Article picking system packaging method, article picking system and sorting system

Abstract

The present invention discloses an article picking system packaging method, an article picking packaging system and a sorting system, wherein the article picking system packaging method allows batch articles to continuously enter the picking conveyor line through a chute, identifies different types of batch articles on the picking conveyor line through a 3D visual recognition device and controls the picking robot to package articles that meet the packaging conditions onto the packaging conveyor line, and transports abnormal articles that do not meet the packaging conditions to the outside through the picking conveyor line without being packaged, effectively realizing the rejection of abnormal articles and the automatic packaging of articles that meet the packaging conditions, without the need for manual picking, eliminating the pre-sorting step, and having a high degree of automation.

Description

Technical Field

[0001] The present invention relates to the field of logistics sorting, in particular to an article picking and packaging method, an article picking and packaging system, and a sorting system. Background Art

[0002] In the cross-belt sorting system, items need to be supplied to the sorting carts on the cart loop through a package supply conveyor line with weighing and code scanning functions, and then sorted by the sorting carts.

[0003] However, conventional cross-belt sorting systems require manual labor to place items onto the package supply conveyor line. In addition, there are often some abnormal items in the batch of items that cannot be stably sorted in the sorting system. Therefore, these abnormal items need to be manually selected from the batch of packages for pre-sorting. This increases the operating process, is labor-intensive, and has high labor costs. It also increases the difficulty of automatically loading packages onto the package supply conveyor line. Summary of the Invention

[0004] The purpose of the present invention is to solve the above problems existing in the prior art and to provide an article picking and packaging method, an article picking and packaging system and a sorting system.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] The method for loading a package into an item picking system includes the following steps:

[0007] S1, manually or through automated equipment, batch items are introduced into the chute, and the items fall along the chute into the picking conveyor line;

[0008] S2, the picking conveyor line stops after conveying a batch of items into the image acquisition range of the 3D camera of the 3D visual recognition device;

[0009] S3, the 3D visual recognition device obtains images of items on the picking conveyor line, identifies items that meet the packaging conditions and items that do not meet the packaging conditions, and sends the coordinates of the items that meet the packaging conditions to the picking robot;

[0010] S4, the picking robot moves the items that meet the packaging conditions to the packaging conveyor line in sequence according to the received coordinates;

[0011] S5, after all items that meet the bagging conditions are moved to the bagging conveyor line, the picking conveyor line is restarted to convey the items that do not meet the bagging conditions to at least outside the imaging range of the 3D camera, and at the same time, another batch of items is conveyed along the picking conveyor line to the imaging range of the 3D camera;

[0012] S6, repeat S3-S5.

[0013] Preferably, in the bagging method of the article picking system, the upper end of the chute is connected to the upper conveyor line, and the articles are transported to the chute by the upper conveyor line.

[0014] Preferably, in the bagging method of the article picking system, the upper conveyor line extends to the unloading area, and the articles are unloaded from the trucks in the unloading area to the upper conveyor line.

[0015] Preferably, in the bagging method of the item picking system, in S1, the items on the upper conveyor line are introduced into the chute by a transfer device, and the transfer device starts to introduce the items from the upper conveyor line into the chute when no items are detected at the lower end of the chute, and stops introducing the items when the items are accumulated to the upper end of the chute.

[0016] Preferably, in the method for loading the item picking system, in S3, the coordinates sent by the 3D visual recognition device to the picking robot are the coordinates of the center point of the top surface of the item and the rotation angle; in S4, when the sorting robot places the item on the package supply conveyor line, it drives the item to rotate according to the rotation angle until the length direction of the item is perpendicular to the output end of the package supply conveyor line.

[0017] Preferably, in the bagging method of the item picking system, in S3, when it is identified that there are stacked items among the items that meet the bagging conditions, the 3D visual recognition device first sends the coordinates of the upper items to the picking robot. After the picking robot moves the upper items away, the 3D visual recognition device again performs image acquisition and analysis to determine the coordinates of the lower items and sends them to the picking robot for bagging.

