Goods sorting method based on dynamic parabolic position calibration

Abstract

The invention relates to the field of logistics sorting, and particularly discloses a cargo sorting method based on dynamic parabolic position calibration, and the method comprises the steps: determining the position information and speed information of a sorting trolley; based on the cargo information of the cargos borne by the sorting trolley, the throwing time corresponding to the borne cargos and a target slide way are determined; based on the position information, the speed information and the target slideway, the starting parabolic position of the sorting trolley is determined; and when the sorting trolleys reach the throwing starting positions, the rollers are driven to rotate so as to throw the bearing goods placed on the conveying belt to the target sliding way, and fault positioning is carried out on all the sorting trolleys and / or the sliding ways on the basis of the throwing information corresponding to all the bearing goods which fail in throwing within the preset time period or the preset number of times of throwing. And the parabolic position is dynamically corrected in real time according to the displacement deviation, and the object is thrown in advance, so that the displacement deviation is counteracted, and the aim that the express drop point is accurate can be achieved.

Description

Technical Field

[0001] This application relates to the field of logistics transportation, and particularly to a goods sorting method based on dynamic parabola position calibration. Background Art

[0002] In recent years, with the development of artificial intelligence technology, the intelligent express sorting technology has become increasingly mature, and the links that require human intervention are also decreasing. The intelligent express sorting technology can be briefly divided into several aspects such as identification, parcel loading, and parcel unloading. Different from the traditional cross-belt sorting express technology, the intelligent express sorting line uses an express sorting trolley for intelligent sorting of express deliveries.

[0003] In the existing intelligent express sorting line, all sorting trolleys use the same parabola strategy. However, when moving on the track, since the driving speeds of the trolleys are different in different regions, the same parabola strategy may result in phenomena such as incorrect landing positions or too large position deviations of the parcels. The inaccurate parabola position directly leads to the failure of express sorting or the need for re-sorting, which has a greater impact. In addition, due to the large number of sorting trolleys and the complexity of the sorting process, it is difficult to locate the cause of failure when the number of parabola failures is large. Summary of the Invention

[0004] To solve the above problems, this application proposes a goods sorting method based on dynamic parabola position calibration, which is applied to a goods sorting system. The goods sorting system includes a circular track, sorting trolleys, and chutes; a roller and a conveyor belt are arranged above the sorting trolleys, and the conveyor belt is driven by the roller to rotate; the circular track is connected to a plurality of chutes, and the goods information corresponding to the plurality of chutes is different; the method includes: determining the position information and speed information of the sorting trolley; determining the parabola time and the target chute corresponding to the carried goods based on the goods information of the carried goods of the sorting trolley; determining the starting parabola position of the sorting trolley based on the position information, the speed information, and the target chute; when the sorting trolley reaches the starting parabola position, driving the roller to rotate to throw the carried goods placed on the conveyor belt into the target chute; and performing fault location on all sorting trolleys and / or chutes based on the parabola information corresponding to all the carried goods with parabola failures within a preset time period or a preset number of parabola times.

[0005] In one example, a grating caliper bar is provided in the circular track, and light-transmitting openings of the same width are provided on the grating caliper bar at preset intervals; the sorting trolley travels within the circular track, and photoelectric sensors are provided on both sides of the grating caliper bar under the sorting trolley; the light-blocking portions of the grating caliper bar and the light-transmitting openings are of the same width and are distributed crosswise; determining the position information and speed information of the sorting trolley specifically includes: determining the number of light-transmitting openings passed through within a unit time through the photoelectric sensors; and determining the position information and speed information of the sorting trolley based on the unit time and the number of light-transmitting openings.

[0006] In one example, a baffle is fixedly provided on the conveyor belt, and the baffle is used to throw the goods placed on the sorting trolley into different chutes; determining the throwing time corresponding to the goods carried by the sorting trolley based on the goods information of the goods carried by the sorting trolley specifically includes: determining the relative position relationship between the goods carried on different sorting trolleys and the conveyor belt through an image acquisition device installed above the goods sorting system; determining the gravity information of the goods carried on the conveyor belt through a gravity sensing device provided on the conveyor belt, where the gravity information includes the total weight of the goods and the gravity distribution; determining the predicted center of gravity position of the goods carried based on the relative position relationship and the gravity distribution; determining the throwing distance corresponding to the goods carried based on the predicted center of gravity position; determining the first displacement time for the goods carried to move to the edge of the conveyor belt based on the total weight of the goods, the throwing distance, the roller speed, and the rated power of the roller; determining the second displacement time for the goods carried to fall from the edge of the conveyor belt into the chute based on the height of the conveyor belt; and determining the throwing time corresponding to the goods carried based on the first displacement time and the second displacement time.

