Vision-guided intelligent box-turning equipment for dangerous mail

Abstract

The present invention relates to a vision-guided intelligent box turning device for dangerous mail. The present invention comprises a box turning device, a terminal box turning mechanism, a laser ranging module and a monocular camera. The terminal box turning mechanism is fixedly mounted on the rotating table, and is composed of a hinge mechanism, a telescopic rod, a clamp block and an arc-shaped air nozzle. One end of the telescopic rod is connected to the rotating table, and the other end is fixed to the arc-shaped air nozzle. The hinge mechanism is symmetrically arranged on the telescopic rod, and knife-shaped clamp blocks are arranged at both ends of the hinge mechanism. The present invention completes the box turning movement of the carton containing dangerous mail by the cooperative operation of the rotating table and the terminal box turning mechanism, thereby greatly improving the box turning detection efficiency.

Description

Technical Field

[0001] The present invention relates to a vision-guided intelligent box-turning device for dangerous mail items, which is applied to the risk detection of mail items and further performs risk assessment on inbound mail items such as animals and plants. Background Art

[0002] Inbound mail has always been the focus and difficulty of port inspection due to its characteristics of multiple batches, different countries of origin and high quarantine risks.

[0003] With the rapid development of cross-border e-commerce, new trade based on inbound and outbound mail has brought greater risks of pest invasion. In view of the prohibited items such as live animals, plants and microorganisms that may be imported into major mail entry ports, a vision-guided intelligent box-turning device for dangerous mail items is proposed for risk monitoring and control of inbound mail items under the background of rapid development of cross-border e-commerce. Summary of the invention

[0004] The technical problem to be solved by the present invention is to complete the intelligent box turning action under visual guidance for dangerous mail. The detection table is equipped with a monocular camera and a laser ranging module. The laser module pre-measures the height information of the paper box of the mail to be detected. After the conveyor belt transports it to the designated position, the terminal box turning actuator is guided by vision to complete the box turning operation for the carton containing dangerous mail.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The invention comprises a box turning device, a terminal box turning mechanism, a laser ranging module and a monocular camera.

[0007] The box turning device is fixed relative to the conveyor belt, and the conveyor belt transports the dangerous mail box. The box turning device is respectively equipped with a laser ranging module and a monocular camera along the conveying direction of the conveyor belt.

[0008] The laser ranging module feeds back the height information of the dangerous mail box, and combines with the monocular camera to obtain the position coordinate information of the terminal box turning mechanism and the box opening information.

[0009] The monocular camera provides the position data of the box opening, and with the assistance of the laser ranging module, the terminal box turning mechanism is visually guided to complete the box turning.

[0010] The box turning device is equipped with forward and backward moving slide rails, left and right moving slide rails and vertical moving guide rails on the inner side, wherein the vertical moving guide rail is installed below the left and right moving slide rails, and combined with the turntable installed at the end of the vertical guide rail, the terminal box turning mechanism has four degrees of freedom in space.

[0011] The terminal box turning mechanism is fixedly installed on the rotating table, and is composed of a hinge mechanism, a telescopic rod, a clamping block and an arc-shaped air nozzle. One end of the telescopic rod is connected to the rotating table, and the other end is fixed to the arc-shaped air nozzle. The hinge mechanism is symmetrically arranged on the telescopic rod, and knife-shaped clamping blocks are arranged at both ends of the hinge mechanism.

[0012] Furthermore, the knife-shaped clamping block completes the action of cutting the box line when the telescopic rod is extended, and completes the action of clamping the opening side of the box body after the telescopic rod is rotated.

[0013] Furthermore, the arc-shaped air nozzle is used to spray high-pressure gas into the box after the knife-shaped clamping block completes the cutting of the box line, so that the two sides of the box at the cutting position are initially opened.

[0014] Beneficial effects of the present invention:

[0015] 1. Through the cooperative operation of the rotating table and the terminal box turning mechanism, the box turning movement of the carton containing dangerous mail is completed, which greatly improves the efficiency of box turning detection.