[0018] Preferably, in the bagging method of the item picking system, in S3, when it is identified that there are at least two adjacent items that meet the bagging conditions, the 3D visual recognition device identifies the coordinates of multiple items and sends them to the picking robot. After the picking robot moves one of the items to the bag supply conveyor line, the 3D visual recognition device again performs image acquisition and analysis to determine the number of missing items on the picking conveyor line. If it is determined that one bagging action reduces one item, subsequent bagging is performed in sequence; if it is determined that one bagging action reduces at least two items, this bagging action is determined to be a grabbing abnormality, the current bagging action is marked, and the route of the item corresponding to the current bagging action is set to an abnormal chute.

[0019] Preferably, in the bagging method of the item picking system, in S3, after identifying that there are adjacent items among the items that meet the bagging conditions, it is determined whether they are adhered. If there is no adhesion, the coordinates of the multiple items are directly sent to the picking robot for sequential bagging; if there is adhesion, the number of missing items is determined after each bagging action. If it is determined that one bagging action reduces one item, subsequent bagging is performed in sequence; if it is determined that one bagging action reduces at least two items, this bagging action is determined to be a grabbing abnormality, the current bagging action is marked, and the route of the items corresponding to the current bagging action is set to an abnormal chute.

[0020] Preferably, in the article picking system packaging method, in S5, the articles that do not meet the packaging conditions are moved along the picking conveyor line to the return conveyor line and returned to the manual processing station.

[0021] Item picking and packing system, including

[0022] The package conveyor line is used to convey the items introduced onto it to the sorting line;

[0023] The picking conveyor line is used to receive and transport items to be packaged to the packaging conveyor line;

[0024] A picking robot, used to grab items on the picking conveyor line and move them to the package supply conveyor line;

[0025] The 3D visual recognition device is used to collect images of items on the picking conveyor line and perform image analysis to identify items that meet the packaging conditions and their coordinates to control the picking robot to move the items with corresponding coordinates on the picking conveyor line one by one to the packaging conveyor line.

[0026] Preferably, in the item picking and packaging system, the input end of the picking conveyor line is connected to the lower end of the chute, and the upper end of the chute is connected to the upper conveyor line. Preferably, the upper end of the chute is connected to the side of the upper conveyor line.

[0027] Preferably, in the item picking and packaging system, the side of the upper conveyor line is connected to multiple chutes, the lower end of each chute is connected to a picking conveyor line, and the output ends of multiple picking conveyor lines are connected to the same return conveyor line.

[0028] Preferably, in the article picking and packing system, a transfer device for moving the articles thereon to the chute is provided at the upper conveyor line.

[0029] Preferably, in the article picking and packaging system, the picking robot includes a suction cup and a six-axis robot that drives the suction cup to move.

[0030] Preferably, in the article picking and packaging system, the picking robot is a parallel robot.

[0031] Preferably, in the article picking and packaging system, the output end of the picking conveyor line is connected to the return conveyor line.

[0032] Preferably, in the article picking and packaging system, the height of the conveying surface of the picking conveyor line is not lower than the conveying surface of the packaging conveyor line.

[0033] Preferably, in the item picking and packaging system, the packaging conveyor line has a six-sided code scanning structure.

[0034] A sorting system includes any of the above-mentioned item picking and packaging systems.

[0035] The advantages of the technical solution of the present invention are mainly reflected in:

[0036] The packaging method of this solution uses a 3D visual recognition device to identify items that meet the packaging requirements and abnormal items that do not meet the packaging requirements in the batch items on the picking conveyor line, and sends instructions to the picking robot to move the items that meet the packaging conditions one by one to the packaging conveyor line for packaging. Abnormal items that do not meet the packaging conditions can be transported to the outside through the picking conveyor line without being packaged, effectively realizing the elimination of abnormal items and automatic packaging of items that meet the packaging conditions. At the same time, no manual picking is required, and the degree of automation is high.

