CN115435689A - Counterweight method, counterweight system, electronic equipment and medium - Google Patents

Abstract

The invention provides a counterweight method, a counterweight system, electronic equipment and a medium, wherein the method is applied to a server and comprises the following steps: controlling a conveying device to convey an article in a target conveying direction; controlling the detection equipment to scan the articles arriving at the scanning area of the detection equipment one by one to obtain a scanning result; obtaining the scanning result; determining the volume of each article according to the scanning result of each article, and further calculating to obtain the weight of each article; then, according to the weight of each article, determining a target sorting grid of the article, and controlling sorting equipment to sort the article into the target grid; the current total article weight in each sorting bin is monitored, and when the current total article weight reaches a target weight threshold, a packaging prompt for that bin is output. The invention adopts a visual mode to scan the volume of the obtained object so as to determine the weight of the object, thereby realizing the rapid determination of the weight of the object and improving the counterweight efficiency of the object.

Description

A counterweight method, counterweight system, electronic equipment and medium

technical field

The invention relates to the field of logistics sorting, in particular to a counterweight method, a counterweight system, electronic equipment and media.

Background technique

In the scene where items are packaged and sold according to a certain weight, the traditional counterweight method is mainly used, that is, each item is weighed by weighing equipment and then distributed. Specifically, the staff manually places the items on the weighing equipment and puts them still, weighs each item, and records the weight of the item. This method is likely to cause low efficiency of counterweight work due to manual weighing; or, Items are automatically weighed by using a dynamic weighing system, but the structure of the dynamic weighing device is complex, the cost is too high, and the efficiency is limited.

Therefore, it is necessary to develop a counterweight method to meet the low-cost and high-efficiency item counterweight requirements.

Contents of the invention

In view of the above problems, embodiments of the present invention provide a counterweight method, a counterweight system, an electronic device, and a medium, so as to overcome the above problems or at least partially solve the above problems.

The first aspect of the embodiments of the present invention provides a counterweight method applied to a server, including:

controlling the conveying device to convey the articles in a target conveying direction, the target conveying direction being the direction of conveying to the region where the sorting device is located via the region where the detection device is located;

Controlling the detection device to scan the items arriving at the scanning area of the detection device one by one to obtain a scanning result;

Obtain the scanning result of each item by the detection device;

determining the volume of the item according to the scanning result of each item, and calculating the weight of the item according to the volume of the item;

Determine the target sorting slot of the item according to the weight of each item, and control the sorting device to sort the item into the target slot;

The current total item weight in each sorting slot is monitored, and when the current total item weight reaches the target weight threshold, a packing prompt for the slot is output to prompt packing of all items in the slot.

Optionally, the detection device includes: one or more of a 3D camera, a grating sensor, a light curtain sensor, and an infrared sensor.

Optionally, the detection equipment includes at least: a 3D camera, the 3D camera is installed on the support, the field of view of the 3D camera is the area below the support, and the detection equipment is controlled to reach the detection Items in the scanning area of the device are scanned one by one to obtain scanning results, including:

Controlling the 3D camera to photograph the items arriving at the lower area of the support one by one to obtain a 3D image of each item;

Determining the volume of the item according to the scanning result of each item, including:

According to the 3D image of each item, the estimated volume of the item is determined, and the estimated volume of the item is corrected with a preset ratio to obtain the volume of the item.

Optionally, the detection device includes a plurality of 3D cameras, and the shooting angles of the plurality of 3D cameras are different from each other; the detection device is controlled to scan the items arriving at the scanning area of the detection device one by one, and the scanning results are obtained, including :

Controlling the plurality of 3D cameras to take pictures of the items within their own field of view from different shooting angles of view one by one, to obtain 3D images of the item under multiple shooting angles of view;

Determining the volume of the item according to the scanning result of each item, including:

The 3D images of each item under multiple shooting angles are processed to obtain the volume of the item.

Optionally, the conveying equipment includes: conveying equipment in the feeding area, conveying equipment in the detection area arranged in the area where the detecting equipment is located, and conveying equipment in the sorting area arranged in the area where the sorting equipment is located; the conveying equipment is controlled to The target transfer direction transfers items, including:

controlling the conveying equipment in the feeding area, the conveying equipment in the detection area and the conveying equipment in the sorting area to sequentially transport each item in a target conveying direction;

The plurality of 3D cameras include: 3D cameras installed on the left and right sides of the detection zone transmission device.

Optionally, the conveying equipment includes: conveying equipment in the feeding area, conveying equipment in the detection area set on the detection equipment, and conveying equipment in the sorting area set on the sorting equipment; the conveying equipment is controlled to transport Direction transfer items, including:

controlling the conveying equipment in the feeding area, the conveying equipment in the detection area and the conveying equipment in the sorting area to sequentially transport each item;

The plurality of 3D cameras include: a 3D camera installed in the upper area of the detection area transfer device, and a 3D camera installed in the lower area of the detection area transfer device, and the detection area transfer device has The conveyor belt used to carry items is made of transparent material.

Optionally, the sorting equipment is one of: a sorting pick, a high-pressure air blowing device, and an electric push rod.

Optionally, according to the weight of each item, determine the target sorting bin of the item, including:

Matching the weight of the item with the current total item weights of the plurality of slots respectively according to the target weight threshold;

The bin whose matching result is closest to the target weight threshold among the plurality of bins is determined as the target sorting bin for the item.