[0007] In one example, determining the throwing distance corresponding to the goods carried based on the predicted center of gravity position specifically includes: determining the minimum throwing distance corresponding to the goods carried based on the distance between the predicted center of gravity position and the edge of the conveyor belt; determining the maximum throwing distance corresponding to the goods carried based on the distance between the predicted center of gravity position and the baffle; determining the expected throwing distance of the goods carried based on the minimum throwing distance, the maximum throwing distance, and the packaging type of the goods carried, and using the expected throwing distance as the throwing distance corresponding to the goods carried.

[0008] In one example, determining the starting parabolic position of the sorting trolley based on the position information, the speed information, and the target chute specifically includes: determining the movement offset of the load-bearing goods based on the speed information of the sorting trolley and the parabolic time; the movement offset being the displacement distance of the sorting trolley within the parabolic time; determining the chute position interval corresponding to the target chute; and determining the starting parabolic position corresponding to the sorting trolley based on the chute position interval and the movement offset.

[0009] In one example, fault location of all sorting trolleys and / or chutes based on the parabolic information corresponding to all load-bearing goods that failed to be parabolic within a preset time period or a preset number of parabolic attempts specifically includes: obtaining the parabolic information corresponding to all load-bearing goods that failed to be parabolic within a preset time period or a preset number of parabolic attempts, the parabolic information including goods information, target chute information, and sorting trolley information; the goods information including goods volume information, goods appearance information, and goods mass information; determining the chute correction values corresponding to all chutes respectively based on the target chute information; determining the goods correction values corresponding to all load-bearing goods that failed to be parabolic respectively based on the goods information; determining the vehicle scores corresponding to each sorting trolley respectively based on the goods correction values and the chute correction values; and performing fault location on all sorting trolleys and / or chutes through the vehicle scores and / or the chute correction values.

[0010] In one example, determining the chute correction values corresponding to all chutes respectively based on the target chute information specifically includes: determining the number of parabolic failures corresponding to each chute within the preset time period based on the target chute information; determining the chute correction values based on the number of parabolic failures; determining the goods correction values corresponding to all load-bearing goods that failed to be parabolic respectively based on the goods information specifically includes: determining the quantified mean value of the goods information of all load-bearing goods within the preset time period based on the goods information; determining the quantified value of the goods information corresponding to the load-bearing goods that failed to be parabolic within the preset time period based on the goods information; and determining the goods correction values corresponding to the load-bearing goods that failed to be parabolic respectively based on the quantified value of the goods information and the quantified mean value of the goods information.

[0011] In one example, performing fault location on all sorting trolleys and / or chutes through the vehicle scores and / or the chute correction values specifically includes: continuously obtaining the chute correction values and the vehicle scores within the preset time period; if the chute correction values and / or the vehicle scores are higher than a preset threshold, then packing the parabolic information, the chute correction values, and / or the vehicle scores within the preset time period, and uploading the packed data to the cloud for alarming.

[0012] In one example, determining the vehicle scores corresponding to the sorting carts based on the goods correction value, the chute correction value, and the sorting cart information specifically includes: determining the vehicle score corresponding to the sorting cart through the following formula: where Q i is the vehicle score corresponding to the i-th sorting cart; j represents the j-th carried good with a throwing failure for the i-th sorting cart, and n i is the number of carried goods with throwing failures for the i-th sorting cart, and N i is the total number of throws of the i-th sorting cart within a preset time period; η1 and η2 are preset weights; C j is the goods correction value corresponding to the j-th carried good with a throwing failure; Z j is the chute correction value corresponding to the j-th carried good with a throwing failure.