[0037] This solution facilitates the transportation of abnormal parts to manual processing stations for centralized processing by setting up a return conveyor line, which is conducive to improving the degree of automation.

[0038] The picking conveyor line of this solution is connected to the upper conveyor line through a chute, which can conveniently transport the items on the truck directly to the chute for batch packaging, which is conducive to improving integration and improving the convenience of unloading.

[0039] The upper conveyor line uses transfer devices such as pendulum sorters or swing arm machines to easily guide items into the chute. Combined with sensors to control the start and stop of the transfer device, items can be continuously and promptly entered into the chute, which is beneficial to reduce the idling time of the picking conveyor line and improve the packaging efficiency.

[0040] This solution selects items so that their long sides are perpendicular to the output end of the package supply conveyor line, so that the items can be parallel to the long sides of the sorting trolley when they enter the sorting trolley. This can effectively and accurately calculate and control the sorting action of the sorting trolley to ensure sorting stability.

[0041] The method of this solution can effectively identify overlapping and adjacent items, and adopt different packaging processes according to different situations, which can fully take into account both effectiveness and accuracy.

[0042] By providing the package supply conveyor line with a six-sided code scanning structure and setting the height of the conveying surface, the operating range of the picking robot can be effectively reduced and the transfer efficiency can be effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 Schematic diagram of a six-axis robot used as a picking robot in the article picking and packaging system of the present invention;

[0044] Figure 2 Schematic diagram of a parallel robot used as a picking robot in the article picking and packing system of the present invention;

[0045] Figure 3 Schematic diagram of the sorting system of the present invention. DETAILED DESCRIPTION

[0046] The objects, advantages, and features of the present invention are illustrated and explained through the following non-limiting description of preferred embodiments. These embodiments are merely typical examples of the application of the technical solutions of the present invention. Any technical solutions formed by equivalent substitution or equivalent transformation fall within the scope of protection of the present invention.

[0047] In the description of the scheme, it should be noted that the terms "center", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. Moreover, in the description of the scheme, with the operator as a reference, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

[0048] The article picking and packing system disclosed by the present invention is described below with reference to the accompanying drawings. Figure 1 , Attachment Figure 2 As shown, it includes a package supply conveyor line 1, a picking conveyor line 2, a picking robot 3 and a 3D visual recognition device.

[0049] As attached Figure 1 -Attached Figure 3As shown, the package supply conveyor line 1 is used to transport the items introduced thereon to the sorting line 7 for sorting; the picking conveyor line 2 is used to receive and transport the items to be packaged on the package supply conveyor line 1; the picking robot 3 is used to grab the items on the picking conveyor line 2 and move them to the package supply conveyor line 1; the 3D visual recognition device is used to collect images of the items on the picking conveyor line 2 and perform image analysis to identify the items that meet the packaging conditions and their coordinates to control the picking robot 3 to move the items with corresponding coordinates on the picking conveyor line 2 one by one to the package supply conveyor line 1. The 3D visual recognition device includes a 3D camera 4 and a software and hardware structure that processes and analyzes the images collected by the 3D camera 4 and generates corresponding control signals. The specific technologies of image acquisition, processing and analysis here are known technologies and will not be elaborated on. The 3D visual recognition device can continuously learn the shapes of various types of items that are easy to be sorted incorrectly through various known automatic learning models, thereby accurately identifying abnormal items.

[0050] A batch of items introduced to the picking conveyor line 2 may contain some abnormal items. These items are irregularly shaped after packaging, easily roll, exceed the sorting range of the sorting cart, cannot be grasped by the picking robot 3, or lack a barcode on the top surface, making them unrecognizable by top-scanning barcodes. For example, items such as hangers, buckets, and balls often do not have a regular hexahedral shape after packaging, which can cause them to roll or become unremovable during transportation.