Optionally, the conveying equipment includes: conveying equipment in the feeding area, conveying equipment in the detection area arranged in the area where the detection equipment is located, and conveying equipment in the sorting area arranged in the area where the sorting equipment is located; the detection area The front end and the rear end of the transmission device are provided with the photoelectric switch; the detection device is controlled to scan the items arriving at the scanning area of the detection device one by one, including:

When the trigger signal sent by the photoelectric switch is received, the detection device is controlled to scan the items arriving at the scanning area of the detection device one by one, and the trigger signal is generated when the photoelectric switch detects the items.

Optionally, controlling the detection device to scan the items arriving at the scanning area of the detection device one by one, including:

When receiving the trigger signal sent by the timer, the detection device is controlled to scan the items arriving at the scanning area of the detection device one by one, and the trigger signal is periodically generated by the timer.

Optionally, the method also includes:

receiving a stop operation signal sent by the emergency brake device, the stop operation signal being generated when the emergency brake device detects a user operation;

According to the stop operation signal, the conveying equipment is controlled to stop conveying the articles.

Optionally, the conveying equipment includes two parallel conveying equipment lines, and the method further includes:

The two conveying equipment lines are controlled to work alternately.

The second aspect of this embodiment provides a counterweight system, the system includes: a transmission device, a detection device, a sorting device, a plurality of sorting grids and a server;

The conveying device is used for conveying articles in a target conveying direction, and the target conveying direction is a direction of conveying via the region where the detection device is located to the region where the sorting device is located;

The detection device is used to scan the items arriving at the scanning area of the detection device one by one, and send the scanning result of each item to the server;

The server is used to determine the volume of the item according to the scanning result of each item, and calculate the weight of the item according to the volume of the item; determine the target sorting slot of the item according to the weight of each item, and control The sorting device sorts the item into the target bin; the server is also used to monitor the current total item weight in each sorting slot, and when the current total item weight reaches the target weight threshold, output The packing prompt for this grid is used to prompt to pack all the items in this grid.

Optionally, the detection device includes: one or more of a 3D camera, a grating sensor, a light curtain sensor, and an infrared sensor.

Optionally, the detection device at least includes: a 3D camera, the 3D camera is installed on the support, and the field of view of the 3D camera is the area below the support.

Optionally, the detection device includes a plurality of 3D cameras, and the shooting angles of the plurality of 3D cameras are different from each other.

Optionally, the conveying equipment includes: conveying equipment in the feeding area, conveying equipment in the detection area, and conveying equipment in the sorting area; the conveying equipment in the feeding area, the conveying equipment in the detection area, and the conveying equipment in the sorting area Transport each item in the target transport direction;

The plurality of 3D cameras include: 3D cameras installed on the left and right sides of the detection zone transmission device.

Optionally, the conveying equipment includes: conveying equipment in the feeding area, conveying equipment in the detection area, and conveying equipment in the sorting area; the conveying equipment in the feeding area, the conveying equipment in the detection area, and the conveying equipment in the sorting area Transport each item in the target transport direction;

The plurality of 3D cameras include: a 3D camera installed in the upper area of the detection area transfer device, and a 3D camera installed in the lower area of the detection area transfer device, and the detection area transfer device has The conveyor belt used to carry items is made of transparent material.

Optionally, the sorting equipment is one of: a sorting pick, a high-pressure air blowing device, and an electric push rod.

Optionally, the conveying equipment includes: conveying equipment in the feeding area, conveying equipment in the detection area arranged in the area where the detecting equipment is located, and conveying equipment in the sorting area arranged in the area where the sorting equipment is located; the counterweight The system also includes: photoelectric switch;

The photoelectric switch is arranged at the front end and the rear end of the transmission device in the detection area, and is used to send a trigger signal to the server when an item is detected;

The server is further configured to, when receiving the trigger signal, control the detection device to scan the items arriving at the scanning area of the detection device one by one.

Optionally, the counterweight system further includes: a timer, the timer is used to periodically send the trigger signal to the server; the server is also used to control the The detection device scans the items arriving at the scanning area of the detection device one by one.

Optionally, the counterweight system further includes an emergency braking device, and the emergency braking device is used to send a stop operation signal to the server when a user operation is detected; An operation signal controls the conveying device to stop conveying items.

The third aspect of the embodiment of the present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory, and the processor executes the computer program to implement the first aspect of the embodiment of the present invention. Steps in the counterweight method described above.

The fourth aspect of the embodiment of the present invention also provides a computer-readable storage medium, on which is stored a computer program/instruction, and when the computer program/instruction is executed by a processor, the counterweight described in the first aspect of the embodiment of the present invention is realized steps in the method.

A counterweight method provided by an embodiment of the present invention is applied to a server, and the method includes: controlling the conveying device to convey items in a target conveying direction, and the target conveying direction is the direction of conveying from the region where the detection device is located to the area where the sorting device is located ; Control the detection equipment to scan the items that arrive at the scanning area of the detection equipment one by one to obtain the scanning results; obtain the scanning results of each item from the detection equipment; determine the volume of the item according to the scanning results of each item, according to the volume of the item Calculate the weight of the item; determine the target sorting slot of the item according to the weight of each item, and control the sorting equipment to sort the item into the target slot; monitor the current The total item weight, when the current total item weight reaches the target weight threshold, output a packing prompt for this slot to remind you to pack all the items in this slot. The embodiment of the present invention automatically scans the items one by one through the detection equipment, thereby using the machine vision scanning results to obtain the volume of each item, and then calculate the weight of each item, thus realizing the rapid determination of the weight of the items and improving the quality of the items. counterweight efficiency.

The specific beneficial effects are as follows:

1) Improve counterweight efficiency. The embodiment of the present invention uses the machine vision scanning results to obtain the volume of the item, and then obtain the weight of the item. This method replaces the traditional method of requiring the item to stand still in the weighing area to determine the weight data. During the process, through equipment scanning and related calculations, the weight data of each item can be quickly obtained, and then automatic weighting can be realized, thereby improving the speed of item weighing and the efficiency of weighting.

