Parcel Attribute Detection Method, Parcel Coarse Sorting Device, and Automatic Sorting System

Abstract

An embodiment of the present invention discloses a method for detecting package attributes, a package rough sorting device, and an automatic sorting system. The package rough sorting device includes: a conveyor line, a package height detection device, an image detection device, and an action device; one end of the conveyor line is a package inlet, and the end of the conveyor line forms a boxed package outlet and a bagged package outlet. The package height detection device, the image detection device, and the action device are sequentially arranged on the conveyor line along the package conveying direction of the conveyor line; the package height detection device is used to detect whether the height of the package meets a height threshold; the image detection device is used to acquire an image of the package and detect the shape attributes of the package; the action device is used to push the package into the boxed package outlet or the bagged package outlet. It combines the way of collaborative judgment of sensors and CCD images, which can effectively improve the detection accuracy of the shape attributes of the package and reduce the number of CCD images taken.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics sorting equipment, and in particular to a method for detecting package attributes, a rough package sorting device, and an automatic sorting system. Background Art

[0002] With the rapid development of the express delivery industry, the requirement for the processing speed of logistics e-commerce is getting higher and higher. Along with the rising labor cost and the requirements for high-speed and accurate sorting of express packages, the automatic sorting system, as a device that can efficiently save labor, has begun to be widely popularized.

[0003] In the sorting process of logistics packages, there are usually two types of packages with different shape attributes: bagged packages and boxed packages. Among them, bagged packages refer to packages in which commodities are packaged with PE bags and are used for commodities with low requirements for the environment, transportation, etc. Boxed packages refer to packages in which commodities are packaged with cartons, foam boxes, etc.

[0004] The advantages of using boxed packages are: first, the box can form a relatively closed environment, reducing the interference and influence of external environmental changes on the commodities inside the box. Second, the edges and corners of the box can play a good protective function, avoiding the commodities from being knocked and damaged during handling, loading, unloading, transportation, etc. After the above two types of packages are packed, they will be mixed together for sorting.

[0005] In order to avoid mutual interference between different packages, before entering the automatic sorting system, it is usually necessary to roughly classify the packages according to their shape attributes and separate the two types of packages. The existing automatic sorting systems usually adopt the method of installing a CCD top-scanning device on the package import conveyor line to complete the above-mentioned rough classification process.

[0006] When it is detected that a package passes by the CCD device, the CCD device is triggered to take a picture, and then the picture taken is transmitted to the software system via Ethernet. After analysis such as contrast, the shape attribute of the package is output as bagged or boxed. Then the package shape attribute parameters are sent to the gantry scraper, and the gantry scraper performs rough sorting according to the package attributes.

[0007] However, when using the above CCD top-scanning device for detection, when the bagged package is a relatively flat package, it is easy to have the problem of misjudgment and judge these flat bagged packages as boxed packages.

[0008] In addition, each package needs to take a CCD image, resulting in a large amount of data in the system, which has high requirements for the network transmission speed and the server storage, and is not conducive to reducing the implementation cost of the system.

[0009] Therefore, the existing technology still needs to be developed. Summary of the Invention

[0010] In view of the above technical problems, the embodiments of the present invention provide a method for detecting package attributes, a package rough sorting device, and an automatic sorting system to solve the problems that existing CCD top-scanning devices are prone to errors and have high requirements for networks and storage servers.

[0011] In a first aspect of the embodiments of the present invention, a package rough sorting device is provided.

[0012] The package rough sorting device includes: a conveyor line, a package height detection device, an image detection device, and an action device;

[0013] One end of the conveyor line is a package inlet, and the end of the conveyor line forms a boxed package outlet and a bagged package outlet. The package height detection device, the image detection device, and the action device are sequentially arranged on the conveyor line along the package conveying direction of the conveyor line;

[0014] The package height detection device is used to detect whether the height of the package meets the height threshold; the image detection device is used to obtain an image of the package and detect the shape attributes of the package; the action device is used to push the package into the boxed package outlet or the bagged package outlet.

[0015] Optionally, the package height detection device includes: a first sensor and a second sensor; the first sensor is arranged at a first height above the conveyor line; the second sensor is arranged at a second height above the conveyor line; the second height is greater than the first height and less than the height of the boxed package.

[0016] Optionally, the first sensor is used to detect whether there is an object passing through at the first height; the second sensor is used to detect whether there is an object passing through at the second height; the second sensor is arranged directly above the first sensor.