[0051] Therefore, it is necessary to screen the batch of items from those that are suitable for packaging onto the packaging conveyor line 1 (such as six essentially flat box-shaped or hexahedral packaging bags). A 3D visual recognition device effectively identifies the items that meet the packaging requirements among the batch of items entering the picking conveyor line 2. The corresponding coordinates are then transmitted to the picking robot 3, which moves the eligible items one by one onto the packaging conveyor line 1 for delivery to the sorting line 7. After the picking robot 3 selects the eligible items and places them onto the packaging conveyor line 1, the remaining items that do not meet the packaging requirements are transported from the picking conveyor line 2 to an external location for manual processing.

[0052] As attached Figure 1 , Attachment Figure 2 As shown, in order to facilitate the centralized processing of items that do not meet the packaging requirements, the output end of the picking conveyor line 2 is connected to the return conveyor line 6, and the return conveyor line 6 transports abnormal items that do not meet the packaging requirements to the manual processing station for manual processing.

[0053] As attached Figure 1 , Attachment Figure 2As shown, in order to facilitate the entry of items into the picking conveyor line 2, the input end of the picking conveyor line 2 is connected to the lower end of the chute 8, and the upper end of the chute 8 is connected to the upper conveyor line 5. In some embodiments, the upper end of the chute 8 can be connected to the output end of the upper conveyor line 5. Furthermore, the upper end of the chute 8 is connected to the side of the upper conveyor line 5, and the upper conveyor line 5 can be extended to the unloading area. The items in the truck located in the unloading area can be placed directly on the upper conveyor line 5 and transported backward by the upper conveyor line 5. When the items are transported to the chute 8, a batch of items can be manually moved to the chute 8. At this time, the items entering the chute 8 slide into the picking conveyor line 2. More preferably, the upper conveyor line 5 can be a loop line. In this case, the items on the upper conveyor line 5 can rotate in a cycle.

[0054] As attached Figure 3 As shown, the upper conveyor line 5 is provided with a transfer device (not shown in the figure) for moving the items thereon to the chute 8, and a plurality of transfer devices are provided at the upper conveyor line 5, each transfer device is connected to the upper end of a chute 8, and the lower end of each chute 8 is connected to a picking conveyor line 2, and each of the picking conveyor lines 2 is provided with a picking robot 3 and a 3D camera 4, so that multiple package supply conveyor lines 1 can be packaged, and the output ends of multiple picking conveyor lines 2 are connected to the side of the same return conveyor line 6.

[0055] The transfer device may be a swing arm on the side of the upper conveyor line 5 or a push mechanism on the outside of the upper conveyor line 5. The push plate of the swing arm or push mechanism can swing or push above the conveying surface of the upper conveyor line and maintain an inclined state, so that the items on the upper conveyor line 5 enter the chute under the guidance of the swing arm or push plate. Alternatively, the upper conveyor line 5 is a structure composed of a swing wheel sorter connected to a belt conveyor line, and the swing wheel sorter is connected to the chute 8.

[0056] The picking robot 3 uses vacuum adsorption to absorb items. Figure 1 As shown, it includes a suction cup and a six-axis robot that drives the suction cup to move. At this time, the six-axis robot is set outside the picking conveyor line 2 and close to the input end of the package supply conveyor line 1. Figure 2 As shown, the picking robot 3 can be a parallel robot. In this case, the parallel robot is arranged above the picking conveyor line 2 through a bracket. The six-axis robot and the parallel robot can perform operations such as translation and rotation on the sucked items. Their specific structures are all known technologies and are not described here in detail.

[0057] To improve the operating efficiency of the picking robot 3, the bag supply conveyor line 1 has a six-sided barcode scanning structure. This six-sided barcode scanning structure is a known technology and will not be described in detail here. With this six-sided barcode scanning structure, the picking robot only needs to place the picked-up items on the bag supply conveyor line 1 to read the item's route through the six-sided barcode scanning, without having to ensure that the barcode on the item is facing upward or in a specific direction.

