CN114572662A - Package separation method and device and readable storage medium - Google Patents

Abstract

The application discloses a parcel separation method, a parcel separation device and a readable storage medium, which are used for solving the problem of poor parcel separation effect in the prior art. The method comprises the following steps: acquiring a stacking state of a parcel stack containing at least two parcels; wherein the stacking status indicates a relative position of at least two parcels in the stack of parcels; determining a platform for separating the parcel stack and a conveying speed and/or an inclination angle of a plurality of conveying units connected end to end on the platform based on the stacking state; controlling the platform to separate the stack of parcels based on the conveying speed and/or the angle of inclination.

Description

A package separation method, device and readable storage medium

technical field

The present application relates to the field of logistics technology, and in particular, to a package separation method, device and readable storage medium.

Background technique

At present, the bulk and messy logistics packages are automatically sorted by dispersing equipment (conveyor belts), and the automatic sorting technology currently mainly deals with the uneven distribution of packages on the conveyor belt by adjusting the transmission speed of the conveyor belt; and adjusting the conveyor belt the conveying slope of , allowing the stacked packages to slide off. One situation that can easily occur when sorting packages this way is when some packages are still stacked after they have passed the conveyor belt.

Therefore, in the prior art, there is a problem that the separation effect is poor when the parcels are separated.

SUMMARY OF THE INVENTION

The present application provides a package separation method, device and readable storage medium to solve the problem of poor package separation effect in the prior art.

In a first aspect, the application provides a package separation method, the method comprising:

obtaining a stacking state of a parcel stack containing at least two parcels; wherein the stacking state indicates the relative position of at least two parcels in the parcel stack;

determining, based on the stacking state, a platform for separating the parcel stack, and a conveying speed and/or an inclination angle of a plurality of conveying units connected end to end on the platform;

Based on the conveying speed and/or the angle of inclination, the platform is controlled to separate the stack of parcels.

The above method ensures that all parcel stacks are separated after passing through the separation platform by determining the stacking state of the parcel stack, and using a separating platform with a conveying speed and/or an inclination angle adapted to the stacking state, thereby improving the separation effect of the parcel stack .

A possible implementation manner, the determining, based on the stacking state, the platform for separating the parcel stack, and the conveying speed and/or the inclination angle of the plurality of conveying units connected end to end on the platform, including:

When the stacking state is the fully overlapping state, it is determined that the package stack is separated by the first platform, and the angle between the table surface of the first platform and the horizontal plane is within a first preset range, and the parcel stack is in the The transport speed on the first platform is in a first speed interval.

A possible implementation manner, the determining, based on the stacking state, the platform for separating the parcel stack, and the conveying speed and/or the inclination angle of the plurality of conveying units connected end to end on the platform, including:

When the stacking state is the partially overlapping state, it is determined that the parcel stack is separated by the second platform, and the angle between the platform and the horizontal plane of the second platform is within a second preset range, and the second platform The conveying speed of the first conveying unit is lower than the conveying speed of the second conveying unit in the platform; wherein, the speed difference between the first conveying unit and the second conveying unit is located in a set speed difference interval.

A possible implementation manner, the controlling the platform to separate the parcel stack based on the conveying speed and/or the inclination angle includes:

determining the coordinates of the package stack on the platform;

determining, based on the coordinates, a target area where the parcel stack enters the platform, and determining whether the parcel stack completes separation upon entering the target area;

If not, determining the distance between the package stack and the end of the second conveying unit in the platform according to the coordinates, and determining the maximum speed of the second conveying unit based on the distance;

The conveying speed of the second conveying unit is adjusted to the maximum speed to complete the separation of the parcel stack.

A possible implementation manner, after controlling the platform to separate the parcel stack based on the separation strategy, includes:

determining the area of the package stack on the platform;

When the area is greater than the set threshold, it is determined to suspend the entry of new parcel stacks into the platform.

With the methods provided in the above application embodiments, it is avoided that there are too many packages (stacks) on the platform, which will cause the separation platform to be overloaded, thereby affecting the separation effect.