2) Low cost. Compared with the existing high-cost dynamic weighing system, the embodiment of the present invention obtains the volume of the item by visually scanning the item through the detection device, which reduces the requirements for the weighing device, so you can choose such as 3D camera, light curtain sensor and Low-cost devices such as grating sensors are used as detection devices.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments of the present invention. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention , for those skilled in the art, other drawings can also be obtained according to these drawings without paying creative labor.

Fig. 1 is a flow chart of steps of a counterweight method provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of a scanning process of a light curtain sensor provided by an embodiment of the present invention;

Fig. 3 is a schematic diagram of a cross-section of an article provided by an embodiment of the present invention;

Fig. 4 is a schematic structural view of a counterweight system provided by an embodiment of the present invention;

Fig. 5 is a schematic diagram of an electronic device provided by an embodiment of the present invention.

detailed description

Exemplary embodiments of the present invention will be described in more detail below with reference to the drawings in the embodiments of the present invention. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

An embodiment of the present invention provides a counterweight method, which is applied to a server. Referring to FIG. 1, FIG. 1 is a flow chart of the steps of a counterweight method provided by an embodiment of the present invention. Methods include:

controlling the conveying device to convey the articles in a target conveying direction, the target conveying direction being the direction of conveying to the region where the sorting device is located via the region where the detection device is located;

Controlling the detection device to scan the items arriving at the scanning area of the detection device one by one to obtain a scanning result;

Obtain the scanning result of each item by the detection device;

determining the volume of the item according to the scanning result of each item, and calculating the weight of the item according to the volume of the item;

Determine the target sorting slot of the item according to the weight of each item, and control the sorting device to sort the item into the target slot;

The current total item weight in each sorting slot is monitored, and when the current total item weight reaches the target weight threshold, a packing prompt for the slot is output to prompt packing of all items in the slot.

In this embodiment, the conveying device is responsible for the conveyance of the items. The conveying device may be a conveyor belt device. Specifically, the item to be measured can be placed on the conveyor belt, and the conveyor belt transports the item to the area where the testing equipment is located, and then transports the item to the area where the sorting equipment is located after detection to sort. Wherein, the start and stop of the transmission device is controlled by the server.

After the conveying device transports the items to the scanning area of the detection device, the server will control the detection device to scan the items one by one, so as to obtain the scanning result of each item. In order to facilitate the scanning operation of the detection equipment on the items, there needs to be a certain distance between the items on the conveying device. If the items are closely stacked, it is difficult to obtain a separate scanning result for each item. Specifically, the items need to be arranged in a single row, and there needs to be enough gaps between every two items, or, after an item passes through the scanning area of the detection device, the conveying device can transmit the next item through the scanning area .

In one embodiment, the detection device includes: one or more of a 3D camera, a grating sensor, a light curtain sensor, and an infrared sensor.

In this embodiment, one or more of a 3D camera, a grating sensor, a light curtain sensor, and an infrared sensor may be used as the detection device. Among them, a 3D camera refers to a digital camera that can appreciate three-dimensional images or animations with the naked eye, and can realize three-dimensional data collection, so that the magnitude of the displacement between the same objects can be analyzed through the collected 3D images, and the depth and distance of the objects can be judged. A grating sensor is a sensor that uses the grating mosaic fringe principle to measure displacement. Specifically, the 3D camera shoots the shape of the object to obtain the point cloud information of the upper surface corresponding to the object, and then after a series of corrections such as the direction and angle of the image, the image is triangulated, and the volume of the triangular prism is calculated by combining the height information , summed to obtain the volume of the upper surface and its covered area captured by the camera. The light curtain sensor refers to the detection light generated by the light curtain emitter, but generates a light array at a fixed interval along the length direction to form a "light curtain". Referring to Fig. 2, Fig. 2 shows a schematic diagram of the scanning process of a light curtain sensor. As shown in Fig. 2, the light curtain sensor is installed on both sides of the conveying line. Collect shape data in a scanning way to realize the function of detecting and measuring the shape and size of objects.

The volume of the item is determined according to the scanning result of each item, and the weight of the item is calculated according to the volume of the item. After the scanning device scans the item to obtain the scanning result, the scanning result is sent to the server, and the server analyzes and calculates the scanning result to obtain the volume of the item, and then obtains the weight of the item. Specifically, after the volume of the item is obtained according to the scanning result, the volume can be multiplied by a preset density, so as to calculate the weight of the item. In this embodiment, the preset density may be the average density of the items to be tested obtained in advance, and stored in the server in advance. Therefore, this embodiment uses a visual method to estimate the weight by measuring the volume of an object with relatively uniform density. Therefore, the counterweight method provided in this embodiment is more suitable for items with relatively smooth appearance and uniform texture (density), such as roots and tubers in fruits and vegetables, potatoes, tomatoes, carrots, and the like. It can be known that when each batch of conveying equipment transmits items, it needs to be a single type of item, so that the server can directly determine the corresponding density value when performing weight calculation. If the type of the midway item changes, it needs to be reset in the server to determine the corresponding density of the type to avoid weight calculation errors.

According to the weight of each item, the target sorting slot of the item is determined, and the sorting device is controlled to sort the item into the target slot. The counterweight method means that a plurality of items with difficult weights need to be packaged separately, so that the weight of each package is consistent. Exemplarily, the size of each tomato is different, the large one can be 500 grams, and the small one can be 100 grams. Through this method of counterweighting, the tomatoes are divided into packages, so that the total weight of the tomatoes in each package is 1000 grams. In this embodiment, there are multiple sorting slots, and the server controls the sorting device to sort the item into the corresponding slot according to the weight of the item.