[0013] In one example, determining the target chute corresponding to the carried goods based on the goods information of the carried goods of the sorting cart specifically includes: when the sorting cart passes through the OCR scanning area, parsing the express waybill attached to the carried goods through the OCR scanning system to obtain the three-section code information of the carried goods; determining the target chute corresponding to the carried goods based on the three-section code information; before determining the target chute corresponding to the carried goods based on the goods information of the carried goods of the sorting cart, the method further includes: determining the goods delivery time point and delivery speed of the goods supply device when the sorting cart is located in the goods supply area based on the position information and the speed information of the sorting cart; controlling the goods supply device to deliver the carried goods to the sorting cart at the goods delivery time point at the delivery speed.

[0014] The method proposed by this application can bring the following beneficial effects:

[0015] 1. By dynamically associating the throwing position of the express delivery falling and the real-time speed of the track sorting cart, calculating the displacement of the express delivery in the vehicle running direction during the period from the action of the sending roller to the goods falling onto the downstream chute according to different speeds, and dynamically correcting the throwing position in real time according to this displacement deviation, so as to achieve early throwing, thereby offsetting this displacement deviation, and being able to achieve the goal of relatively accurate landing points of the express delivery.

[0016] 2. By interacting the easily arranged grating scale bars with the photoelectric sensors arranged on the sorting cart to calculate the motion information of the sorting cart, not only the layout cost is relatively low, but also the calculation process is simple, does not occupy too much computing power, and reduces the equipment layout loss.

[0017] 3. By setting baffles on the conveyor belt and predicting the center of gravity position of the loaded goods, it can ensure that the conveyor belt will definitely throw out the loaded goods after moving a fixed distance, avoiding excessive calculation errors in the throwing time during the throwing process due to factors such as the surface of the loaded goods being too smooth, the loaded goods being too light, and the shape of the loaded goods being strange.

[0018] 4. By statistically analyzing the throwing information of all failed throws within a certain time period or a certain number of throwing times, scoring each sorting cart based on the dimensions of the goods and the dimensions of the chute respectively, and assisting in positioning the faulty sorting cart and chute. Description of the Drawings

[0019] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0020] Figure 1 It is a schematic flow chart of a goods sorting method based on dynamic throwing position calibration in an embodiment of the present application. Detailed Embodiments

[0021] To make the objectives, technical solutions, and advantages of the present application clearer, the technical solutions of the present application will be clearly and completely described below in conjunction with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0022] The following will detail the technical solutions provided by each embodiment of the present application in conjunction with the drawings.

[0023] Figure 1 It is a schematic flow chart of a goods sorting method based on dynamic throwing position calibration provided by one or more embodiments of this specification. This method can be applied to the automatic sorting of express deliveries. This process can be executed by a computing device set beside the sorting production line or a computing module set inside the sorting cart. Some input parameters or intermediate results in the process allow manual intervention and adjustment to help improve accuracy.

[0024] The implementation of the analysis method involved in the embodiments of the present application can be a terminal device or a server. The present application does not make special restrictions on this. For the convenience of understanding and description, the following embodiments will be described in detail using the server as an example.

[0025] It should be noted that the server can be a single device or a system composed of multiple devices, that is, a distributed server, and the present application does not make specific limitations on this. In addition, the goods sorting method based on dynamic parabolic position calibration provided by the present application is applied to a goods sorting system, where the goods sorting system includes a circular track, sorting trolleys, and chutes. A roller and a conveyor belt are arranged above the sorting trolley, and the conveyor belt is driven by the roller to rotate; the circular track is connected to multiple chutes, and a wide-angle opening is arranged at the connection, so that after the goods fall from the trolley, they can fall into different chutes through the wide-angle opening, and the goods information corresponding to the multiple chutes is different. In the goods sorting system, a bag supply area is provided, and in the bag supply area, the goods are placed on the sorting trolley. At the same time, an OCR scanning area for identifying goods information is also provided. When the sorting trolley passes through the OCR scanning area, the express waybill attached to the goods can be analyzed by the OCR scanning system to obtain the three-segment code information carrying the goods, so as to determine the target chute corresponding to the goods carried.