[0017] Optionally, the image detection device includes a CCD unit and a frame; the frame is arranged on the conveyor belt; the frame has an extension arm arranged directly above the conveyor belt; the CCD unit is arranged on the extension arm, facing the conveyor belt, and is used to collect a top view image of the package passing through the shooting area.

[0018] Optionally, the action device includes: a gantry scraper and a driving unit; the gantry scraper is arranged along the package conveying direction of the conveyor line, and the driving unit is connected to the gantry scraper to drive the gantry scraper to move perpendicular to the conveyor line.

[0019] Optionally, the outlet for boxed packages is the output end of the conveyor belt behind the gantry scraper; the outlet for bagged packages is a chute provided on one side of the conveyor belt; the chute is arranged in the moving direction of the gantry scraper and is used to receive the bagged packages pushed down from the conveyor belt.

[0020] In a second aspect of the embodiments of the present invention, an automatic sorting system is provided.

[0021] The automatic sorting system includes the package rough sorting device, the manual sorting input line, and the automatic sorting device as described above; the outlet for bagged packages of the package rough sorting device is connected to the manual sorting input line, and the outlet for boxed packages of the package rough sorting device is connected to the input port of the automatic sorting device.

[0022] In a third aspect of the embodiments of the present invention, a method for detecting package attributes using the package rough sorting device as described above is provided.

[0023] The method includes: determining whether the package input from the conveyor belt meets a preset height threshold; if so, determining that the package is a package with unknown attributes; if not, determining that the package is a bagged package; collecting the top image of the package with unknown attributes and determining whether the top image meets the preset detection requirements; if so, determining that the package with unknown attributes is a boxed package; if not, determining that the package with unknown attributes is a bagged package; outputting the boxed package from the outlet for boxed packages and outputting the bagged package from the outlet for bagged packages.

[0024] Optionally, determining whether the package input from the conveyor belt meets a preset height threshold specifically includes: respectively setting a first sensor and a second sensor at a first height and a second height of the conveyor belt; the second height is higher than the first height and lower than the height of the boxed package; when the detection signals received by the first sensor and the second sensor are received, it is determined that the currently input package meets the preset height threshold; when the second sensor does not receive the detection signal, it is determined that the currently input package does not meet the preset height threshold.

[0025] Optionally, outputting the boxed package from the outlet for boxed packages and outputting the bagged package from the outlet for bagged packages specifically includes:

[0026] Setting a gantry scraper on the conveyor belt;

[0027] When the package is a boxed package, keeping the gantry scraper stationary on one side of the conveyor belt;

[0028] When the package is a bagged package, driving the gantry scraper to move along the width direction of the conveyor belt to push the bagged package into the chute.

[0029] In the technical solution provided by the embodiment of the present invention, a method of combining sensors and CCD images for collaborative judgment is adopted, which can effectively improve the detection accuracy of the shape attributes of packages and avoid misjudging flat bagged packages as boxed packages. Moreover, the method of prior sensor judgment can preliminarily screen out a part of bagged packages, reduce the number of CCD images to be captured, thereby reducing the requirements for the network transmission speed of the system and the storage server, avoiding network congestion, and saving the system construction cost. Brief Description of the Drawings

[0030] Figure 1 It is a schematic diagram of an embodiment of the package rough classification device according to the embodiment of the present invention;

[0031] Figure 2 It is a schematic diagram of an embodiment of the three-dimensional structure of the package rough classification method according to the embodiment of the present invention;

[0032] Figure 3 It is a schematic diagram of an embodiment of the package attribute judgment method according to the embodiment of the present invention. Detailed Embodiments

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

[0034] It should be noted that when an element is expressed as "fixed to" another element, it can be directly on the other element, or there can be one or more intermediate elements therebetween. When an element is expressed as "connected to" another element, it can be directly connected to the other element, or there can be one or more intermediate elements therebetween. The terms "vertical", "horizontal", "left", "right", "upper", "lower", "inner", "outer", "bottom", etc. used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0035] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which this invention belongs. The terms used in this specification in the description of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items. In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0036] Figure 1 It is a schematic diagram of the package rough sorting device provided by the embodiment of the present invention. Package rough sorting refers to the process of screening and classifying the bagged packages and boxed packages mixed together.

[0037] In this embodiment, as Figure 1 shown, the package rough sorting device may include: a conveyor line 10, a package height detection device 11, an image detection device 12, and an action device 13.

[0038] Among them, one end of the conveyor line 10 is a package inlet IN, and the end of the conveyor line forms a boxed package outlet OUT1 and a bagged package outlet OUT2.