In a second aspect, the present application provides a package separation device, the device comprising:

Obtaining unit: used to obtain the stacking state of a parcel stack containing at least two parcels; wherein, the stacking state indicates the relative positions of at least two parcels in the parcel stack;

Determining unit: for determining, based on the stacking state, a platform for separating the parcel stack, and the conveying speed and/or the inclination angle of a plurality of conveying units connected end to end on the platform;

Control unit: for controlling the platform to separate the parcel stack based on the conveying speed and/or the inclination angle.

A possible implementation manner, the determining unit is specifically configured to determine that the parcel stack is separated by a first platform when the stacking state is a completely overlapping state, and the angle between the table surface of the first platform and the horizontal plane is determined. In a first preset range, the conveying speed of the package stack on the first platform is in a first speed range.

In a possible implementation manner, the determining unit is further configured to, when the stacking state is a partially overlapping state, determine that the parcel stack is separated by the second platform, and the clamp between the table surface of the second platform and the horizontal surface is determined. The angle is located in a second preset range, and the conveying speed of the first conveying unit in the second platform is lower than the conveying speed of the second conveying unit in the platform; wherein, between the first conveying unit and the second conveying unit The speed difference is in the set speed difference range.

A possible implementation manner, the control unit is specifically configured to determine the coordinates of the package stack on the platform; based on the coordinates, determine the target area where the package stack enters the platform, and determine the package Whether the stack is separated when entering the target area; if not, determine the distance between the parcel stack and the end of the second conveying unit in the platform according to the coordinates, and determine the second conveying based on the distance The highest speed of the unit; the conveying speed of the second conveying unit is adjusted to the highest speed, and the separation of the parcel stack is completed.

In a possible implementation manner, the device further includes a suspending unit, which is specifically configured to determine the area of the package stack on the platform; when the area is greater than a set threshold, determine to suspend the entry of a new package stack into the platform .

In a third aspect, the present application provides a readable storage medium, comprising,

memory,

The memory is used to store instructions that, when executed by a processor, cause an apparatus including the readable storage medium to perform the method according to the first aspect and any possible implementation manner.

Description of drawings

Fig. 1 is the flow chart of a kind of package separation method that the embodiment of this application provides;

2 is a schematic diagram of a stacking state of a package stack provided by an embodiment of the present application;

3 is a schematic diagram of setting a plurality of cameras on a platform according to an embodiment of the present application;

FIG. 4 is a schematic diagram of the complete separation of the package stacks in the fully overlapped state provided by the embodiment of the present application on the first platform;

FIG. 5 is a schematic diagram of completing separation of parcel stacks in a first state on a second platform in a partially overlapping state provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of completing the separation of the parcel stack in the second state on the second platform in a partially overlapping state provided by an embodiment of the present application;

7 is a schematic diagram of optimizing the efficiency of packaging (wrapping) on a platform provided by an embodiment of the present application;

8 is a schematic diagram of a method for completing separation for any package stack provided by an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a package separation device according to an embodiment of the present application.

Detailed ways

Aiming at the problem of poor separation effect when separating packages in the prior art, the present application proposes a package separation method: according to the stacking state of the packages in the package stack, separation platforms with different conveying speeds and/or inclination angles are used to ensure that all packages are stacked. The piles are separated after passing through the separation platform, which improves the separation effect of the wrapped piles.

In order to better understand the above technical solutions, the technical solutions of the present application will be described in detail below through the accompanying drawings and specific embodiments. It is not a limitation on the technical solutions of the present application, and the embodiments of the present application and the technical features in the embodiments may be combined with each other under the condition of no conflict.

Please refer to FIG. 1 , an embodiment of the present application provides a method for wrapping separation to solve the problem of poor wrapping separation effect in the prior art, and the method specifically includes the following implementation steps:

Step 101: Acquire the stacking state of a parcel stack containing at least two parcels.

wherein the stacking state indicates the relative position of at least two packages in the package stack;

Specifically, the parcel stack can be transported by the front-end conveyor line to the separation platform, so a camera (camera) can be set on the front-end conveyor line, the camera (camera) can be a 2D industrial camera or a 3D stereo camera, by using the image (frame) After processing the package identification algorithm, the stacking state of the package stack can be obtained; the stacking state of the package stack can be mainly divided into two types: complete stacking and partial stacking. Among them, complete stacking indicates that the upper layer package completely falls on the lower layer package and is not in contact with the conveyor belt; partial overlap indicates that the upper layer package partially falls on the lower layer package, and there is a package stack with edges (corners) falling on the conveyor belt state. As shown in Figure 2, Figure (2a) is a schematic diagram of complete overlap, and Figure (2b) is a schematic diagram of partial overlap.