In one embodiment, according to the weight of each item, the target sorting bin of the item is determined, including:

Matching the weight of the item with the current total item weights of the plurality of slots respectively according to the target weight threshold;

The bin whose matching result is closest to the target weight threshold among the plurality of bins is determined as the target sorting bin for the item.

In this embodiment, after the server has determined the weight of the item, it matches the weight of the item with the current total item weight stored in each slot, and determines the slot whose matching result is closest to the target weight threshold, And use it as the target sorting bin. Wherein, the target weight threshold represents the total weight of each package finally obtained by the counterweight method. Exemplarily, the weight of tomatoes needs to be divided into 1000 grams per package, then set the target weight threshold and 1000 grams, now the measured weight of a tomato is 200 grams, there are three slots, and tomatoes are already stored in slot A 400 grams, there are 500 grams of tomatoes in grid B, and 700 grams of tomatoes in grid C, then it can be calculated that after putting this tomato in grid C, the matching result is 900 grams, which is the closest to the target weight Threshold 1000 grams. Therefore, bin C is determined as the target sorting bin. In addition, at the beginning, when each sorting slot is an empty slot, one item is sorted into each slot directly according to the arrangement order of the slots until there is no empty slot.

The current total item weight in each sorting slot is monitored, and when the current total item weight reaches the target weight threshold, a packing prompt for the slot is output to prompt packing of all items in the slot. In this embodiment, every time sorting is completed, the total weight of the items in each bin is updated. When it is detected that the total weight of the items in the bin reaches the target weight threshold, the server will output a packing prompt for the bin. The packing prompt includes the slot number and the total weight of the items in the slot. Thus, the staff can be prompted to pack all the items in the grid. Alternatively, an automatic packing device can be used to pack all the items in the grid into a package.

In one embodiment, the sorting equipment is one of: a sorting pick, a high-pressure air blowing device, and an electric push rod.

Specifically, one side of the conveying equipment is provided with a plurality of sorting slots, and the other side is provided with a sorting device. After the target sorting slot is determined, the conveying equipment transports the item to the corresponding entrance of the target sorting slot. After the location, control the sorting equipment to sort the item into the grid. Exemplarily, the conveying equipment is a conveyor belt, and the sorting equipment is a sorting pick. The sorting pick is vertically set up on the left side of the conveyor belt, and a row of sorting grids is arranged on the right side of the conveyor belt. After determining the third grid After the mouth is the target sorting slot, when the item is transported to the third slot on the conveyor belt, the sorting paddle is moved to the right to make the item move to the right and fall into the target sorting slot. If the sorting equipment is replaced with a high-pressure air blowing device or an electric push rod, the principle is the same, that is, when the items are transported to the entrance position corresponding to the target sorting grid, the sorting device will cause the items to move in the horizontal direction. Displacement, so that it can directly fall into the target sorting grid.

In the embodiment of the present invention, the item to be tested is transmitted to the scanning area of the detection device through the transmission device, so that the detection device scans the items one by one, so that the volume of each item is obtained by using the machine vision scanning result, and then the weight of each item is calculated. , thereby realizing the rapid determination of the weight of the item. Compared with the static weighing method, the method improves the weighing efficiency, and compared with the expensive dynamic weighing system, saves the equipment cost.

In one embodiment, the detection equipment at least includes: a 3D camera, the 3D camera is installed on the support, the field of view of the 3D camera is the area below the support, and the detection equipment is controlled to reach Items in the scanning area of the detection device are scanned one by one to obtain scanning results, including:

Controlling the 3D camera to photograph the items arriving at the lower area of the support one by one to obtain a 3D image of each item;

Determining the volume of the item according to the scanning result of each item, including:

According to the 3D image of each item, the estimated volume of the item is determined, and the estimated volume of the item is corrected with a preset ratio to obtain the volume of the item.

In this embodiment, using a 3D camera as a detection device, the 3D camera can be installed on the support so that the camera head of the 3D camera faces downward, so that when shooting, the area below the support is the area of the 3D camera. As far as the field of view is concerned, the conveyor device will transport the items one by one through the area below the support. After the items are transported to the area below the support, the server controls the 3D camera to take pictures, and then a 3D image of each item passing through the area can be obtained. According to the received 3D image of each item, the server can analyze and calculate the estimated volume of the item. The estimated volume refers to the volume calculated according to the 3D image. However, there is still a discrepancy between the estimated volume obtained by relying solely on the 3D image and the actual volume of the item. Exemplarily, referring to FIG. 3, FIG. 3 shows a schematic diagram of a cross-section of an item. As shown in FIG. 3, the ellipse refers to the real volume of the object, and the 3D camera is on the support frame to take a bird's-eye view to obtain The 3D image of the object can only capture the upper surface of the object and all the areas it covers, but the surface of the object has arcs, and there are inevitably some parts that cannot be captured by the 3D camera, that is, the dotted line. Therefore, the estimated volume obtained from the 3D image is the sum of the volume of the elliptical object in FIG. 3 plus the volume of the dotted line area. So the estimated volume of the object is not equal to the real volume. After the server calculates the estimated volume based on the collected 3D image, it needs to be corrected, that is, multiplied by a preset ratio to obtain the final volume of the item. The preset ratio is a pre-calculated fixed value and stored in the server.