[0026] When the sorting trolley travels to the sorting area, the embodiment of the present application provides a goods sorting method based on dynamic parabolic position calibration as Figure 1 shown, including:

[0027] S101: Determine the position information and speed information of the sorting trolley.

[0028] First, determine the position information and speed information of the sorting trolley on the chute. For example, the sorting trolley can be photographed and analyzed by a camera device at preset time intervals to determine the specific position of the sorting trolley on the chute.

[0029] Although the above method can determine the position and speed of the sorting cart, the process of analyzing and photographing the pictures requires the deployment of camera devices and excessive computing power. When the slide is long, the number of deployed camera devices is large. When the number of sorting carts is large, or the accuracy requirement is high, the computing power required for the picture analysis process is large. Therefore, it is only applicable to specific scenarios. In general scenarios, the speed and position information of the sorting cart can be calculated by arranging grating caliper bars on the slide rail and setting optoelectronic sensors on the sorting cart. Among them, the grating caliper bars are provided with light-transmitting openings of the same width at preset intervals. The optoelectronic sensor includes a transmitter and a receiver, and the grating caliper bars are arranged in the middle of the slide. The optoelectronic signal emitted by the transmitter will pass through the light-transmitting openings and be received by the receiver, so as to count the number of light-transmitting openings passed by the front end of the sorting cart. At this time, all the light-transmitting openings of the grating caliper bars can be counted, and the number of light-transmitting openings is used to represent the position of the sorting cart. For example, taking a certain grating caliper bar in the supply area as the starting point, the position information of the cart can be described as "the current position of the cart is at the nth light-transmitting opening". In addition, the average speed of the sorting cart within the preset time period can be calculated by the number of light-transmitting openings passed by the cart within the preset time period. When the preset time period is very short, it can be used as the instantaneous speed of the cart. The computing power consumed by the above calculation process is less, and the layout cost of the grating caliper bars and optoelectronic sensors is lower, which is applicable to most scenarios.

[0030] S102: Based on the cargo information of the cargo carried by the sorting cart, determine the throwing time and the target slide corresponding to the carried cargo.

[0031] After each sorting cart passes through the supply area, the conveyor belt will carry the cargo. The cargo information of the cargo is different, and the corresponding throwing time and target slide are different. Here, the cargo information includes the three-section code information of the cargo and the entity information of the cargo. Among them, the three-section code information contains the address corresponding to the carried cargo, so as to correspond to different slides, and the entity information corresponds to different mass and volume, which determines the time required for the conveyor belt to throw the cargo.

[0032] In one embodiment, strip baffles are provided on the conveyor belt. The baffles move together with the conveyor belt and can push the goods placed on the sorting cart into different chutes. In this case, regardless of the entity information of the goods being carried, as long as the baffle moves to the top edge of the cart, the goods being carried will be pushed off the cart by the baffle. Therefore, the distance that the baffle moves to the top edge of the cart is the maximum distance that the conveyor belt moves. And the goods being carried with a relatively large frictional force with the conveyor belt will move forward together with the conveyor belt without the need for the baffle to push. At this time, as long as the center of gravity of the goods being carried moves to the top edge of the cart, the goods being carried will be thrown out. Therefore, the distance that the center of gravity of the goods being carried moves to the top edge of the cart is the minimum distance that the conveyor belt moves. That is to say, if the conveyor belt wants to throw out the goods being carried, the moving distance of the conveyor belt must be within the range from the minimum throwing distance to the maximum throwing distance.

[0033] Furthermore, when determining the throwing distance, the packaging type of the goods being carried can be considered. When the frictional force between the outer packaging of the goods being carried and the conveyor belt is relatively large, the throwing distance corresponding to the goods being carried at this time is the minimum distance. When the frictional force between the outer packaging of the carried object and the conveyor belt is relatively small, the throwing distance corresponding to the goods being carried at this time is the maximum distance. Among them, the frictional force between different packaging types and the conveyor belt can be pre-stored in the database. When determining the throwing distance, based on the minimum throwing distance, the maximum throwing distance, and the packaging type of the goods being carried, the expected throwing distance of the goods being carried can be determined, and the expected throwing distance can be used as the throwing distance corresponding to the goods being carried.