In addition, one or more cameras (cameras) may be mounted on the platform to acquire images (frames) of the parcel stack on the platform. The above-mentioned camera (camera) can be a 2D industrial camera or a 3D stereo camera. When there are multiple platforms or transfer units, one camera can be installed every set distance. The continuous tracking of the position (ie coordinates) and status of the parcel stack on the platform is completed through images (frames). When determining the position and status of the package pile, one of all cameras can be determined as the central control camera to summarize and determine the position and status of the package pile obtained by all subordinate cameras, so as to achieve the purpose of continuous tracking. As shown in Figure 3, it is a schematic diagram of setting multiple cameras on a platform. One camera is set every two transfer units, and the vision system composed of cameras 1 to 3 can cover the entire separation platform. The specific location of the camera can be the upper left corner of the transfer unit, and the camera 1 is used as the central control camera, then the position of the camera 1 (A121) is the coordinate origin of the entire separation platform, and the position and stack of the package stack in the acquisition area of the camera 2 and camera 3 After the status, all the information collected by the camera is reported to the camera 1 to complete the tracking of all parcel piles.

Step 102: Based on the stacking state, determine a platform for separating the parcel stack, and the conveying speed and/or the inclination angle of the plurality of conveying units connected end to end on the platform.

Specifically, when it is determined that the stacking state is completely overlapping, it is determined that the package stack is separated by the first platform, and the angle between the table surface of the first platform and the horizontal plane is within a first preset range, and the package stack is located at the location where the package stack is located. The conveying speed on the first platform is in the first speed range. For the determination of the first preset range, the friction coefficient of the conveyor belt on the platform and the determination of the parcel stack volume can be comprehensively considered.

When it is determined to be partially overlapped, it is determined that the package stack is separated by the second platform, and the included angle between the surface of the second platform and the horizontal plane is within a second preset range, and the first conveying unit in the second platform The conveying speed of is lower than the conveying speed of the second conveying unit in the platform; wherein, the speed difference between the first conveying unit and the second conveying unit is located in the set speed difference interval. For the determination of the first preset range, the friction coefficient of the conveyor belt on the platform and the determination of the parcel stack volume can be comprehensively considered.

Further, for the parcel stack in the partially overlapping state, it is determined that the parcel stack enters the second platform to complete separation. Further, the partially overlapping state can be further divided into a first state and a second state. If the package is divided into two areas, head and tail, along the conveyor belt, the first state indicates that the package is in the pile, the tail of the upper package falls on the separation platform, and the head is on the lower package; and the second state indicates that the package is in the pile , the upper package tail is above the lower package, and the head falls on the separation platform. It can be seen that, for the partially overlapping parcel stacks in these two states, the inclination angle and/or the conveying speed of the second platform can be further adjusted to ensure smooth separation of the parcel stacks.

Step 103: Controlling the platform to separate the parcel stack based on the conveying speed and/or the inclination angle.

Specifically, after entering the first platform, the package stacks in the fully overlapped state can be separated. As shown in Fig. 4(a-c), it is a schematic diagram showing that the package stacks in the fully overlapped state are separated on the first platform. The first platform is at an acute angle to the horizontal plane, and the parcels on the upper layer of the parcel stack are completely stacked on the lower parcels. After the package enters the first platform, with the action of gravity and relative friction, the upper package gradually slides down.

For the parcel stack in the partially overlapped state, the second platform may be further controlled and adjusted based on the parcel stack in the first state and the second state in step 102 . As shown in Figures 5(a-c), it is a schematic diagram of the completion of separation of the parcel stack in the first state. Among them, the second platform is horizontal, after the lower layer package (package B) enters the second conveying unit, since the conveying speed of the second conveying unit is higher than that of the first conveying unit, the speed of the lower layer package (package B) is higher than that of the upper layer Package (package A), then as the packages are stacked on the separation platform, the upper layer package (package A) and the lower layer package (package B) are gradually separated.