The method for determining the preset ratio is as follows: select multiple items of the same category as samples, obtain the estimated volume of each sample taken by a 3D camera, and obtain the actual volume of each sample measured by the drainage method, and use The error volume corresponding to the dotted line area can be obtained by subtracting the real volume from the estimated volume. Determine the ratio of the error volume to the real volume of each sample item, and use multiple groups of ratios to obtain the average value to obtain the error ratio. The difference between 1 and the error ratio is taken as the preset ratio. The specific calculation formula is as follows:

The estimated volume captured by the 3D camera - the real volume measured by the drainage method = the error volume of the dotted line

Multi-group average (error volume of dotted line part/true volume measured by drainage method) = error ratio

1- Error Ratio = Preset Ratio

Estimated volume captured by 3D camera * preset ratio * density = weight of target to be measured

In one embodiment, the detection device includes a plurality of 3D cameras, and the shooting angles of the plurality of 3D cameras are different from each other; the detection device is controlled to scan the items arriving at the scanning area of the detection device one by one to obtain the scanned Results, including:

Controlling the plurality of 3D cameras to take pictures of the items within their own field of view from different shooting angles of view one by one, to obtain 3D images of the item under multiple shooting angles of view;

Determining the volume of the item according to the scanning result of each item, including:

The 3D images of each item under multiple shooting angles are processed to obtain the volume of the item.

Since only one 3D camera is used for shooting, it is easy to only take an image of one side of the object, and it is easy to cause the finally obtained volume data of the object to be inaccurate. In this embodiment, multiple 3D cameras can be used to shoot the item at the same time, so that the shooting positions of each 3D camera are different, so that multiple orientations of the item can be captured. Then, the 3D images captured by each 3D camera and related data are fitted, so that a more accurate volume of the object can be obtained.

In one embodiment, the conveying equipment includes: conveying equipment in the feeding area, conveying equipment in the detection area arranged in the area where the detection equipment is located, and conveying equipment in the sorting area arranged in the area where the sorting equipment is located; Conveyors transport items in the target transport direction, including:

controlling the conveying equipment in the feeding area, the conveying equipment in the detection area and the conveying equipment in the sorting area to sequentially transport each item in a target conveying direction;

The plurality of 3D cameras include: 3D cameras installed on the left and right sides of the detection zone transmission device.

In this embodiment, the conveying equipment includes conveying equipment in the feeding area, conveying equipment in the detection area arranged in the area where the detecting equipment is located, and conveying equipment in the sorting area arranged in the area where the sorting equipment is located. Specifically, In the actual application process, the item list is manually placed on the conveying equipment in the feeding area, and the conveying equipment in the feeding area transmits it to the conveying equipment in the detection area, and then the conveying equipment in the detection area transmits the item to the detection of the detection equipment. area so that the detection device can detect it. In this embodiment, 3D cameras are installed on the left and right sides of the detection area, so that after the object is transported to the detection area by the transmission equipment in the detection area, the 3D cameras on both sides can simultaneously take pictures of the object, thereby obtaining By fitting the 3D images of the left and right sides of the item with the data of the two 3D images, accurate and complete volume data of the item can be obtained. After the detection is completed, the conveying equipment in the detection area transports the item to the conveying equipment in the sorting area, and the sorting equipment in the sorting area sorts the item into the corresponding target sorting grid.

In one embodiment, the conveying equipment includes: conveying equipment in the feeding area, conveying equipment in the detection area arranged on the detection equipment, and conveying equipment in the sorting area arranged on the sorting equipment; control conveying equipment Transport items in the target transport direction, including:

controlling the conveying equipment in the feeding area, the conveying equipment in the detection area and the conveying equipment in the sorting area to sequentially transport each item;

The plurality of 3D cameras include: a 3D camera installed on the upper area of the detection zone transmission device, and a 3D camera installed on the lower side area of the detection zone transmission device, and the detection zone transmission device has The conveyor belt used to carry items is made of transparent material.

In this embodiment, the conveying equipment is divided into conveying equipment in the feeding area, conveying equipment in the detection area and conveying equipment in the sorting area. The conveying equipment can be a conveyor belt, which is divided into three conveyor belts in different working areas. Belts can work individually. When setting up the detection equipment, it can be set in the upper and lower positions of the detection area. The 3D camera can be installed above the conveyor belt with the camera facing down by setting a support frame or a gantry frame on the conveyor belt. At the same time, another 3D camera is installed below the conveyor belt with the camera facing up. In order to enable the 3D camera under the conveyor belt to capture the items on the conveyor belt, the conveyor belt in this area needs to be set to a transparent material. Thus, after the item is transported into the field of view of the 3D camera in the detection area, the 3D camera shoots to obtain 3D images of the item in the upper and lower directions. After the server receives the 3D image, it fits the 3D image data in two directions, so that the accurate volume data of the object can be obtained, avoiding the possibility of shooting from only one direction, which may easily cause visual blind spots, resulting in the distortion of the obtained item. Volume data is not accurate enough.

In one embodiment, the conveying equipment includes: conveying equipment in the feeding area, conveying equipment in the detection area arranged in the area where the detecting equipment is located, and conveying equipment in the sorting area arranged in the area where the sorting equipment is located; The front end and rear end of the transmission equipment in the detection area are provided with the photoelectric switch; the detection equipment is controlled to scan the items arriving at the scanning area of the detection equipment one by one, including:

When the trigger signal sent by the photoelectric switch is received, the detection device is controlled to scan the items arriving at the scanning area of the detection device one by one, and the trigger signal is generated when the photoelectric switch detects the items.

