment, and industrial control equipment includes:
a carrying unit 501 for controlling a carrying apparatus to grab the target package from the conveying supply line;
the carrying unit 501 is further configured to control the carrying device to move the target parcel to the position above the code scanning device;
a code scanning unit 502, configured to control a code scanning device to perform code scanning identification on the bottom of the target package;
the conveying unit 501 is further configured to control the conveying equipment to move the target package to the turnover equipment;
the overturning unit 503 is configured to control the overturning device to vertically overturn the target packages successfully identified by the code scanning and move the target packages to the sorting device;
and the sorting unit 504 is used for controlling the sorting equipment to sort.
The carrying unit 501 is further configured to acquire a package image captured by the depth camera;
and controlling the carrying equipment to grab the target parcel from the conveying supply line based on the parcel image.
The handling unit 501 is further configured to control a conveying supply line to convey the target parcel to a position below the depth camera;
and controlling the depth camera to photograph the target package to obtain a package image.
Wherein the handling unit 501 is further configured to determine the relative position of the target parcel and the end effector in the handling apparatus based on the parcel image;
and controlling the carrying equipment to grab the target packages from the conveying supply line based on the relative position.
The conveying unit 501 is further configured to control the conveying apparatus to horizontally move the target parcel above the code scanning apparatus.
The carrying unit 501 is further configured to control the carrying device to move the target parcel to the flipping device when the code scanning device scans the code successfully or the code scanning time reaches the preset time.
Referring to fig. 8, fig. 8 is a schematic structural diagram of another embodiment of the industrial control equipment provided in the embodiment of the present application.
In order to better implement the parcel sorting system in the embodiment of the application, the embodiment of the application further provides industrial control equipment. As shown in fig. 8, a schematic structural diagram of an industrial control device according to an embodiment of the present application is shown, specifically:
the industrial control device may include components such as a processor 601 of one or more processing cores, memory 602 of one or more computer-readable storage media, a power supply 603, and an input unit 604. Those skilled in the art will appreciate that the industrial control device configurations illustrated in the figures do not constitute limitations on industrial control devices, and may include more or fewer components than those illustrated, or some components in combination, or a different arrangement of components. Wherein:
the processor 601 is a control center of the industrial control device, connects various parts of the whole industrial control device by using various interfaces and lines, and executes various functions and processing data of the industrial control device by running or executing software programs and/or modules stored in the memory 602 and calling data stored in the memory 602, thereby performing overall monitoring on the industrial control device. Optionally, processor 601 may include one or more processing cores; preferably, the processor 601 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 601.
The memory 602 may be used to store software programs and modules, and the processor 601 executes various functional applications and data processing by operating the software programs and modules stored in the memory 602. The memory 602 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data created according to use of the industrial control device, and the like. Further, the memory 602 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory 602 may also include a memory controller to provide the processor 601 with access to the memory 602.
The industrial control device further includes a power supply 603 for supplying power to each component, and preferably, the power supply 603 may be logically connected to the processor 601 through a power management system, so as to implement functions of managing charging, discharging, and power consumption through the power management system. The power supply 603 may also include any component of one or more dc or ac power sources, recharging systems, power failure detection circuitry, power converters or inverters, power status indicators, and the like.
The industrial control device may also include an input unit 604, where the input unit 604 may be used to receive input numeric or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.
Although not shown, the industrial control device may further include a display unit and the like, which are not described in detail herein. Specifically, in this embodiment, the processor 601 in the industrial control device loads the executable file corresponding to the process of one or more application programs into the memory 602 according to the following instructions, and the processor 601 runs the application program stored in the memory 602, thereby implementing various functions as follows:
controlling the carrying equipment to grab the target packages from the conveying supply line;
controlling the carrying equipment to move the target package to the position above the code scanning equipment;
controlling code scanning equipment to perform code scanning identification on the bottom of the target package;
controlling the carrying equipment to move the target package to the overturning equipment;
controlling overturning equipment to vertically overturn the target packages successfully identified by the code scanning and move the target packages to sorting equipment;
and controlling the sorting equipment to sort.
It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.
To this end, an embodiment of the present application provides a computer-readable storage medium, which may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like. Stored thereon, a computer program is loaded by a processor to perform the steps of any of the parcel sorting methods provided by the embodiments of the present application. For example, the computer program may be loaded by a processor to perform the steps of:
controlling the carrying equipment to grab the target packages from the conveying supply line;
controlling the carrying equipment to move the target package to the position above the code scanning equipment;
controlling code scanning equipment to perform code scanning identification on the bottom of the target package;
controlling the carrying equipment to move the target package to the overturning equipment;
controlling overturning equipment to vertically overturn the target packages successfully identified by the code scanning and move the target packages to sorting equipment;
and controlling the sorting equipment to sort.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed descriptions of other embodiments, and are not described herein again.
In a specific implementation, each unit or structure may be implemented as an independent entity, or may be combined arbitrarily to be implemented as one or several entities, and the specific implementation of each unit or structure may refer to the foregoing method embodiment, which is not described herein again.
The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.
The above detailed description is given of a package sorting system, a package sorting method, industrial control equipment and a storage medium provided in the embodiments of the present application, and a specific example is applied in the present application to explain the principle and the implementation of the present application, and the description of the above embodiments is only used to help understanding the method and the core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (14)
Priority Applications (1)
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| CN202011247214.0A CN114453258A (en) | 2020-11-10 | 2020-11-10 | Parcel sorting system, parcel sorting method, industrial control equipment and storage medium |
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| CN202011247214.0A CN114453258A (en) | 2020-11-10 | 2020-11-10 | Parcel sorting system, parcel sorting method, industrial control equipment and storage medium |
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