[0039] The conveyor line 10 may specifically be any type of package transmission device, such as a belt conveyor line. The package 14 is input from the package inlet and is conveyed along the conveying direction of the conveyor line 10. On the conveyor line 10, there is a certain distance between each package 14. In some other embodiments, the conveyor line 10 may also be set to a corresponding shape according to the actual factory building situation, rather than limited to Figure 1 the straight conveyor line shown in

[0040] The package height detection device 11, the image detection device 12, and the action device 13 are sequentially arranged on the conveyor line along the package conveying direction of the conveyor line.

[0041] Among them, the package height detection device is used to detect whether the height of the package meets the height threshold; the image detection device is used to obtain the image of the package and detect the shape attribute of the package; the action device is used to push the package into the boxed package outlet or the bagged package outlet.

[0042] In this embodiment, the image detection device 12, the action device 13, and the conveyor belt 10 can all be implemented by corresponding functional modules of the commonly used CCD top-scanning equipment in the prior art. The package height detection device 11 is a newly added functional module, and specifically, it can be implemented by any suitable sensor. After being set to a suitable height position, the qualitative judgment of the package height can be realized according to the signal of the sensor.

[0043] In some other embodiments, in order to further ensure the orderly operation of the entire package rough sorting device, as Figure 1 shown, the package rough sorting device may further include a controller 15 for analyzing data and outputting corresponding control instructions.

[0044] Based on the data collected by the image detection device 12 and the package height detection device 11, the controller 15 performs corresponding analysis and calculations, and then controls the movement of the action device 13. The controller 15 can exchange data or establish a communication connection with the functional modules in the package rough sorting device in any suitable manner, such as through a wired network or a wireless network connection.

[0045] Specifically, the controller 15 can be any suitable platform or stand-alone device with logical operation capabilities that can execute one or more functional steps. For example, the controller 15 can be composed of a host computer and an image processing server. After the collected image information is analyzed and calculated by the image processing server, the results are fed back to the host computer, and the host computer controls the corresponding functional modules.

[0046] Specifically, the package rough sorting device may further include a storage server 16 for storing the collected data, facilitating system data management and maintenance, and realizing functions such as package judgment backtracking. The storage server 16 can adopt any suitable existing database organization form to store one or more image data or analysis results of package shape attributes to support corresponding analysis or system backtracking.

[0047] Through the package rough sorting device provided by the embodiments of the present invention, by combining the package height detection device 11 and the image detection device 12, it is possible to complete the rough sorting process of all packages without collecting images of some packages with relatively low heights. The number of pictures required for rough sorting is small, which is beneficial to reducing the requirements for system network transmission and the performance requirements of the storage server. At the same time, it can also improve the detection accuracy of the package rough sorting device and avoid misjudgment of flat bagged packages.

[0048] Figure 2 FIG. is a schematic three-dimensional structure diagram of a package rough sorting device provided by another embodiment of the present invention. As Figure 2 described, the package rough sorting device includes: a plurality of packages 21 input from a conveyor belt, a first sensor 22, a second sensor 23, a CCD unit 24, a gantry scraper 25, and a chute 26.

[0049] Among them, the first sensor 22 and the second sensor 23 form a package height detection device.

[0050] The first sensor 22 is arranged at a first height above the conveyor line. The second sensor 23 is arranged at a second height above the conveyor line; the second height is greater than the first height and less than the height of the boxed package. The first sensor 22 is used to detect whether there is an object passing at the first height. The second sensor 23 is used to detect whether there is an object passing at the second height.

[0051] Specifically, a corresponding fixed rack is arranged on one side of the conveyor belt 10, and the second sensor 23 is arranged directly above the first sensor 22.

[0052] In this way, when there is a detection signal from the first sensor 22, it indicates that there is a package passing at this time. When there is a detection signal from the second sensor 23, it indicates that the height of the package meets the requirements and it is not a flat bagged package, and it can enter the next detection step to further determine the shape attribute of the package.

[0053] Optionally, the first sensor 22 and the second sensor 23 can adopt sensor units based on any type of detection principle or detection form, including but not limited to photosensitive sensors and thermal sensors.

[0054] Please continue to refer to Figure 2 , the CCD unit 24 and the corresponding rack 241 form the image detection device. In this embodiment, the rack 241 is arranged on the conveyor belt, fixed on both sides of the conveyor belt, and has an extension arm 242 directly above the conveyor belt. The CCD unit 24 is on the extension arm 242, arranged facing the conveyor belt, and is used to collect the top view image of the package passing through the shooting area.

