Top wrapping position correction system and electronic device

Abstract

The application relates to the technical field of cross-belt sorting systems, in particular to a package feeding position deviation correction system and electronic equipment, which comprises a package feeder used for feeding a package onto a corresponding target main line trolley; a visual acquisition module used for acquiring the specific position of the package on the target main line trolley; a comparison unit used for comparing the deviation between the center position of the package acquired by the visual acquisition module and the center position of the trolley; and the package feeder and the target main line trolley adjust the package feeding position according to the deviation between the center position of the package and the center position of the trolley. The application can effectively adjust the package feeding position deviation by counting the offset Delta X and Delta Y of the package fed by the package feeder onto the target main line trolley, so that the sorting accuracy of subsequent packages is higher.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cross-belt sorting system, and particularly relates to a package feeding position correction system and electronic equipment. BACKGROUND

[0002] In order to continuously grow the business and maintain the competitiveness, the express service industry must continuously improve the operation mode, and the automation of equipment is an effective way to achieve this. The cross-belt sorting machine gradually replaces the traditional manual sorting and other inefficient sorting equipment due to its high efficiency, high accuracy and low damage rate. The core of the whole sorting system is the package feeding machine, and the accuracy of the package feeding position of the package feeding machine is crucial to the success rate of sorting. At present, the offset of the package feeding position of the package feeding machine is manually set. After a period of operation, the package feeding position will deviate due to the wear and flexibility change of the belt, and needs to be manually corrected. The efficiency of manual correction is low and the accuracy is not high, so that the accuracy of the package feeding position is not high and the package feeding efficiency is low. SUMMARY

[0003] The applicant provides a package feeding position correction system and electronic equipment to effectively adjust the deviation of the package feeding position, so that the subsequent package sorting accuracy is higher.

[0004] One of the technical solutions adopted by the present application is as follows: a package feeding position correction system, comprising:

[0005] A package feeding machine is used to feed a package to a corresponding target main line trolley.

[0006] A visual acquisition module is used to acquire the specific position of the package on the target main line trolley.

[0007] A comparison unit is used to compare the deviation between the center position of the package acquired by the visual acquisition module and the center position of the trolley.

[0008] The package feeding machine and the target main line trolley adjust the package feeding position according to the deviation between the center position of the package and the center position of the trolley.

[0009] As a further improvement of the above technical solution:

[0010] The deviation is the deviation of the center position of the package and the center position of the trolley in X and Y directions, wherein the X direction is the transmission direction of the conveying belt in the target main line trolley, and the Y direction is the walking direction of the target main line trolley.

[0011] The package feeding machine and the target main line trolley correct the package feeding position according to the deviation of the center position of the package and the center position of the trolley in X and Y directions, so that the center position of the package fed to the target main line trolley coincides with the center position of the trolley.

[0012] The package feeding machine and the target mainline trolley correct the package loading position according to the deviation between the center position of the package and the center position of the trolley in the X and Y directions, including the package feeding machine correcting the package loading position according to the deviation between the center position of the package and the center position of the trolley in the Y direction.

[0013] Firstly, the deviation of the center position of the package from the center position of the trolley in the Y direction is ΔY. Before correction, when the target mainline trolley travels to the preset position, the conveyor belt on the package supply machine is synchronously driven to transport the package to the target mainline trolley. After correction, when the target mainline trolley is still ΔY away from the preset position, or when the target mainline trolley travels to the preset position and then travels another ΔY distance, the conveyor belt on the package supply machine is synchronously driven to transport the package to the target mainline trolley.

[0014] When the target mainline trolley travels to a distance ΔY away from the preset position, or after traveling ΔY distance from the preset position, the conveyor belt on the parcel delivery machine is synchronously driven to transport the parcel to the target mainline trolley. This includes...

[0015] The lower end of the main line trolley is equipped with a travel drive plate, and the travel drive plates of each main line trolley are adjacent to each other end to end, and there is a notch on the travel drive plate;

[0016] Define any mainline trolley as the lead car. Photoelectric sensors are installed along the driving route of the mainline trolley, and a reflector is installed on the lead car. The lead car is identified by detecting the reflector through the photoelectric sensors.

[0017] At least one photoelectric sensor is installed in the travel route of the main line vehicle. The photoelectric sensor is used to detect the travel drive plate and the notch on the travel drive plate. The time for the target main line vehicle to reach the preset position is calculated based on the time when the photoelectric sensor detects the travel drive plate or the notch on the travel drive plate of the target main line vehicle and the travel speed of the main line vehicle.

