The invention provides a tray state detection method for a tilting tray type sorting
machine. The tray state detection method comprises the following steps that firstly, image information of a tray area is collected through a
visual system; 2, analyzing the acquired image information by using a
deep learning technology and an
image processing technology, identifying a tilting-pan type trolley, a
package and a side plate, obtaining an external rectangular frame, obtaining a contour
mask image of each target detection object, and extracting contour points of the contour
mask image; step 3, carrying out existence detection and double-piece and stacked-piece detection; 4, establishing a coordinate
system of the tray trolley and a coordinate
system of the running direction, and performing torsion detection on the tray trolley; step 5, performing super-
region detection; sixthly, side plate blocking detection is carried out; according to the technical scheme, the tilting-pan type trolley, the parcels and the side plates are recognized, and the external rectangular frame and the contour
mask image are obtained, so that detection is more comprehensive, the problem that a traditional detection device is low in recognition accuracy is solved, and the sorting accuracy and efficiency are improved.