As shown in Fig. 6(a-c), it is a schematic diagram of the completion of separation of the parcel stack in the second state. Among them, the included angle between the second platform and the horizontal plane is an obtuse angle, which is in the shape of a downward slope. Since the conveying speed of the second conveying unit is higher than the conveying speed of the first conveying unit, the speed of the lower package (package B) is higher than that of the upper package (package A). Wrap A) is gradually separated from the lower wrap (Wrap B). In particular, when the upper-layer package enters the second conveying unit, the conveying speed of the first conveying unit is directly adjusted to 0, so that the lower-layer package does not move, while the upper-layer package moves with the second conveying unit. This method can also achieve the separation of partial stacking. The purpose of the parcel heap in the state.

It should be noted that the separation of the parcel stack in the first state and the second state is not in a one-to-one correspondence with the two states of the second platform; that is, the parcel stack in the first state can also enter the horizontal plane. The second platform with an obtuse angle completes the separation, but when the volume of the upper package is too large and the volume of the lower package is too small, there is a possibility that the separation cannot be successfully completed due to factors such as gravity and friction.

Further, when the control platform separates the parcel stack, a target area can be set, and after the parcel stack enters the target area, it is checked whether the parcel stack has been separated. If separation has not been completed, the speed of the transfer unit can be further adjusted. For the case where the conveying speed of the following conveying unit (the second conveying unit) is higher than that of the preceding conveying unit (the first conveying unit), before adjusting the speed, it is also necessary to determine the package stack and the end of the second conveying unit by coordinates and based on the distance, determine the maximum speed of the second conveying unit; adjust the conveying speed of the second conveying unit to the aforementioned maximum speed to complete the separation of the package stack.

Further, in order to avoid that the packages in the separation platform are too large and the density is too high to affect the separation of the package stacks, it is also possible to determine whether the density of the package stacks on the separation platform is too dense by determining the total area of the package stacks on the platform. When the area is greater than the set area threshold, it is determined to suspend the entry of new parcel stacks into the platform.

In addition, the efficiency of package supply can be further optimized. For the optimization of package supply efficiency, it can be done by reducing unnecessary spacing between packages. Along the conveying direction, traverse the package on the i-th conveying unit, determine the package coordinates with the closest distance between the conveying unit and the front end, and traverse the packages on the i+1-th conveying unit at the same time, and determine the package on the conveying unit that is closest to the tail end. coordinate. Determine the distance between the two packages based on the package coordinates on the i-th conveying unit near the front end and the package coordinates on the i+1-th conveying unit closest to the tail end, and when the distance is greater than the first distance threshold, increase the i-th The speed of one conveyor unit reduces the gap between two packages, so that more packages can be accommodated on the separation platform. As shown in Figure 7, a schematic diagram of optimizing the efficiency of packaging (wrapping) on the platform. Wherein, the distance L3 between the rightmost package of the fifth conveying unit and the leftmost parcel conveying unit of the sixth conveying unit is greater than the first distance threshold, then the conveying speed of the fifth conveying unit is increased to reduce the distance between the packages C and D. distance, to achieve the purpose of optimizing the efficiency of package supply.

According to steps 101 to 103, the following is a complete description of the separation of any package stack. As shown in FIG. 8 , the package separation system is turned on, the package coordinates, the status of the package stacking, and the corresponding separation platform and the speed and/or the inclination angle of the conveying unit are determined through the vision module. The vision module is composed of at least one camera (camera) arranged on the front-end conveying line and the separation platform, and its shooting range can cover the front-end conveying line and the entire separation platform. After the parcel pile enters the separation platform, after positioning the parcel pile on the platform, the camera (camera) compares the parcel pile (package information) captured each time with the existing information in the recording pool (the status information of the parcel pile previously captured). The parcel stack is compared (matched) to determine the correspondence between the parcel stack in the current image (frame) and the parcel stack in the recording pool, so as to achieve the purpose of state tracking. The comparison method is to calculate the area of the top (part) surface of the package that can be photographed and the intersection ratio of the corresponding top surface area, and the area of the package set surface in the current image (frame) and the first package set surface in the recording pool. When the intersection ratio between the upper areas is greater than the intersection ratio threshold, it is determined that the package in the current image (frame) corresponds to the first package in the recording pool. At the same time, it is determined whether the current platform is overloaded by determining the coverage area of the parcel stack on the separation platform. When the coverage area exceeds the set area threshold, it is determined to be suspended, and the current package stack will not enter the corresponding platform to perform separation temporarily, and the coordinates of the corresponding package determined by the vision module will not change at this time. When the coverage area is less than or equal to the set area threshold, the separation platform for separating the parcel stack, and the conveying speed and/or the inclination angle of the conveying unit on the separation platform can be determined according to the stacking state of the parcel stack. After the separation platform is determined, the parcel stack can be sent to the separation platform, and the separation platform can be controlled to complete the separation.