[0018] The time it takes for the conveyor belt on the synchronous drive package delivery machine to transport packages to the target mainline trolley is determined by adding or subtracting the time required for the target mainline trolley to travel a distance ΔY from the time it takes for the target mainline trolley to reach the preset position.

[0019] Secondly, the package feeding machine and the target mainline trolley correct the package loading position according to the deviation between the center position of the package and the center position of the trolley in the X and Y directions, including the package feeding machine correcting the package loading position according to the deviation between the center position of the package and the center position of the trolley in the Y direction.

[0020] The deviation of the center position of the package from the center position of the trolley in the Y direction is ΔY. Before correction, when the target main line trolley travels to the preset position, the conveyor belt on the package supply machine is synchronously driven to transport the package to the target main line trolley. After correction, the preset position is adjusted forward or backward by ΔY.

[0021] Further, it also includes judging the target main trolley to drive to the preset position.

[0022] The driving route of the main trolley is provided with a plurality of photoelectric sensors, the plurality of photoelectric sensors are uniformly arranged at intervals, the photoelectric sensor is used for detecting the walking driving plate and the notch on the walking driving plate, and whether the target trolley reaches the preset position is determined according to the distance between the photoelectric sensors and the driving speed of the main trolley.

[0023] In the third aspect, the package feeder and the target main trolley correct the package feeding position according to the deviation of the center position of the package and the center position of the trolley in the X and Y directions, including that the target main trolley corrects the package feeding position according to the deviation of the center position of the package and the center position of the trolley in the X direction.

[0024] Wherein, the deviation of the center position of the package and the center position of the trolley in the X direction is ΔX, before correction, the running time of the conveying belt on the target main trolley is T, and the running time of the conveying belt after correction is adjusted to T±ΔT, and the ΔT is the time required for the conveying belt to run the distance of ΔX.

[0025] The visual acquisition module continuously acquires the specific positions of the centers of a plurality of packages on the target main trolley, the comparison unit compares the deviation between the center positions of the plurality of packages acquired by the visual acquisition module and the center position of the trolley, and calculates the average deviation, and the package feeder and the target main trolley adjust the package feeding position according to the average deviation between the center position of the package and the center position of the trolley.

[0026] The visual acquisition module is an intelligent camera.

[0027] Another technical solution adopted by the present application is as follows: an electronic device, comprising: a processor, a memory and a bus; the processor and the memory complete mutual communication through the bus; the memory stores program instructions executable by the processor, and the processor calling the program instructions can execute in the correction system.

[0028] The beneficial effects of the present application are as follows: the present application feeds the offset ΔX and ΔY of the package from the package feeder to the target main trolley to the corresponding package feeder and main trolley, so that the package feeding position deviation of the package feeder and the main trolley is adjusted according to the offset ΔX and ΔY when feeding the package, so that the sorting accuracy of subsequent packages is higher. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a partial sorting section schematic diagram of the cross belt of the present application.

[0030] Figure 2is a schematic diagram of the wrapping on the target main line trolley.

[0031] Wherein: 10, wrapping machine; 20, package; 30, target main line trolley; 31, conveyor belt; 40, visual acquisition module. DETAILED DESCRIPTION

[0032] The specific embodiments of the present application will be described below with reference to the accompanying drawings.

[0033] As shown in the figure, the wrapping position correction system of the present embodiment comprises: Figures 1-2

[0034] The wrapping machine 10 is used for wrapping the package 20 on the corresponding target main line trolley 30;

[0035] The visual acquisition module 40 is used for acquiring the specific position of the package 20 on the target main line trolley 30;

[0036] The comparison unit is used for comparing the deviation between the center position of the package 20 acquired by the visual acquisition module 40 and the trolley center position;

[0037] The wrapping machine 10 and the target main line trolley 30 adjust the wrapping position according to the deviation between the center position of the package 20 and the trolley center position.

[0038] The deviation is the deviation of the center position of the package 20 and the trolley center position in the X and Y directions, wherein the X direction is the transmission direction of the conveyor belt 31 in the target main line trolley 30, and the Y direction is the walking direction of the target main line trolley 30;

[0039] The wrapping machine 10 and the target main line trolley 30 correct the wrapping position according to the deviation of the center position of the package 20 and the trolley center position in the X and Y directions, so that the center position of the package 20 wrapped on the target main line trolley 30 coincides with the trolley center position, and specifically, the center point of the center position of the package 20 coincides with the center point of the trolley center position.