[0016] 2. By extending and retracting the hinge to turn the box, the clamp at the end of the hinge can remain parallel to the surface of the box during movement.

[0017] 3. By installing a clamping block at the end of the hinge in the box turning mechanism, the two sides of the box body will not rebound after the box turning operation is completed.

[0018] 4. Blow high-pressure gas into the box through an arc-shaped air nozzle, so that the air pressure inside the box increases in a short time, completing the initial opening of the box. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings:

[0020] Figure 1 This is a front view of the intelligent box turning device in the present invention.

[0021] Figure 2 It is an isometric view of the intelligent box turning device in the present invention.

[0022] Figure 3 This is a structural view of the intelligent box turning device in the present invention.

[0023] Figure 4 It is a partial view of the box turning mechanism at the end of the intelligent box turning device in the present invention.

[0024] Figure 5 This is a structural view of the terminal box turning mechanism of the intelligent box turning device in the present invention. DETAILED DESCRIPTION

[0025] The present invention includes a box turning device, a vertical movable guide rail, a terminal box turning mechanism, a conveyor belt, a laser ranging module, a monocular camera, a front-and-rear movable slide rail, and a left-and-right movable slide rail. Laser ranging modules and monocular cameras are installed on both sides of the box turning device, and the monocular camera provides the position data of the carton opening. With the assistance of the laser ranging module, the terminal box turning mechanism is visually guided to complete the box turning. The inner side of the box turning device is equipped with a front-and-rear movable slide rail, a left-and-right movable slide rail, and a vertical movable guide rail, wherein the vertical movable guide rail is installed under the slide rail. Combined with the turntable installed at the end of the vertical guide rail, the end actuator has four degrees of freedom in space. The laser ranging module feeds back the height information of the dangerous mail box, and combines the monocular vision to obtain the position coordinate information of the end actuator and the box opening information. The terminal box turning mechanism is fixedly installed on the rotating table; the box turning device is relatively connected to the conveyor belt. The terminal box turning mechanism is composed of a hinge mechanism, a telescopic rod, a clamping block and an arc-shaped air nozzle. One end of the telescopic rod is connected to the rotating table, and the other end is fixed to the arc-shaped air nozzle. The hinge mechanism is symmetrically arranged on the telescopic rod, and knife-shaped clamping blocks are arranged at both ends of the hinge mechanism.

[0026] Preferably, the monocular vision is combined with the laser ranging module to reduce the amount of calculation in the visual processing calculation process.

[0027] Preferably, a hinge mechanism is used to push open the cut portion of the box body, so as to facilitate adjustment when facing boxes of different sizes.

[0028] Preferably, a high-pressure air outlet is used to initially open the carton, so as to facilitate the next step of turning the carton.

[0029] Preferably, the box is turned over by telescopic hinges, so that the clamping block at the end of the hinge can remain parallel to the surface of the box body during movement.

[0030] Preferably, a clamping block is installed at the end of the hinge mechanism so that the two sides of the box body do not rebound after the box turning operation is completed.

[0031] Preferably, a knife-shaped clamp block is used to facilitate initial cutting into the inner area of ​​the box body.

[0032] Preferably, an arc-shaped air nozzle is used to blow high-pressure gas into the box, so that the air pressure inside the box is increased in a short time, thereby completing the preliminary opening of the box.

[0033] Example: Figure 1 As shown, this embodiment includes a box turning device 1, a vertical moving guide rail 2, a terminal box turning mechanism 3, a conveyor belt 5, a laser ranging module 6, a monocular camera 7, a front and rear moving slide rail 8, and a left and right moving slide rail 9. Figure 2As shown, the laser distance measurement module and the monocular camera are installed on both sides of the box turning device. The laser distance measurement module 6 measures the height information before the dangerous mail 4 enters the direction device. The monocular camera 7 guides the terminal box turning mechanism 3 to complete the reverse operation by identifying the unpacking position of the dangerous mail 4. Figure 3 As shown in FIG4 , combined with the rotating table at the end of the vertical moving guide rail 2, the end box turning mechanism 3 has four degrees of freedom in space. Figure 4 5, the terminal box turning mechanism 3 includes a telescopic rod 11, a hinge mechanism 12, a clamping block 13, and an arc-shaped air nozzle 14. A high-pressure air hole 15 is provided on the upper part of the arc-shaped air nozzle 14. Before the hinge mechanism 12 performs the box turning movement, the high-pressure air hole 15 ejects high-pressure gas to complete the preliminary opening of the box body.