[0058] Of course, in another embodiment, the 3D visual recognition device can also use image analysis to determine whether there is a barcode on the top of the item. If there is no barcode, the item can be rotated so that the top surface without the barcode faces downward and placed on the package supply conveyor line 1 so that the barcode on it is on the top surface or side of the package. At this time, the package supply conveyor line 1 does not need to use six-sided code scanning, but only five-sided code scanning, which can simplify the structure of the package supply conveyor line 1 accordingly.

[0059] In order to reduce the movement amplitude of the picking robot 3 to increase the sorting rate, the height of the conveying surface of the picking conveyor line 2 is not lower than the conveying surface of the package supply conveyor line 1. For example, the conveying surface of the package supply conveyor line 1 is at the same height as the conveying surface of the picking conveyor line 2. At the same time, the return conveyor line is located below the picking conveyor line 2.

[0060] The automatic operation and corresponding control of the entire system are known technologies and will not be described in detail here. After the system is started, the upper conveyor line, the return conveyor line, and the picking conveyor line 2 start conveying. A detection photoelectric device is provided near the output end of the picking conveyor line 2. When the first item input to the sorting conveyor line 2 triggers the detection photoelectric device, the picking conveyor line 2 stops. At this time, a part of the items on the picking conveyor line is within the shooting range of the 3D camera. After the first batch of items has been picked, the subsequent picking conveyor line 2 can be transported according to a fixed conveying stroke, for example, the conveying distance is the shooting length range of the 3D camera. Alternatively, a detection photoelectric device can be provided at the chute 8. When the detection photoelectric device at the chute 8 detects an item, the picking conveyor line starts and stops after conveying a fixed distance. Of course, the upper conveyor line, the return conveyor line, and the picking conveyor line 2 can also be started and stopped by manually sending instructions.

[0061] At the same time, the transfer device at the upper conveyor line 5 can start to introduce items into the chute after the system is started. When the number of items on the chute reaches a certain level, for example, when the items stagnant on the chute approach the upper end of the chute (which can be detected by a sensor, such as visual recognition, or by a photoelectric sensor that can recognize that the items have reached the upper end of the chute when the photoelectric sensor generates a signal for a period of time), the transfer device stops introducing items into the chute. Taking the balance wheel sorter as an example, when the system is started, the balance wheel of the balance wheel sorter swings toward the chute to guide items into the chute. When the number of items in the chute reaches the upper limit, the balance wheel of the balance wheel sorter straightens, causing subsequent items to be transported backward.

[0062] Alternatively, the transfer device can move synchronously with the movement of the picking conveyor line 2, that is, when the picking conveyor line 2 starts, the transfer device introduces items into the chute, and when the picking conveyor line stops for the first time, the transfer device stops introducing items into the chute; when the picking conveyor line 2 starts again, the transfer device starts synchronously to introduce items into the chute.

[0063] Alternatively, when the 3D camera detects that there are no items on the top surface of the conveyor line, the transfer device introduces the items into the chute. When the number of items on the chute reaches the upper limit, the transfer device stops introducing items into the chute.

[0064] Example 2

[0065] When the above-mentioned item picking system is loaded onto a package, the following steps are included:

[0066] S1: Manually or through automated equipment, a batch of items are introduced from the upper conveyor line 5 into the chute 8, and the items enter the picking conveyor line 2 from the chute 8. Specifically, the items on the truck are unloaded onto the upper conveyor line 5, and the upper conveyor line 5 conveys the items toward the chute 8. When the items move to the position corresponding to the chute 8, the transfer device or manual personnel introduce the batch of items into the chute 8, and the items enter the chute 8 from the chute 8 onto the picking conveyor line 2.

[0067] S2, the picking conveyor line 2 stops after conveying a batch of items to the image acquisition range of the 3D camera 4 above the picking conveyor line 2. The picking conveyor line can stop after conveying a fixed distance or stop when the first item moves to the detection photoelectric near the output end of the picking conveyor line 2.