[0040] Wherein, the wrapping machine 10 corrects the wrapping position according to the deviation of the center position of the package 20 and the trolley center position in the Y direction, including the following contents:

[0041] ​The deviation of the center position of the package 20 from the center position of the trolley in the Y direction is ΔY. Before the correction, when the target main line trolley 30 travels to the preset position, the conveying belt on the package supply machine 10 is synchronously driven to convey the package 20 to the target main line trolley 30; after the correction, the target main line trolley 30 travels to a position that is ΔY away from the preset position, or the target main line trolley 30 travels to the preset position and then travels for a distance of ΔY, and then the conveying belt on the package supply machine 10 is synchronously driven to convey the package 20 to the target main line trolley 30. Through the correction of the synchronous position, the deviation of the position of the package 20 on the target main line trolley 30 in the Y direction can be offset, so that the center point of the package 20 and the center point of the belt surface of the target main line trolley 30 coincide as much as possible, and the sorting accuracy of the subsequent package 20 is higher.

[0042] The lower end of the main line trolley 30 is provided with a walking driving plate. The main line trolley 30 and the walking driving plate are connected through a trolley support, that is, the main line trolley 30 is installed on the trolley support, and the trolley support is installed on the walking driving plate. The walking driving plates of the main line trolleys 30 are adjacent at the head and tail. The walking driving plate has a notch.

[0043] In an embodiment, the notch is located at one end of the walking driving plate. The end with the notch and the end without the notch of the walking driving plate are adjacent at the head and tail. Any one of the main line trolleys 30 is defined as a head trolley. An optical sensor is installed in the travel route of the main line trolley 30. A reflector is arranged on the head trolley to determine the head trolley through the optical sensor. At least one optical sensor is installed in the travel route of the main line trolley 30. In an embodiment, the optical sensor is installed on the walking track of the walking driving plate. The optical sensor is used to detect the walking driving plate and the notch on the walking driving plate. In an embodiment, when the notch passes the optical sensor, the optical sensor outputs no signal. When the walking driving plate passes the optical sensor, the optical sensor outputs a signal. The optical sensor for detecting the reflector is a reflective optical sensor.

[0044] The time when the optical sensor detects the walking driving plate or the notch on the walking driving plate of the target main line trolley 30, and the walking speed of the main line trolley are used to calculate the time when the target main line trolley 30 reaches the preset position.

[0045] In one embodiment, there is an optical sensor on the running route of the main trolley 30, when the target main trolley 30 reaches the preset position, the conveying belt on the package supply machine 10 is synchronously driven to deliver the package 20 to the target main trolley 30, at this time, the deviation of the center position of the package 20 from the center position of the trolley in the Y direction is ΔY, according to the distance between the optical sensor and the preset position, the time for the target main trolley 30 to reach the optical sensor and the speed of the main trolley 30, the time for the target main trolley 30 to reach the preset position can be calculated; according to the ΔY and the speed of the main trolley 30, the time required for the target main trolley to walk ΔY distance can be calculated.

[0046] The deviation of the center position of the package 20 from the center position of the trolley in the Y direction is corrected, the target main trolley 30 travels to a distance of ΔY from the preset position, or the target main trolley 30 travels to the preset position and then travels a distance of ΔY, and then the conveying belt on the package supply machine 10 is synchronously driven to deliver the package 20 to the target main trolley 30. When the target main trolley 30 travels to a distance of ΔY from the preset position, the time for the target main trolley 30 to reach the preset position is added to the time required for the target main trolley to walk ΔY distance to determine the time for the conveying belt on the package supply machine 10 to deliver the package 20 to the target main trolley 30. When the target main trolley 30 travels to the preset position and then travels a distance of ΔY, the time for the target main trolley 30 to reach the preset position is subtracted from the time required for the target main trolley to walk ΔY distance to determine the time for the conveying belt on the package supply machine 10 to deliver the package 20 to the target main trolley 30.

[0047] In one embodiment, all the main trolleys 30 are connected end to end to form a ring.

[0048] In one embodiment, the package supply machine 10 and the target main trolley 30 correct the upper packaging position according to the deviation of the center position of the package 20 from the center position of the trolley in the X and Y directions, including the package supply machine 10 correcting the upper packaging position according to the deviation of the center position of the package 20 from the center position of the trolley in the Y direction.

[0049] Wherein, the deviation of the center position of the package 20 from the center position of the trolley in the Y direction is ΔY, before correction, when the target main trolley 30 reaches the preset position, the conveying belt on the package supply machine 10 is synchronously driven to deliver the package 20 to the target main trolley 30; after correction, the preset position is adjusted forward or backward by ΔY.