[0055] Of course, the rack can also be adjusted to different shapes according to actual needs, as long as it can fix the CCD unit so that it can capture the corresponding image of the package. The CCD unit 24 can also be replaced and adjusted with other suitable image acquisition devices to achieve the corresponding image acquisition function.

[0056] In this embodiment, the actuating device is a gantry scraper 25. Correspondingly, the outlet of the boxed package is the conveyor belt output end 27 behind the gantry scraper. The outlet of the bagged package is a chute 26 arranged on one side of the conveyor belt.

[0057] The gantry scraper 25 is composed of a corresponding gantry 251 and a scraper 252. The scraper 252 is connected to the driving unit and moves perpendicular to the conveyor line under the drive of the driving unit. The chute 27 is arranged in the moving direction of the gantry scraper and is used to receive the bagged packages pushed off from the conveyor belt.

[0058] The driving unit can specifically be any action mechanism that can apply force to the scraper 252 to make it move in the corresponding movement direction, such as a cylinder or a motor.

[0059] During actual operation, when the scraper 252 is stationary on one side of the conveyor belt, it allows packages to pass through and be directly output from the output end 27 of the conveyor belt. When the scraper 252 is driven by the driving unit, it will push the package out of the conveyor belt and make it received by the chute 26.

[0060] Figure 3 It is a method flow chart of the method for judging the shape attributes of packages provided by the embodiments of the present invention. The following combines Figure 2 with the shown package rough sorting device to describe in detail the detection process of the shape attributes of packages.

[0061] As Figure 3 shown, the method includes the following steps:

[0062] 301. Input several packages in sequence. In this embodiment, for full statement, as Figure 2 shown, there are three different types of packages input: a bagged package A with a certain height, a boxed package B, and a flat package C.

[0063] 302. Judge whether the package input from the conveyor belt meets the preset height threshold. If not, execute step 303; if so, execute step 304.

[0064] Specifically, as Figure 2 shown, step 303 can be realized by the detection results of two sensors set at the first height and the second height.

[0065] When both the first sensor and the second sensor receive detection signals (or are triggered), it is determined that the currently input package meets the preset height threshold. When the second sensor does not receive a detection signal (is not triggered), it is determined that the currently input package does not meet the preset height threshold.

[0066] 303. Determine that the package is a bagged package.

[0067] As Figure 2 shown, for the flat package C, due to its limited height, when it passes through the first and second sensors, the second sensor will not be triggered and it can be determined as a bagged package.

[0068] In this embodiment, the first sensor can be set at a height slightly higher than the conveyor belt. And the second sensor can be set at a height position slightly lower than the normal height of the boxed package.

[0069] 304. Determine that the package is a package with unknown attributes.

[0070] Packages with unknown attributes are packages whose judgment is based on the inability to determine the height, and further CCD image detection is required to complete the detection of the package shape attributes.

[0071] 305. Collect the top images of the packages with unknown attributes.

[0072] The top image refers to the way of taking pictures of the top of these packages with unknown attributes to obtain the image information of the packages. For packages that have been determined to be bagged packages, step 305 is not triggered, and they directly pass through on the conveyor belt without collecting the top images.

[0073] 306. Determine whether the top image meets the preset detection requirements. If so, execute step 307; if not, execute step 303.

[0074] The detection requirements refer to whether the image information of the package meets the image detection requirements of regular boxed packages. Specifically, contrast detection and other methods can be used for judgment. Of course, existing image recognition or judgment algorithms commonly used in CCD top-scanning devices can also be used to complete it.

[0075] 307. Determine that the package is a boxed package.

[0076] As Figure 2 shown, when the detection of the image information shows that the top image of Package B belongs to a regular boxed package, it can be determined that it is a boxed package. The top image of Package A does not show a regular contrast structure and has corresponding concave and convex depressions, and it can be determined as a bagged package.

[0077] 308. Output the boxed packages from the boxed package outlet, and output the bagged packages from the bagged package outlet. According to the detection results of the package shape attributes, the packages can be classified accordingly and enter different sorting lines.

[0078] Specifically, as Figure 2 shown, in this embodiment, this automatic package classification operation can be completed by a gantry scraper. According to the detection results, the packages are pushed to different outlets for output. That is, when it is detected that the package is a boxed package, keep the gantry scraper stationary on one side of the conveyor belt. When it is detected that the package is a bagged package, drive the gantry scraper to move along the width direction of the conveyor belt and push the bagged package into the chute.