[0068] S3, the 3D camera 4 collects images of the items on the conveyor belt, and the 3D visual recognition device identifies the items that meet the packaging conditions and the items that do not meet the packaging conditions in the image, and determines the center coordinates of the top surface of the items that meet the packaging conditions, the long side of the items and the rotation angle.

[0069] At step S4, the 3D visual recognition device transmits the coordinates and rotation angles of the items that meet the bagging requirements to the picking robot 3. Based on the received coordinates, the picking robot 3 sequentially vacuum-adsorbs the items that meet the bagging requirements and moves them to the bag supply conveyor line 1. Furthermore, when each item is placed on the bag supply conveyor line 1, its length is kept perpendicular to the output end of the bag supply conveyor line 1. This effectively ensures that the long sides of the items are parallel to the long sides of the sorting cart when they are supplied to the sorting cart, facilitating precise calculation and control of the sorting operation.

[0070] At step S5, after all eligible items have been moved to the supply conveyor, the picking conveyor is restarted to move the items that do not meet the requirements to at least outside the 3D camera's field of view. Simultaneously, another batch of items is moved along the picking conveyor into the 3D camera's field of view. This sorting method effectively simplifies the control process while maximizing sorting efficiency.

[0071] S6, repeat S3-S5.

[0072] Furthermore, in S3, when it is identified that there are overlapping items among the items that meet the bagging conditions, the 3D visual recognition device first sends the coordinates of the upper-layer items to the picking robot. After the picking robot removes the upper-layer items, the 3D visual recognition device again performs image acquisition and analysis to determine the coordinates of the lower-layer items and sends them to the picking robot for bagging (the picking robot's action of grabbing an item on the picking conveyor line and moving it to the bagging conveyor line). Of course, if it is identified that the upper-layer item among the overlapping items does not meet the bagging conditions, the upper and lower stacked items will not be bagged. This allows for efficient processing of overlapping items.

[0073] In S3, when at least two adjacent items meeting the bagging criteria are identified, the 3D visual recognition device can determine that they are multiple independent items based on multiple dimensions, such as color and height, and can also identify whether the items are adhered (i.e., glue, tape, etc.). If adhesion is confirmed, the coordinates of the identified multiple items are transmitted to the picking robot, which then proceeds to bagging in sequence. If adhesion is confirmed, after the picking robot has bagged an item onto the bagging conveyor line, the 3D visual recognition device again performs image capture and analysis to determine the number of missing items on the picking conveyor line (a normal bagging operation results in one missing item on the picking conveyor line). If it is determined that one item was missing from the bagging operation, the picking robot continues bagging in sequence. If it is determined that at least two items were missing from the bagging operation, the bagging operation is determined to be a grasping anomaly, the current bagging operation is marked, and the items corresponding to the current bagging operation are routed to an abnormal chute, where they are subsequently discharged outside the sorting line for manual processing. The picking robot continues to operate according to the instructions of the 3D visual recognition device. The above process can effectively improve sorting efficiency while ensuring the accuracy of bagging. Of course, in other embodiments, each time a closely adjacent item is identified, the number of missing items on the picking conveyor line can be verified after each bagging operation, and the above operation can be performed based on the missing items.

[0074] Example 3

[0075] This solution further discloses a sorting system, including the above-mentioned item picking and packaging system, and the sorting line can be a cross-belt sorting line or a flip-plate sorting line.