[0050] Further, it also includes judging that the target main trolley 30 reaches the preset position.

[0051] The main line trolley 30 is provided with a plurality of photoelectric sensors installed on the running route of the main line trolley 30, the plurality of photoelectric sensors are uniformly arranged at intervals, the photoelectric sensors are used to detect the running driving plate and the gap on the running driving plate, and whether the target trolley reaches the preset position is determined according to the distance between the photoelectric sensors and the running speed of the main line trolley 30.

[0052] In an embodiment, eight photoelectric sensors are installed on the running route of the main line trolley 30, and the distance between adjacent sensors is 1 / 8 of the length of one main line trolley 30; in an embodiment, when the photoelectric sensor detects the gap, no signal is detected, and when the photoelectric sensor detects the running driving plate, a signal is detected, and there are an average of eight photoelectric sensors below the main line trolley 30, when the first photoelectric sensor detects a signal, timing starts, when the second photoelectric sensor detects a signal, timing starts again, and according to the number of photoelectric sensors that the main line trolley 30 has passed through and the timing result of the last photoelectric sensor among the photoelectric sensors that have been passed through, the current position of the trolley is accurately positioned whether it reaches the preset position.

[0053] Suppose there are eight photoelectric sensors at the preset position, before correction, the running driving plate of the target main line trolley needs to be detected by the third photoelectric sensor at the preset position to synchronize the driving of the conveying belt on the package supply machine 10 to deliver the package 20 to the target main line trolley 30, after correction, the original preset position is added by ΔY to be the corrected preset position, and the positioning method is to calculate the time Δt required for the main line trolley to run ΔY according to the running speed of the main line trolley, and when the third photoelectric sensor detects a signal, timing Δt starts, and then the conveying belt on the package supply machine 10 is synchronously driven to deliver the package 20 to the target main line trolley 30.

[0054] The package supply machine 10 and the target main line trolley 30 correct the upper package position according to the deviation of the center position of the package 20 and the preset position in the X and Y directions, including correcting the upper package position according to the deviation of the center position of the package 20 and the center position of the trolley in the X direction by the target main line trolley 30.

[0055] The deviation of the center position of the package 20 and the center position of the trolley in the X direction is ΔX, before correction, the running time of the conveying belt 31 on the target main line trolley 30 is T, and after correction, the running time of the conveying belt 31 is adjusted to T±ΔT, and ΔT is the time required for the conveying belt 31 to run ΔX distance.

[0056] The vision acquisition module 40 continuously acquires the specific positions of the centers of a plurality of packages 20 on the target main line trolley 30, the comparison unit compares the deviation between the center positions of the plurality of packages 20 acquired by the vision acquisition module 40 and the center position of the trolley, and calculates the average deviation, and the package supply machine 10 and the target main line trolley 30 adjust the upper package position according to the average deviation between the center position of the package 20 and the center position of the trolley.

[0057] The visual acquisition module 40 is an intelligent camera.

[0058] The accompanying drawings are attached Figure 2 Taking the position of the parcel 20 as an example, the distance deviation of the center point of the parcel 20 and the center point of the target main line trolley 30 in the Y and X directions is ΔY and ΔX respectively, when adjusting the Y direction deviation, as long as the target main line trolley 30 is driven to the trolley center position and then driven for a distance of ΔY, the corresponding parcel 20 is synchronously driven and the parcel 20 is conveyed to the target main line trolley 30 by the parcel feeding machine 10; when adjusting the X direction deviation, only the running time of the conveying belt 31 needs to be adjusted to T+ΔT, which is more convenient.

[0059] An electronic device comprises a processor, a memory and a bus; the processor and the memory complete mutual communication through the bus; the memory stores program instructions which can be executed by the processor; the processor calling the program instructions can execute in the correction system.

[0060] In summary, the application can effectively adjust the parcel 20 wrapping position deviation, so that the subsequent parcel 20 sorting accuracy is higher. The whole adjustment process is simple and convenient, and is more practical.

[0061] The above description is an explanation of the application, not a limitation of the application, the scope of the application is defined in the claims, within the protection scope of the application, any form of modification can be made.

Claims

1. A deviation correction system for an upper wrapping position, comprising: a wrapping machine (10) for wrapping a package (20) onto a corresponding target mainline trolley (30); a vision acquisition module (40) for acquiring a specific position of the package (20) on the target mainline trolley (30); a comparison unit for comparing a deviation between a center position of the package (20) and a trolley center position acquired by the vision acquisition module (40); and the wrapping machine (10) and the target mainline trolley (30) adjusting the upper wrapping position according to the deviation between the center position of the package (20) and the trolley center position.