Based on the same inventive concept, an embodiment of the present application provides a package separation device, which corresponds to the package separation method shown in FIG. 1. For the specific implementation of the device, please refer to the description of the foregoing method embodiment, and the repetition is not repeated. Again, referring to Figure 9, the device includes:

Acquiring unit 901 : Acquiring the stacking state of a parcel stack containing at least two parcels.

wherein the stacking state indicates the relative position of at least two packages in the package stack;

Specifically, the stacking state can be acquired by a visual positioning system, and the visual positioning system includes a camera, and the camera executes the visual positioning algorithm and the package identification algorithm to complete the status (stack) identification and position tracking of the package stack. Stacked states can include full stacking and partial stacking.

Determining unit 902: for determining, based on the stacking state, a platform for separating the parcel stack, and the conveying speed and/or the inclination angle of a plurality of conveying units connected end to end on the platform;

Specifically, when the stacking state is a completely overlapping state, it is determined that the parcel stack is separated by the first platform, and the angle between the table surface of the first platform and the horizontal plane is within a first preset range, and the parcel stack is determined to be separated by the first platform. The transport speed on the first platform is in a first speed interval.

The determining unit 902 may also be configured to, when the stacking state is a partially overlapping state, determine that the parcel stack is separated by the second platform, and the angle between the surface of the second platform and the horizontal plane is at a second preset value. range, the conveying speed of the first conveying unit in the second platform is lower than the conveying speed of the second conveying unit in the platform; wherein the speed difference between the first conveying unit and the second conveying unit is at the set speed difference interval.

Control unit 903: for controlling the platform to separate the parcel stack based on the conveying speed and/or the inclination angle.

Specifically, the control unit may be composed of a PLC main control module (programmable controller and servo driver) and a transmission unit. Among them, the PLC main control module controls the conveying unit in the platform to separate the parcel stack. Then the control unit 903 is specifically configured to determine the coordinates of the package stack on the platform; based on the coordinates, determine the target area where the package stack enters the platform, and determine that the package stack is entering the target area whether to complete the separation when the The conveying speed of the second conveying unit is adjusted to the maximum speed to complete the separation of the parcel stack.

The package separation device further includes a suspending unit, which is specifically configured to determine the area of the package stack on the platform; when the area is greater than a set threshold, it is determined to suspend a new package stack from entering the platform.

Based on the same inventive concept, an embodiment of the present application also provides a readable storage medium, including:

memory,

The memory is used to store instructions that, when executed by the processor, cause the apparatus including the readable storage medium to perform the package separation method as described above.

Those skilled in the art can clearly understand that, for the convenience and conciseness of the description, only the division of the above-mentioned functional modules is used for illustration. In practical applications, the above-mentioned functions can be allocated to different functional modules as required. The internal structure of the device is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the system, apparatus and unit described above, reference may be made to the corresponding process in the foregoing method embodiments, and details are not described herein again.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be Incorporation may either be integrated into another system, or some features may be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: Universal Serial Bus flash disk (Universal Serial Bus flash disk), mobile hard disk, Read-Only Memory (ROM), Random Access Memory (Random Access Memory, RAM), magnetic disk Or various media such as optical discs that can store program codes.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims (11)

1. A method of package separation, the method comprising:

acquiring a stacking state of a parcel stack containing at least two parcels; wherein the stacking status indicates a relative position of at least two parcels in the stack of parcels;

determining a platform for separating the parcel stack and a conveying speed and/or an inclination angle of a plurality of conveying units connected end to end on the platform based on the stacking state;

controlling the platform to separate the stack of parcels based on the conveying speed and/or the angle of inclination.