[0076] There are many implementation methods of the present invention, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A method for loading a bag into an item picking system, characterized by: The item picking and packing system includes: The package conveyor line is used to convey the items introduced onto it to the sorting line; The picking conveyor line is used to receive and transport items to be packaged to the packaging conveyor line; a chute, the lower end of which is connected to the input end of the picking conveyor line; A picking robot, used to grab items on the picking conveyor line and move them to the package supply conveyor line; A 3D visual recognition device is used to capture images of items on the picking conveyor line and perform image analysis to identify items that meet the packaging conditions and their coordinates, so as to control the picking robot to move the items with corresponding coordinates on the picking conveyor line one by one to the packaging conveyor line; the upper end of the chute is connected to the side of the upper conveyor line, and the output end of the picking conveyor line is connected to the return conveyor line; the side of the upper conveyor line is connected to multiple chutes, and the lower end of each chute is connected to a picking conveyor line, and the output ends of multiple picking conveyor lines are connected to the same return conveyor line; a transfer device for moving the items on it to the chute is provided at the upper conveyor line; the picking robot includes a suction cup and a six-axis robot that drives the suction cup to move; or the picking robot is a parallel robot; The method for loading items into a packaging system comprises the following steps: S1, manually or through automated equipment, the batch of items are introduced into the chute, and the items fall along the chute into the picking conveyor line; S2, the picking conveyor line stops after conveying a batch of items into the image acquisition range of the 3D camera of the 3D visual recognition device; S3, the 3D visual recognition device obtains images of items on the picking conveyor line, identifies items that meet the packaging conditions and items that do not meet the packaging conditions, and sends the coordinates of the items that meet the packaging conditions to the picking robot; S4, the picking robot moves the items that meet the packing conditions to the packing supply conveyor line in sequence according to the received coordinates; S5, after all the items that meet the packing conditions have been moved to the packing supply conveyor line, the picking conveyor line is restarted to convey the items that do not meet the packing conditions to at least outside the imaging range of the 3D camera, while another batch of items is conveyed along the picking conveyor line to the imaging range of the 3D camera; S6, repeat S3-S5; In said S3, if it is identified that among the stacked items, the upper item does not meet the bagging conditions, the stacked items are not bagged; In S3, when it is identified that there are overlapping items among the items that meet the bagging conditions, the 3D vision recognition device first sends the coordinates of the upper-layer items to the picking robot. After the picking robot removes the upper-layer items, the 3D vision recognition device again performs image acquisition and analysis to determine the coordinates of the lower-layer items and sends them to the picking robot for bagging. In S3, after identifying that there are adjacent items among the items that meet the bagging conditions, determine whether they are adhered. If not, directly send the coordinates of multiple items to the picking robot for sequential bagging; if there is adhesion, determine the number of missing items after each bagging action. If it is determined that one bagging action reduces one item, then perform subsequent bagging in sequence; if it is determined that one bagging action reduces at least two items, determine that this bagging action is a grabbing abnormality, mark the current bagging action, and set the route of the item corresponding to the current bagging action as an abnormal chute.

2. The method for loading a bag into an article picking system according to claim 1, wherein: The upper end of the chute is connected to the upper conveyor line, and the articles are transported to the chute by the upper conveyor line.

3. The method for loading a bag into an article picking system according to claim 2, wherein: The upper conveying line extends to the unloading area, and articles are unloaded from trucks in the unloading area onto the upper conveying line.

4. The method for loading a bag into an article picking system according to claim 2, wherein: In S1, the items on the upper conveyor line are introduced into the chute by a transfer device. When the transfer device detects no items at the lower end of the chute, it starts to introduce the items on the upper conveyor line into the chute, and stops introducing the items when the items are accumulated to the upper end of the chute.

5. The method for loading packages into an article picking system according to any one of claims 1 to 4, characterized in that: In S3, the coordinates sent to the picking robot by the 3D visual recognition device are the center point coordinates and the rotation angle of the top surface of the item; in S4, when the picking robot places the item on the package supply conveyor line, it drives the item to rotate according to the rotation angle until the length direction of the item is perpendicular to the output end of the package supply conveyor line.

6. The method for loading a bag into an article picking system according to claim 1, wherein: In S5, the articles that do not meet the packaging conditions are moved along the picking conveyor line to the return conveyor line and returned to the manual processing station.

Images