[0034] The working process of the present invention is as follows: the box containing dangerous mail 4 enters the box turning device 1 through the conveyor belt 5. When passing under the laser ranging module 6, the height information of the box is obtained. Entering the center position of the box turning device 1, the monocular camera 7 captures the position information of the box opening in combination with the pre-measured box height information. Under the action of the vertical moving guide rail 2, the front and rear moving slide rail 8, the left and right moving slide rail 9 and the rotating table 10, the terminal box turning mechanism 3 is sent to the center of the box to determine the position and the hinge mechanism is parallel to the box opening line. Under the action of the vertical moving guide rail 2 and the knife-shaped clamp block 13, the terminal box turning mechanism 3 is sunk, and the knife-shaped clamp block 13 completes the cutting and opening of the box line. Then the arc-shaped air nozzle 14 is sent into the box, and the high-pressure air hole 15 sprays high-pressure gas to complete the preliminary opening of the box. The hinge mechanism 12 in the box turning mechanism 3 is appropriately raised so that it is slightly higher than the top of the box, and then rotated 90° by the rotating table 10, and the hinge mechanism 12 is horizontally unfolded, thereby turning over the two sides of the box at the cutting position. Under visual guidance, the hinge mechanism 12 is appropriately adjusted to retract, and the knife-shaped clamp block 13 presses the opened side of the box body. After the box is turned over, the box turning mechanism 3 moves to the side of the box turning device to avoid visual obstruction in subsequent identification.

[0035] In addition to the above preferred embodiments, the present invention has other implementation modes. Those skilled in the art may make various changes and modifications based on the present invention. As long as they do not depart from the spirit of the present invention, they should all fall within the scope defined by the claims attached to the present invention.

Claims

1. Vision-guided intelligent box turning equipment for dangerous mail, including a box turning device, a terminal box turning mechanism, a laser ranging module and a monocular camera; The box turning device is fixed relative to the conveyor belt, and the conveyor belt conveys the dangerous mail box. The box turning device is respectively equipped with a laser ranging module and a monocular camera along the conveying direction of the conveyor belt; The laser ranging module measures the height information of the dangerous mail box, and combines with the monocular camera to obtain the position coordinate information of the terminal box turning mechanism and the box opening information; The monocular camera provides the position data of the box opening, and with the assistance of the laser ranging module, the terminal box turning mechanism is visually guided to complete the box turning; The box turning device is equipped with a forward and backward moving slide rail, a left and right moving slide rail and a vertical moving guide rail inside, wherein the vertical moving guide rail is installed below the left and right moving slide rails, and combined with a rotating table installed at the end of the vertical moving guide rail, the terminal box turning mechanism has four degrees of freedom in space; The terminal box turning mechanism is fixedly mounted on the rotating platform, and is composed of a hinge mechanism, a telescopic rod, a clamping block and an arc-shaped air nozzle. One end of the telescopic rod is connected to the rotating platform, and the other end is fixed to the arc-shaped air nozzle. The hinge mechanism is symmetrically arranged on the telescopic rod, and knife-shaped clamping blocks are arranged at both ends of the hinge mechanism. The knife-shaped clamping block cuts the box line when the telescopic rod is extended, and clamps the open side of the box body after the telescopic rod is rotated; The arc-shaped air nozzle is used to spray high-pressure gas into the box after the knife-shaped clamping block completes the cutting of the box line, so that the two sides of the box at the cutting position are initially opened.

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