[0034] Therefore, when calculating the throwing time of the goods being carried, the relative position relationship between the goods being carried on different sorting carts and the conveyor belt is determined through an image acquisition device installed above the goods sorting system, so as to determine the position of the baffle on the other side of the goods being carried. After knowing the baffle position, the time for the baffle to move to the edge of the conveyor belt is calculated as the maximum first displacement time. Then, through the gravity sensing device provided on the conveyor belt, the gravity information of the goods being carried on the conveyor belt is determined. Here, the gravity information includes the total weight of the goods and the gravity distribution. According to the relative position relationship and the gravity distribution, the predicted point of the center of gravity of the goods can be determined. Then, based on the distance from the predicted point of the center of gravity to the edge of the conveyor belt, the minimum throwing distance corresponding to the goods can be determined. Then, based on the total weight of the goods, the throwing distance, the roller rotation speed, and the rated power of the roller, the minimum first displacement time for the goods being carried to move to the edge of the conveyor belt can be determined. In addition, it is also necessary to calculate the second displacement time for the goods being carried to fall into the chute from the edge of the conveyor belt, which is related to the height of the conveyor belt. The sum of the first displacement time interval corresponding to the maximum first displacement time and the minimum first displacement time and the second displacement time is calculated as the throwing time corresponding to the goods being carried.

[0035] In one embodiment, when calculating the minimum first displacement time, if the accuracy requirement is low, the minimum first displacement time can be quickly calculated by the following formula:

[0036]

[0037] where t1 is the first displacement time, m load is the total weight of the goods carrying the cargo, m belt is the weight of the conveyor belt, v belt is the rated speed of the conveyor belt, P is the rated power of the roller, A is the first correction coefficient, and q1 is the first preset constant.

[0038] If the accuracy requirement is high, the acceleration process of the roller needs to be considered. In this case, it can be calculated by the following formula:

[0039]

[0040] where t1 is the first displacement time, T is the roller torque; I is the moment of inertia of the roller; m belt is the mass of the conveyor belt; m load is the total weight of the goods carrying the cargo; r is the radius of the roller, μ is the friction coefficient between the roller and the conveyor belt; g is the acceleration due to gravity, q2 is the second preset constant, and B is the second correction coefficient. This is a first-order linear differential equation, and the expression of the angular velocity ω(t1) can be obtained by solving. Then, the displacement d(t1) of the conveyor belt can be obtained by integration, and it is set equal to the required fixed distance d, which is the minimum distance the conveyor belt moves, to solve for the minimum first displacement time.

[0041] S103: Determine the starting parabolic position of the sorting cart based on the position information, the speed information, and the target chute.

[0042] In this application, the parabolic position and the vehicle speed are dynamically associated. According to the real-time speed of the sorting cart, the deviation displacement generated by the express delivery in the vehicle running direction is estimated, so as to trigger the roller action to start bagging at different position offsets in advance, offset the displacement generated by the express delivery in the vehicle running direction during the period from the sorting roller throwing the express delivery to it falling onto the chute, and achieve the goal of accurate landing on the target chute.

[0043] In one embodiment, when determining the starting parabolic position, the movement offset of the goods carrying the cargo can be determined based on the speed information of the sorting cart and the parabolic time; here, the parabolic time is the time elapsed from the start of the roller operation until the goods carrying the cargo fall into the target chute, that is, the sum of the first displacement time and the second displacement time. Then, determine the chute position interval corresponding to the target chute, and based on the chute position interval and the movement offset, determine the starting parabolic position corresponding to the sorting cart.

[0044] Specifically, the starting parabolic position corresponding to the sorting trolley can be determined by the following formula:

[0045]

[0046] Among them, L is the starting parabolic position of the sorting trolley, L1 is the number interval of the light-transmitting openings corresponding to the slideway position interval, v is the speed of the sorting trolley, t is the parabolic time, which is equal to the sum of the first displacement time and the second displacement time; H is the width of the light-transmitting opening in the grating scale bar. For example, the light-transmitting openings of the grating scale bar corresponding to the slideway position interval are the 100th light-transmitting opening to the 120th light-transmitting opening, and the parabolic time is 3s, and the moving speed of the sorting trolley is 3 light-transmitting openings per second. Then, during parabolic, the number of light-transmitting openings corresponding to the parabolic time needs to be reserved, that is, the sorting trolley starts to make a parabola at the earliest at the 91st light-transmitting opening and at the latest at the 111th light-transmitting opening.