In this embodiment, a photoelectric switch is arranged at the front end and the rear end of the transmission equipment in the detection area. One end of the photoelectric switch is an excitation end, and the other end is a reception end to form an induction beam, whereby the article is transported to the transmission equipment in the detection area. , the photoelectric switch will be triggered to generate a trigger signal and send it to the server, and the server will control the detection device to start scanning the items according to the starting signal, thereby realizing the control of the detection device to automatically scan the items that arrive at the scanning area.

In one embodiment, controlling the detection device to scan the items arriving at the scanning area of the detection device one by one includes:

When receiving the trigger signal sent by the timer, the detection device is controlled to scan the items arriving at the scanning area of the detection device one by one, and the trigger signal is periodically generated by the timer.

In this embodiment, a timer is installed on the detection device, so that the timer periodically generates a trigger signal. After the server receives the trigger signal, it controls the detection device to scan and detect, thereby realizing control detection at regular intervals. The device automatically scans the items that arrive at the scanning area.

In one embodiment, the method further includes:

receiving a stop operation signal sent by the emergency brake device, the stop operation signal being generated when the emergency brake device detects a user operation;

According to the stop operation signal, the conveying equipment is controlled to stop conveying the articles.

In this embodiment, an emergency braking device can be set at a position convenient for the staff to operate, and the emergency braking device can be an emergency braking button, or a hand valve, etc. The emergency braking device can be manually triggered to send stop operation information to the server, so that the server can control the conveying equipment to stop the item transmission according to the stop operation signal. To achieve the effect of emergency braking.

In one embodiment, the conveying equipment comprises two parallel conveying equipment lines, and the method further comprises:

The two conveying equipment lines are controlled to work alternately.

In this embodiment, the conveying equipment may be two alternately working conveying equipment lines. That is, when one conveying equipment line is transporting items, the other conveying equipment line is in a stop running state. In the stop running state, there can be staff in the sorting area to put the item list on the conveying equipment line. Exemplarily, referring to Fig. 4, Fig. 4 shows a schematic structural diagram of a counterweight system. As shown in Fig. 4, the conveying equipment is two parallel conveying equipment lines, and each conveying line is divided into three zones Conveyor lines in the feeding area (conveyor lines 1 and 4), detection area conveyor lines (conveyor lines 2 and 5) and sorting area conveyor lines (conveyor lines 3 and 6), the staff in the feeding area Operate on the operating platform, put the item list on the conveying line in the delivery area, and transport it to the inspection area after the code is placed, and then scan and inspect it with the inspection equipment. In Figure 4, the 3D camera is used as the inspection equipment, and the 3D camera is installed on the gantry , let the 3D camera look down to take pictures of the passing items, so as to collect 3D images. Finally, the items are transported to the sorting area and sorted by the sorting equipment. After the items are transported to the corresponding position of the target sorting grid, the sorting paddle shifts the items left and right to cause a horizontal displacement. Thus falling into the target sorting grid mouth, the sorting is completed. During this process, when one conveyor line is working, the other conveyor line will be stopped so that the staff can stack items on the operation platform, so that the two conveyor equipment lines can work alternately, saving time and improving work efficiency.

The present invention also provides a counterweight system, which includes: transmission equipment, detection equipment, sorting equipment, multiple sorting grids and a server;

The conveying device is used for conveying articles in a target conveying direction, and the target conveying direction is a direction of conveying via the region where the detection device is located to the region where the sorting device is located;

The detection device is used to scan the items arriving at the scanning area of the detection device one by one, and send the scanning result of each item to the server;

The server is used to determine the volume of the item according to the scanning result of each item, and calculate the weight of the item according to the volume of the item; determine the target sorting slot of the item according to the weight of each item, and control The sorting device sorts the item into the target bin; the server is also used to monitor the current total item weight in each sorting slot, and when the current total item weight reaches the target weight threshold, output The packing prompt for this grid is used to prompt to pack all the items in this grid.

In one embodiment, the detection device includes: one or more of a 3D camera, a grating sensor, a light curtain sensor, and an infrared sensor.

In one embodiment, the detection device at least includes: a 3D camera, the 3D camera is installed on the support, and the field of view of the 3D camera is the area below the support.

In one embodiment, the detection device includes a plurality of 3D cameras, and shooting angles of view of the plurality of 3D cameras are different from each other.

In one embodiment, the conveying equipment includes: conveying equipment in the feeding area, conveying equipment in the inspection area, and conveying equipment in the sorting area; The conveyor transports each item in turn in the target transport direction;

The plurality of 3D cameras include: 3D cameras installed on the left and right sides of the detection zone transmission device.

In one embodiment, the conveying equipment includes: conveying equipment in the feeding area, conveying equipment in the inspection area, and conveying equipment in the sorting area; The conveyor transports each item in turn in the target transport direction;

The plurality of 3D cameras include: a 3D camera installed in the upper area of the detection area transfer device, and a 3D camera installed in the lower area of the detection area transfer device, and the detection area transfer device has The conveyor belt used to carry items is made of transparent material.

In one embodiment, the sorting equipment is one of: a sorting pick, a high-pressure air blowing device, and an electric push rod.

In one embodiment, the conveying equipment includes: conveying equipment in the feeding area, conveying equipment in the detection area arranged in the area where the detecting equipment is located, and conveying equipment in the sorting area arranged in the area where the sorting equipment is located; The counterweight system also includes: a photoelectric switch;

The photoelectric switch is arranged at the front end and the back end of the transmission device in the detection area, and is used to send a trigger signal to the server when an item is detected;

The server is further configured to, when receiving the trigger signal, control the detection device to scan the items arriving at the scanning area of the detection device one by one.

In one embodiment, the counterweight system further includes: a timer, the timer is used to periodically send the trigger signal to the server; the server is also used to, when receiving the trigger signal, The detection device is controlled to scan the items arriving at the scanning area of the detection device one by one.