[0079] The embodiment of the present invention further provides an automatic sorting system. The automatic sorting system uses the rough parcel sorting device disclosed in the above embodiment to classify the shape attributes of the parcels and enter the corresponding sorting line. The automatic sorting line is connected to the rear end outlet of the conveyor belt, has the same belt surface height, and receives the parcels output from the conveyor belt.

[0080] The manual sorting line is arranged at the lower side of the conveyor belt and connected to the bottom end of the chute to receive the bagged parcels output from the chute.

[0081] Through the description of the above implementation methods, ordinary technicians in this field can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Ordinary technicians in this field can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0082] The parcel rough sorting device provided in the embodiment of the present invention can be applied to a variety of different scenarios, such as cold storage rooms, cold storages, food storages, constant temperature storages, transfer centers, sorting centers or medicine distribution, etc. It can be understood by those skilled in the art that, according to different actual application scenarios, based on the inventive spirit of the present invention combining the use of sensors and CCD image detection, the parcel rough sorting device can also be applied to the shape attribute classification of various objects such as commodities, parcels or parts to achieve the same technical effect.

[0083] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and concept of the present invention, and all these changes or substitutions should fall within the protection scope of the claims attached to the present invention.

Claims

1. A method for detecting the package attributes of a package rough sorting device, characterized in that, The package rough sorting device includes: a conveyor belt, a package height detection device, an image detection device, and an action device; One end of the conveyor belt is a package inlet, and the end of the conveyor belt forms a boxed package outlet and a bagged package outlet; The package height detection device, the image detection device, and the action device are sequentially arranged on the conveyor belt along the package conveying direction of the conveyor belt; The package height detection device is used to detect whether the height of the package meets the height threshold; the image detection device is used to acquire an image of the package and detect the shape attributes of the package; the action device is used to push the package into the boxed package outlet or the bagged package outlet; The package height detection device includes: a first sensor and a second sensor; The first sensor is arranged at a first height above the conveyor belt; the second sensor is arranged at a second height above the conveyor belt; The second height is greater than the first height and less than the height of the boxed package; The first sensor is used to detect whether an object passes at the first height; the second sensor is used to detect whether an object passes at the second height; The second sensor is arranged directly above the first sensor; The image detection device includes a CCD unit and a frame; The frame is arranged on the conveyor belt; the frame has an extension arm arranged directly above the conveyor belt; the CCD unit is arranged on the extension arm, facing the conveyor belt, and is used to collect a top view image of the package passing through the shooting area; The action device includes: a gantry scraper and a driving unit; The gantry scraper is arranged along the package conveying direction of the conveyor belt, and the driving unit is connected to the gantry scraper to drive the gantry scraper to move perpendicular to the conveyor belt direction; The boxed package outlet is the conveyor belt output end behind the gantry scraper; The bagged package outlet is a chute arranged on one side of the conveyor belt; the chute is arranged in the moving direction of the gantry scraper and is used to receive the bagged packages dropped from the conveyor belt; The package rough sorting device, the manual sorting input line, and the automatic sorting device; The bagged package outlet of the package rough sorting device is connected to the manual sorting input line, and the boxed package outlet of the package rough sorting device is connected to the input port of the automatic sorting device; Judge whether the package input from the conveyor belt meets the preset height threshold; If so, determine that the package is a package with unknown attributes; if not, determine that the package is a bagged package; Collect the top image of the package with unknown attributes and judge whether the top image meets the preset detection requirements; If so, determine that the package with unknown attributes is a boxed package; if not, determine that the package with unknown attributes is a bagged package; Output the boxed package from the boxed package output port, and output the bagged package from the bagged package output port; The judgment of whether the package input from the conveyor belt meets the preset height threshold specifically includes: A first sensor and a second sensor are respectively arranged at the first height and the second height of the conveyor belt; the second height is higher than the first height and less than the height of the boxed package; When the first sensor and the second sensor receive detection signals, it is determined that the currently input package meets a preset height threshold; When the second sensor does not receive a detection signal, it is determined that the currently input package does not meet the preset height threshold.

2. The method according to claim 1, characterized in that The outputting of the boxed package from the boxed package outlet and the outputting of the bagged package from the bagged package outlet specifically include: Setting a gantry scraper on the conveyor belt; When the package is a boxed package, keeping the gantry scraper stationary on one side of the conveyor belt; When the package is a bagged package, driving the gantry scraper to move along the width direction of the conveyor belt to push the bagged package into the chute.

Images