2. The deviation correction system of claim 1, wherein the X direction is a conveying direction of a conveyor belt (31) in the target mainline trolley (30), and the wrapping machine (10) and the target mainline trolley (30) correct the upper wrapping position according to the deviation between the center position of the package (20) and the trolley center position in the X and Y directions, so that the center position of the package (20) and the trolley center position coincide.

3. The deviation correction system of claim 2, wherein the wrapping machine (10) and the target mainline trolley (30) correct the upper wrapping position according to the deviation between the center position of the package (20) and the trolley center position in the X and Y directions, including that the wrapping machine (10) corrects the upper wrapping position according to the deviation between the center position of the package (20) and the trolley center position in the Y direction.

4. The deviation correction system of claim 3, wherein the target mainline trolley (30) travels to a preset position, and then the conveyor belt (31) on the wrapping machine (10) is synchronously driven to convey the package (20) onto the target mainline trolley (30), including that the target mainline trolley (30) travels to a position that is ΔY away from the preset position, or the target mainline trolley (30) travels to the preset position and then travels ΔY, and then the conveyor belt (31) on the wrapping machine (10) is synchronously driven to convey the package (20) onto the target mainline trolley (30). ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The lower end of the main line trolley (30) is provided with a walking driving plate, the walking driving plates of each main line trolley (30) are connected end to end, and the walking driving plate has a notch; Any one main line trolley (30) is defined as a head trolley, an optical sensor is installed in the running route of the main line trolley (30), and a reflector is arranged on the head trolley to determine the head trolley through the optical sensor; At least one optical sensor is installed in the running route of the main line trolley (30), and the optical sensor is used to detect the walking driving plate and the notch on the walking driving plate; the time when the target main line trolley (30) reaches the preset position is calculated according to the time when the optical sensor detects the walking driving plate or the notch on the walking driving plate of the target main line trolley (30) and the walking speed of the main line trolley.

5. The deviation correction system of claim 2, wherein: The package feeder (10) and the target main line trolley (30) correct the package feeding position according to the deviation of the center position of the package (20) and the center position of the trolley in the X and Y directions, including correcting the package feeding position according to the deviation of the center position of the package (20) and the center position of the trolley in the Y direction by the package feeder (10); Wherein, the deviation of the center position of the package (20) and the center position of the trolley in the Y direction is ΔY, before correction, the target main line trolley (30) drives to the preset position, and the conveying belt on the package feeder (10) simultaneously drives the package (20) to the target main line trolley (30); after correction, the preset position is adjusted forward or backward by ΔY.

6. The deviation correction system of claim 5, wherein: Including, Judging whether the target main line trolley (30) drives to the preset position; A plurality of optical sensors are installed in the running route of the main line trolley (30), the plurality of optical sensors are uniformly arranged at intervals, the optical sensors are used to detect the walking driving plate and the notch on the walking driving plate, and whether the target trolley reaches the preset position is determined according to the distance between the optical sensors and the running speed of the main line trolley (30).

7. The package feeding position deviation correction system of claim 2, wherein: The package feeder (10) and the target main line trolley (30) correct the package feeding position according to the deviation of the center position of the package (20) and the center position of the trolley in the X and Y directions, including correcting the package feeding position according to the deviation of the center position of the package (20) and the center position of the trolley in the X direction by the target main line trolley (30); Wherein, the deviation of the center position of the package (20) and the center position of the trolley in the X direction is ΔX, before correction, the running time of the conveying belt (31) on the target main line trolley (30) is T, the running time of the conveying belt (31) is adjusted to T±ΔT after correction, and the ΔT is the time required for the conveying belt (31) to run ΔX distance.

8. The deviation correction system of claim 1, wherein, The visual acquisition module (40) continuously acquires the specific position of the center of the plurality of packages (20) on the target main line trolley (30), the comparison unit compares the deviation between the center position of the plurality of packages (20) acquired by the visual acquisition module (40) and the center position of the trolley, and calculates the average deviation, and the package feeding machine (10) and the target main line trolley (30) adjust the package feeding position according to the average deviation between the center position of the package (20) and the center position of the trolley.

9. The deviation correction system of claim 1, wherein, The visual acquisition module (40) is an intelligent camera.

10. An electronic device, comprising: a processor, a memory and a bus; The processor and the memory communicate with each other through the bus; The memory stores program instructions executable by the processor, and the processor calling the program instructions can execute the deviation correction system in any one of claims 1-9. ​

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