In one embodiment, the counterweight system further includes an emergency braking device, and the emergency braking device is used to send a stop operation signal to the server when a user operation is detected; The stop operation signal controls the conveying equipment to stop conveying items.

An embodiment of the present invention also provides an electronic device. Referring to FIG. 5 , FIG. 5 is a schematic diagram of the electronic device proposed in the embodiment of the present application. As shown in FIG. 5 , the electronic device 100 includes: a memory 110 and a processor 120, the memory 110 and the processor 120 are connected through a bus communication, a computer program is stored in the memory 110, and the computer program can run on the processor 120, Furthermore, the steps in a counterweight method disclosed in the embodiment of the present application are realized.

The embodiment of the present application also provides a computer-readable storage medium, on which a computer program/instruction is stored, and when the computer program/instruction is executed by a processor, a counterweight method as disclosed in the embodiment of the application is realized in the steps.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

Embodiments of the present invention are described with reference to flowcharts and/or block diagrams of methods, apparatuses, electronic devices, and computer program products according to embodiments of the present invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor or processor of other programmable data processing terminal equipment to produce a machine such that instructions executed by the computer or processor of other programmable data processing terminal equipment Produce means for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the The instruction means implements the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded into a computer or other programmable data processing terminal equipment, so that a series of operational steps are performed on the computer or other programmable terminal equipment to produce computer-implemented processing, thereby The instructions executed above provide steps for implementing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

Having described preferred embodiments of embodiments of the present invention, additional changes and modifications to these embodiments can be made by those skilled in the art once the basic inventive concept is appreciated. Therefore, the appended claims are intended to be construed to cover the preferred embodiment and all changes and modifications which fall within the scope of the embodiments of the present invention.

Finally, it should also be noted that in this text, relational terms such as first and second etc. are only used to distinguish one entity or operation from another, and do not necessarily require or imply that these entities or operations, any such actual relationship or order exists. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or terminal equipment comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements identified, or also include elements inherent in such a process, method, article, or end-equipment. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising said element.

A counterweight method, counterweight system, electronic equipment and medium provided by the present invention have been introduced in detail above. In this paper, specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only It is used to help understand the method of the present invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and scope of application. In summary, this The content of the description should not be construed as limiting the present invention.

Claims (24)