[0047] S104: When the sorting trolley reaches the starting parabolic position, drive the roller to rotate to throw the loaded goods placed on the conveyor belt onto the target slideway.

[0048] When the sorting trolley reaches the calculated starting parabolic position, at this time, drive the roller to rotate, which can offset the moving distance of the loaded goods during the parabolic process, so as to accurately unload the loaded goods to the target slideway. It should be noted that since the parabolic time is the sum of the first displacement time interval and the second displacement time, the parabolic time also corresponds to a time interval, and then the starting parabolic position also corresponds to a position interval. As long as the sorting trolley drives the roller to rotate within this position interval, the parabolic target can be completed.

[0049] S105: Based on the parabolic information corresponding to all the loaded goods that failed to be parabolic within the preset time period or the preset number of parabolic times, perform fault location on all the sorting trolleys and / or slideways.

[0050] By counting all the parabolic information within the preset time period (such as one day) or all the parabolic failure information within a certain number of parabolic times (such as one thousand times), fault location can be performed on all the sorting trolleys and the slideways.

[0051] In one embodiment, during the actual parabolic process, the situation of failed goods sorting may occur due to factors such as the narrow entrance of the chute, the extremely shaped goods, and the abnormal performance of the conveyor belt / drum of the sorting trolley. In order to locate the faulty sorting trolley, the parabolic information corresponding to all the goods carried during a preset time period or a certain number of parabolic times can be obtained. Here, the parabolic information includes goods information, target chute information, and sorting trolley information. Among them, the goods information includes the volume information, appearance information, and mass information of the goods. At this time, based on the target chute information, the chute correction values corresponding to all the chutes can be determined, and the quantitative mean value of the goods information of all the goods carried during the preset time period can be determined. Then, based on the goods information and the quantitative mean value of the goods information, the goods correction values corresponding to the goods-carrying loads with failed parabolas can be determined. Specifically, if the quantitative value of the goods information of the goods-carrying load with a failed parabola has a greater difference from the quantitative mean value of the goods information of all the goods-carrying loads, the goods correction value should be smaller, which means that the shape and mass of the goods-carrying load with a failed parabola are more unique. Finally, based on the goods correction value, the chute correction value, and the sorting trolley information, the vehicle scores corresponding to each sorting trolley can be determined. Finally, through the vehicle score and / or the chute correction value, fault location can be performed on all the sorting trolleys and / or chutes.

[0052] Specifically, the vehicle score corresponding to each sorting trolley can be calculated by the following formula:

[0053]

[0054] Among them, q i is the vehicle score corresponding to the i-th sorting trolley; j represents the j-th goods-carrying load with a failed parabola corresponding to the i-th sorting trolley, and n i is the number of goods-carrying loads with failed parabolas of the i-th sorting trolley, and N i is the total number of parabolas of the i-th sorting trolley during the preset time period; η1 and η2 are preset weights; C j is the goods correction value corresponding to the j-th goods-carrying load with a failed parabola; Z j is the chute correction value corresponding to the j-th goods-carrying load with a failed parabola. Among them, when calculating the goods correction value, the reciprocal of the variance between the goods information of the goods-carrying load with a failed parabola and the average goods information of all the goods can be used as the goods correction value. The chute correction value can be weighted and averaged based on the probability of the number of failed parabolas of all the chutes, so that the chute correction value corresponding to the chute with a larger number of failed parabolas is smaller, so that the vehicle score corresponding to the sorting trolley that may have problems is higher, so as to quickly locate the sorting trolley that may have a fault.

[0055] Meanwhile, in one embodiment, after determining the vehicle score, fault location of the sorting trolley and / or the chute can also be performed based on the vehicle score and the chute correction value. Specifically, the magnitudes of the vehicle score and / or the chute correction value can be continuously monitored. If the chute correction value and / or the vehicle score is higher than a preset threshold, the parabolic information, the chute correction value, and / or the vehicle score within a preset time period are packaged, and the packaged data is uploaded to the cloud for alarming.