2. The method of claim 1, wherein said determining, based on said stacking status, a conveying speed and/or a tilt angle of a platform separating said stack of parcels and a plurality of conveyor units coupled end-to-end on said platform comprises:

when the stacking state is a complete overlapping state, the first platform is determined to separate the parcel stack, an included angle between the table board of the first platform and the horizontal plane is located in a first preset range, and the conveying speed of the parcel stack on the first platform is located in a first speed interval.

3. The method of claim 1, wherein said determining, based on said stacking status, a conveying speed and/or a tilt angle of a platform separating said stack of parcels and a plurality of conveyor units coupled end-to-end on said platform comprises:

when the stacking state is a partially overlapped state, determining that the parcel stack is separated by a second platform, wherein an included angle between a table surface of the second platform and a horizontal plane is in a second preset range, and the conveying speed of a first conveying unit in the second platform is lower than that of a second conveying unit in the platform; wherein the speed difference between the first conveying unit and the second conveying unit is located in a set speed difference interval.

4. The method of claim 3, wherein said controlling said platform to separate said stack of parcels based on said conveying speed and/or tilt angle comprises:

determining coordinates of the parcel stack on the platform;

determining, based on the coordinates, that the parcel stack enters a target area of the platform and whether the parcel stack completes separation upon entering the target area;

if not, determining the distance between the parcel stack and the tail end of a second conveying unit in the platform according to the coordinates, and determining the highest speed of the second conveying unit based on the distance;

adjusting the conveying speed of the second conveying unit to the highest speed to complete the separation of the parcel stack.

5. The method of any of claims 1 to 4, wherein said controlling said platform to, after separating said parcel stack based on said separation strategy, comprises:

determining the area of the parcel stack on the platform;

when the area is greater than a set threshold, determining to suspend entry of a new parcel stack into the platform.

6. A package separation apparatus, the apparatus comprising:

an acquisition unit: for obtaining a stacking status of a parcel stack comprising at least two parcels; wherein the stacking status indicates a relative position of at least two parcels in the stack of parcels;

a determination unit: a platform for separating the stack of parcels and a plurality of conveyor units coupled end-to-end on the platform for determining a conveying speed and/or an angle of inclination for the platform and the plurality of conveyor units based on the stacking status;

a control unit: for controlling the platform to separate the stack of parcels based on the conveying speed and/or the angle of inclination.

7. The apparatus according to claim 6, wherein the determining unit is specifically configured to determine that the stack of parcels is separated by a first platform when the stacking status is a completely overlapped status, and an angle between a table surface of the first platform and a horizontal plane is within a first preset range, and a conveying speed of the stack of parcels on the first platform is within a first speed interval.

8. The apparatus according to claim 6, wherein said determining unit is further adapted to determine that the parcel stack is separated by a second platform when the stacking status is a partially overlapping status, and an angle between a table surface of the second platform and a horizontal plane is within a second predetermined range, and a conveying speed of a first conveying unit in the second platform is lower than a conveying speed of a second conveying unit in the platform; wherein the speed difference between the first conveying unit and the second conveying unit is located in a set speed difference interval.

9. The apparatus of claim 8, wherein said control unit is specifically adapted to determine coordinates of said stack of packages on said platform; determining, based on the coordinates, that the parcel stack enters a target area of the platform and whether the parcel stack completes separation upon entering the target area; if not, determining the distance between the parcel stack and the tail end of a second conveying unit in the platform according to the coordinates, and determining the highest speed of the second conveying unit based on the distance; adjusting the conveying speed of the second conveying unit to the maximum speed to complete the separation of the parcel stack.

10. The apparatus according to any one of claims 6 to 9, further comprising a pause unit, in particular for determining the area of the parcel stack on the platform; when the area is greater than a set threshold, determining to suspend entry of a new parcel stack into the platform.

11. A readable storage medium, comprising,

a memory for storing a plurality of data files to be transmitted,

the memory is for storing instructions that, when executed by the processor, cause an apparatus comprising the readable storage medium to perform the method of any of claims 1-5.

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