1. A counterweight method, characterized in that being applied to a server, comprising: controlling the conveying device to convey the articles in a target conveying direction, the target conveying direction being the direction of conveying to the region where the sorting device is located via the region where the detection device is located; Controlling the detection device to scan the items arriving at the scanning area of the detection device one by one to obtain a scanning result; Obtain the scanning result of each item by the detection device; determining the volume of the item according to the scanning result of each item, and calculating the weight of the item according to the volume of the item; Determine the target sorting slot of the item according to the weight of each item, and control the sorting device to sort the item into the target slot; The current total item weight in each sorting slot is monitored, and when the current total item weight reaches the target weight threshold, a packing prompt for the slot is output to prompt packing of all items in the slot. 2. The counterweight method according to claim 1, wherein the detection device comprises: one or more of a 3D camera, a grating sensor, a light curtain sensor, and an infrared sensor. 3. The counterweight method according to claim 1 or 2, wherein the detection device at least includes: a 3D camera, the 3D camera is mounted on a support, and the field of view of the 3D camera is the support The lower area of the piece, control the detection equipment to scan the items that arrive at the scanning area of the detection equipment one by one, and obtain the scanning results, including: Controlling the 3D camera to photograph the items arriving at the lower area of the support one by one to obtain a 3D image of each item; Determining the volume of the item according to the scanning result of each item, including: According to the 3D image of each item, the estimated volume of the item is determined, and the estimated volume of the item is corrected with a preset ratio to obtain the volume of the item. 4. The counterweight method according to claim 1 or 2, wherein the detection device includes a plurality of 3D cameras, and the shooting angles of the plurality of 3D cameras are different from each other; Items in the scanning area of the device are scanned one by one to obtain scanning results, including: Controlling the plurality of 3D cameras to take pictures of the items within their own field of view from different shooting angles of view one by one, to obtain 3D images of the item under multiple shooting angles of view; Determining the volume of the item according to the scanning result of each item, including: The 3D images of each item under multiple shooting angles are processed to obtain the volume of the item. 5. The counterweight method according to claim 4, wherein the conveying equipment comprises: conveying equipment in the supply area, a conveying equipment in the detection area set in the area where the detection equipment is located, and a conveying equipment set in the sorting equipment Conveying equipment in the sorting area in the area; control the conveying equipment to convey items in the target conveying direction, including: controlling the conveying equipment in the feeding area, the conveying equipment in the detection area and the conveying equipment in the sorting area to sequentially transport each item in a target conveying direction; The plurality of 3D cameras include: 3D cameras installed on the left and right sides of the detection zone transmission device. 6. The counterweight method according to claim 4, characterized in that, the conveying equipment comprises: conveying equipment in the supply area, a conveying equipment in the detection area arranged on the detection equipment, and a conveying equipment arranged on the sorting equipment Conveying equipment in the sorting area; control the conveying equipment to convey items in the target conveying direction, including: controlling the conveying equipment in the feeding area, the conveying equipment in the detection area and the conveying equipment in the sorting area to sequentially transport each item; The plurality of 3D cameras include: a 3D camera installed in the upper area of the detection area transfer device, and a 3D camera installed in the lower area of the detection area transfer device, and the detection area transfer device has The conveyor belt used to carry items is made of transparent material. 7. The counterweight method according to any one of claims 1-6, wherein the sorting equipment is one of a sorting pick, a high-pressure air blowing device, and an electric push rod. 8. The counterweight method according to any one of claims 1-7, characterized in that, according to the weight of each item, the target sorting grid for the item is determined, including: Matching the weight of the item with the current total item weights of the plurality of slots respectively according to the target weight threshold; The bin whose matching result is closest to the target weight threshold among the plurality of bins is determined as the target sorting bin for the item. 9. The counterweight method according to any one of claims 1-8, characterized in that, the conveying equipment comprises: conveying equipment in the feeding area, the conveying equipment in the detection area set in the area where the detection equipment is located, and the transmission equipment set in the area where the detection equipment is located. The sorting area transmission equipment in the area where the sorting equipment is located; the front end and rear end of the transmission equipment in the detection area are provided with the photoelectric switch; the detection equipment is controlled to scan the items arriving at the scanning area of the detection equipment one by one ,include: When the trigger signal sent by the photoelectric switch is received, the detection device is controlled to scan the items arriving at the scanning area of the detection device one by one, and the trigger signal is generated when the photoelectric switch detects the items. 10. The counterweight method according to any one of claims 1-8, characterized in that, controlling the detection device to scan the items arriving at the scanning area of the detection device one by one, including: When receiving the trigger signal sent by the timer, the detection device is controlled to scan the items arriving at the scanning area of the detection device one by one, and the trigger signal is periodically generated by the timer. 11. The counterweight method according to any one of claims 1-10, characterized in that, the method further comprises: receiving a stop operation signal sent by the emergency brake device, the stop operation signal being generated when the emergency brake device detects a user operation; According to the stop operation signal, the conveying equipment is controlled to stop conveying the articles. The counterweight method described in any one of 12.1-11 is characterized in that the conveying equipment includes two parallel conveying equipment lines, and the method further includes: The two conveying equipment lines are controlled to work alternately. 13. A counterweight system, characterized in that the system includes: transmission equipment, detection equipment, sorting equipment, a plurality of sorting grids and a server; The conveying device is used for conveying articles in a target conveying direction, and the target conveying direction is a direction of conveying via the region where the detection device is located to the region where the sorting device is located; The detection device is used to scan the items arriving at the scanning area of the detection device one by one, and send the scanning result of each item to the server; The server is used to determine the volume of the item according to the scanning result of each item, and calculate the weight of the item according to the volume of the item; determine the target sorting slot of the item according to the weight of each item, and control The sorting device sorts the item into the target bin; the server is also used to monitor the current total item weight in each sorting slot, and when the current total item weight reaches the target weight threshold, output The packing prompt for this grid is used to prompt to pack all the items in this grid. 14. The counterweight system according to claim 13, wherein the detection device comprises: one or more of a 3D camera, a grating sensor, a light curtain sensor, and an infrared sensor. 15. The counterweight system according to claim 13 or 14, wherein the detection device at least includes: a 3D camera, the 3D camera is mounted on a support, and the field of view of the 3D camera is the support the lower area of the item. 16. The counterweight system according to claim 13 or 14, wherein the detection device includes a plurality of 3D cameras, and the shooting angles of the plurality of 3D cameras are different from each other. 17. The counterweight system according to claim 16, wherein the conveying equipment comprises: conveying equipment in the feeding area, conveying equipment in the detection area, and conveying equipment in the sorting area; the conveying equipment in the feeding area, the The conveying equipment in the detection area and the conveying equipment in the sorting area sequentially transport each item in the target conveying direction; The plurality of 3D cameras include: 3D cameras installed on the left and right sides of the detection zone transmission device. 18. The counterweight system according to claim 16, wherein the conveying equipment comprises: conveying equipment in the feeding area, conveying equipment in the detection area and conveying equipment in the sorting area; the conveying equipment in the feeding area, the The conveying equipment in the detection area and the conveying equipment in the sorting area sequentially transport each item in the target conveying direction; The plurality of 3D cameras include: a 3D camera installed in the upper area of the detection area transfer device, and a 3D camera installed in the lower area of the detection area transfer device, and the detection area transfer device has The conveyor belt used to carry items is made of transparent material. 19. The counterweight system according to any one of claims 13-18, characterized in that the sorting equipment is one of: a sorting paddle, a high-pressure air blowing device, and an electric push rod. 20. The counterweight system according to any one of claims 13-19, characterized in that, the conveying equipment includes: conveying equipment in the supply area, the conveying equipment in the detection area set in the area where the detection equipment is located, and the set Transport equipment in the sorting area where the sorting equipment is located; the counterweight system also includes: a photoelectric switch; The photoelectric switch is arranged at the front end and the rear end of the transmission device in the detection area, and is used to send a trigger signal to the server when an item is detected; The server is further configured to, when receiving the trigger signal, control the detection device to scan the items arriving at the scanning area of the detection device one by one. 21. The counterweight system according to any one of claims 13-19, wherein the counterweight system further comprises: a timer, the timer is used to periodically send the trigger signal to the server ; The server is further configured to control the detection device to scan the items arriving at the scanning area of the detection device one by one when the trigger signal is received. 22. The counterweight system according to any one of claims 13-21, characterized in that, the counterweight system further comprises an emergency braking device, and the emergency braking device is used for, when a user operation is detected, to The server sends a stop operation signal; the server is further configured to control the conveying device to stop item transmission according to the stop operation signal. 23. An electronic device, comprising a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to realize any one of claims 1-12 Steps in the counterweight method. 24. A computer-readable storage medium, on which computer programs/instructions are stored, characterized in that, when the computer program/instructions are executed by a processor, the counterweight method according to any one of claims 1-12 is realized in the steps.

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