[0056] Each embodiment in this application is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the device and medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and reference can be made to the partial description of the method embodiments for the relevant parts.

[0057] The devices and media provided in the embodiments of this application correspond one by one to the methods. Therefore, the devices and media also have beneficial technical effects similar to those of their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be elaborated here.

[0058] Those skilled in the art should understand that the embodiments of this application can be provided as a method, a system, or a computer program product. Therefore, this application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0059] This application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of this application. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the flows and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0060] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means that implement the function specified in one or more of the processes and / or blocks Figure 1 in one or more of the processes and / or blocks Figure 1 specified in the block or blocks.

[0061] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing steps for implementing the function specified in one or more of the processes and / or blocks Figure 1 in one or more of the processes and / or blocks Figure 1 specified in the block or blocks.

[0062] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0063] The memory may include non-permanent memory in the computer-readable medium, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0064] Computer-readable media includes both permanent and non-permanent, removable and non-removable media implemented by any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0065] It should also be noted that the term "comprise", "include" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, commodity or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising said element.

[0066] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A goods sorting method based on dynamic parabolic position calibration, characterized in that, Applied to a goods sorting system, the goods sorting system includes an annular track, a sorting trolley and a chute; a roller and a conveyor belt are arranged above the sorting trolley, and the conveyor belt is driven by the roller to rotate; The annular track is connected to a plurality of chutes, and the goods information corresponding to the plurality of chutes is different; the method includes: Determine the position information and speed information of the sorting trolley; Based on the goods information of the goods carried by the sorting trolley, determine the throwing time corresponding to the carried goods and the target chute; Based on the position information, the speed information and the target chute, determine the starting throwing position of the sorting trolley; When the sorting trolley reaches the starting throwing position, drive the roller to rotate to throw the carried goods placed on the conveyor belt into the target chute; Based on the throwing information corresponding to all the carried goods that fail to be thrown within a preset time period or a preset number of throwing times, perform fault location on all the sorting trolleys and / or chutes.

2. The method according to claim 1, characterized in that, A grating scale bar is arranged in the annular track, and light-transmitting openings with the same width are arranged at preset intervals on the grating scale bar; the sorting trolley travels in the annular track, and photoelectric sensors are arranged on both sides of the grating scale bar under the sorting trolley; the shading part of the grating scale bar is consistent with the width of the light-transmitting opening and is cross-distributed; The determining the position information and speed information of the sorting trolley specifically includes: Determine the number of light-transmitting openings passed through per unit time through the photoelectric sensor; Based on the unit time and the number of light-transmitting openings, determine the position information and speed information of the sorting trolley.

3. The method according to claim 1, characterized in that A baffle is fixedly arranged on the conveyor belt, and the baffle is used to throw the goods placed on the sorting trolley into different chutes; The determining the throwing time corresponding to the carried goods based on the goods information of the goods carried by the sorting trolley specifically includes: Determine the relative position relationship between the goods carried on different sorting trolleys and the conveyor belt through an image acquisition device arranged above the goods sorting system; determine the gravity information of the carried goods on the conveyor belt through a gravity sensing device arranged on the conveyor belt, and the gravity information includes the total weight of the goods and the gravity distribution; According to the relative position relationship and the gravity distribution, determine the predicted center of gravity position of the carried goods; Based on the predicted center of gravity position, determine the throwing distance corresponding to the carried goods; Based on the total weight of the goods, the throwing distance, the roller speed and the rated power of the roller, determine the first displacement time for the carried goods to move to the edge of the conveyor belt; Based on the height of the conveyor belt, determine the second displacement time for the carried goods to fall from the edge of the conveyor belt into the chute; Based on the first displacement time and the second displacement time, determine the throwing time corresponding to the carried goods.

4. The method according to claim 3, characterized in that, The determining the throwing distance corresponding to the carried goods based on the predicted center of gravity position specifically includes: Based on the distance between the predicted center of gravity position and the edge of the conveyor belt, determine the minimum throwing distance corresponding to the carried goods; Determine the maximum parabolic distance corresponding to the loaded goods based on the distance between the predicted center-of-gravity position and the baffle; Determine the expected parabolic distance of the loaded goods based on the minimum parabolic distance, the maximum parabolic distance, and the packaging type of the loaded goods, and use the expected parabolic distance as the parabolic distance corresponding to the loaded goods.

5. The method according to claim 1, characterized in that, The determining of the starting parabolic position of the sorting trolley based on the position information, the speed information, and the target chute specifically includes: Determine the movement offset of the loaded goods based on the speed information of the sorting trolley and the parabolic time; the movement offset is the displacement distance of the sorting trolley during the parabolic time; Determine the chute position interval corresponding to the target chute; Determine the starting parabolic position corresponding to the sorting trolley based on the chute position interval and the movement offset.

6. The method according to claim 1, wherein The fault location of all sorting trolleys and / or chutes based on the parabolic information corresponding to all the loaded goods that failed to be parabolic within a preset time period or a preset number of parabolic attempts specifically includes: Obtain the parabolic information corresponding to all the loaded goods that failed to be parabolic within a preset time period or a preset number of parabolic attempts, where the parabolic information includes goods information, target chute information, and sorting trolley information; the goods information includes the volume information of the goods, the appearance information of the goods, and the mass information of the goods; Determine the chute correction values corresponding to all chutes based on the target chute information; Determine the goods correction values corresponding to all the loaded goods that failed to be parabolic based on the goods information; Determine the vehicle scores corresponding to each sorting trolley based on the goods correction values and the chute correction values; Perform fault location on all sorting trolleys and / or chutes through the vehicle scores and / or the chute correction values.

7. The method according to claim 6, characterized in that, The determining of the chute correction values corresponding to all chutes based on the target chute information specifically includes: Determine the number of parabolic failures corresponding to each chute within the preset time period based on the target chute information; Determine the chute correction value based on the number of parabolic failures; The determining of the goods correction values corresponding to all the loaded goods that failed to be parabolic based on the goods information specifically includes: Determine the quantified mean value of the goods information of all the loaded goods within the preset time period based on the goods information; Determine the quantified value of the goods information corresponding to the loaded goods that failed to be parabolic within the preset time period based on the goods information; Determine the goods correction values corresponding to the loaded goods that failed to be parabolic based on the quantified value of the goods information and the quantified mean value of the goods information.

8. The method according to claim 7, wherein The performing of fault location on all sorting trolleys and / or chutes through the vehicle scores and / or the chute correction values specifically includes: Continuously obtain the chute correction values and vehicle scores within the preset time period; If the chute correction values and / or the vehicle scores are higher than the preset threshold, then package the parabolic information, the chute correction values, and / or the vehicle scores within the preset time period, and upload the packaged data to the cloud for alarming.

9. The method according to claim 6, wherein Based on the goods correction value, the chute correction value, and the sorting trolley information, determining the vehicle scores corresponding to the respective sorting trolleys specifically includes: Determining the vehicle score corresponding to the sorting trolley through the following formula: Among them, Q i is the vehicle score corresponding to the i-th sorting trolley; j represents the j-th carried cargo with a throwing failure corresponding to the i-th sorting trolley, and n i is the number of carried cargos with throwing failures of the i-th sorting trolley, and N i is the total number of throws of the i-th sorting trolley within a preset time period; η1 and η2 are preset weights; C j is the cargo correction value corresponding to the j-th carried cargo with a throwing failure; Z j is the chute correction value corresponding to the j-th carried cargo with a throwing failure.

10. The method according to claim 1, wherein Based on the goods information of the goods carried by the sorting trolley, determining the target chute corresponding to the carried goods specifically includes: When the sorting trolley passes through the OCR scanning area, parsing the express waybill attached to the carried goods through the OCR scanning system to obtain the three-segment code information of the carried goods; Based on the three-segment code information, determining the target chute corresponding to the carried goods; Before determining the target chute corresponding to the carried goods based on the goods information of the goods carried by the sorting trolley, the method further includes: Based on the position information and the speed information of the sorting trolley, determining the goods delivery time point and the delivery speed of the goods supply device when the sorting trolley is within the supply area; Controlling the goods supply device to deliver the carried goods to the sorting trolley at the goods delivery time point at the delivery speed.

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