A finished cigarette warehouse-in and warehouse-out adaptive control method and device and electronic equipment
By identifying cigarette factory information and labeling locations, control information is generated to automate the unpacking and palletizing process of finished cigarettes. This solves the problem of inconsistent palletizing methods among different cigarette factories, improves warehousing efficiency, and reduces labor costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- WUHAN LEDAO LOGISTICS CO LTD
- Filing Date
- 2024-04-12
- Publication Date
- 2026-06-26
AI Technical Summary
In the existing technology, the stacking method and labeling position of finished cigarettes are not uniform, which means that the unpacking robot arm needs to be manually taught, resulting in low efficiency in warehousing and high labor costs.
By receiving control commands, identifying cigarette factory information and labeling locations, querying stacking sequence diagrams, and generating control information for grabbing points, paths, and sequences, the automated destacking and palletizing process is achieved.
It achieves adaptive control of finished cigarette inventory entry and exit, reduces manual teaching, improves inventory entry and exit efficiency, and saves labor costs.
Smart Images
Figure CN118083431B_ABST
Abstract
Description
Technical Field
[0001] This specification relates to data processing technology in one or more embodiments, and more particularly to an adaptive control method, apparatus and electronic equipment for the entry and exit of finished cigarettes. Background Technology
[0002] After finished cigarettes are produced and packaged, they need to be received and stored in a finished cigarette storage and distribution center, awaiting shipment. Because the distribution center receives finished cigarettes from different cigarette factories, and these factories have different palletizing methods and labeling positions, and in addition to regular cigarettes, there is also a need for irregularly shaped cigarettes, the palletizing and unpalletizing robotic arms require manual training before each entry and exit. This makes it impossible for them to adaptively perform the palletizing and unpalletizing processes, resulting in low efficiency and high labor costs. Summary of the Invention
[0003] To address the aforementioned issues, this specification describes an adaptive control method, apparatus, and electronic device for the entry and exit of finished cigarettes from and from warehouses, using one or more embodiments.
[0004] According to the first aspect, an adaptive control method for the entry and exit of finished cigarettes is provided, the method comprising:
[0005] Receive control instructions, determine the object to be processed based on the control type, and obtain the basic information of the object to be processed. The basic information includes cigarette factory information, labeling location information, and cigarette type. The control type is palletizing and warehousing control or depalletizing and warehousing control.
[0006] Based on the cigarette factory information and cigarette type, query the stack-type sequence diagram of the object to be processed;
[0007] The object to be processed is scanned based on the labeling location information, and the control information of the object to be processed is determined based on the stacking timing diagram and control type. The control information includes the grab point, the point movement path and the point control sequence.
[0008] Based on the control information, the control execution object is controlled to grab and move the object to be processed.
[0009] Preferably, the receiving of control instructions, determining the object to be processed based on the control type, includes:
[0010] Receive control commands, respond to the control commands, and determine the control type of the control commands;
[0011] The target region is determined based on the control type, image information of the target region is acquired, and the object to be processed is determined based on the image information.
[0012] Preferably, scanning the object to be processed based on the barcode location information includes:
[0013] Based on the label location information and image information, each scanning point is determined on the object to be processed, and the object is controlled to scan the label sequentially at each of the scanning points.
[0014] Preferably, after scanning the object to be processed based on the label location information, the method further includes:
[0015] The timing diagram of the stack type is verified based on the scanning results.
[0016] Preferably, after determining the control information of the object to be processed based on the stack type timing diagram and control type, the method further includes:
[0017] When the number of capture points exceeds the maximum number of the stack-type timing diagram, the objects to be processed are grouped based on the maximum number.
[0018] Preferably, after controlling the execution object to grasp and move the object to be processed based on the control information, the method further includes:
[0019] Identify unscanned objects and scan them based on the label location information.
[0020] Preferably, the method further includes:
[0021] The total processing time of the objects to be processed is calculated, and the processing efficiency of the objects to be processed is determined based on the total processing time.
[0022] When the processing efficiency is lower than the preset efficiency, the cigarette type of the object to be processed is marked, and a reminder message is sent to the preset terminal.
[0023] According to the second aspect, an adaptive control device for the entry and exit of finished cigarettes is provided, the device comprising:
[0024] The receiving module is used to receive control commands, determine the object to be processed based on the control type, and obtain the basic information of the object to be processed. The basic information includes cigarette factory information, labeling location information, and cigarette type. The control type is palletizing and warehousing control or depalletizing and warehousing control.
[0025] The query module is used to query the stack-type sequence diagram of the object to be processed based on the cigarette factory information and cigarette type;
[0026] The determination module is used to scan the object to be processed based on the labeling location information, and determine the control information of the object to be processed based on the stacking timing diagram and control type. The control information includes the grab point, the point movement path and the point control sequence.
[0027] The control module is used to control the execution object to grab and move the object to be processed based on the control information.
[0028] According to a third aspect, an electronic device is provided, including a processor and a memory;
[0029] The processor is connected to the memory;
[0030] The memory is used to store executable program code;
[0031] The processor runs a program corresponding to the executable program code stored in the memory to perform the steps of the method provided as in the first aspect or any possible implementation thereof.
[0032] According to a fourth aspect, a computer-readable storage medium is provided having a computer program stored thereon, the computer-readable storage medium storing instructions that, when executed on a computer or processor, cause the computer or processor to perform the method provided as in the first aspect or any possible implementation thereof.
[0033] The method and apparatus provided in the embodiments of this specification can automatically identify the object to be processed and obtain its basic information. Then, it can query the stacking time sequence diagram of the object to be processed and generate control information to control the stacking process. It can adaptively generate different control information according to the different objects to be processed, realize adaptive processing of the entry and exit of different types of cigarettes produced by different cigarette factories, save labor costs and improve entry and exit efficiency. Attached Figure Description
[0034] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0035] Figure 1 This is a flowchart illustrating an adaptive control method for the entry and exit of finished cigarettes in one embodiment of this specification.
[0036] Figure 2This is a schematic diagram of the structure of an adaptive control device for the entry and exit of finished cigarettes in one embodiment of this specification.
[0037] Figure 3 This is a schematic diagram of the structure of an electronic device in one embodiment of this specification. Detailed Implementation
[0038] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.
[0039] In the following description, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The following description provides multiple embodiments of this application, which can be substituted or combined with each other. Therefore, this application can also be considered to include all possible combinations of the same and / or different embodiments described. Thus, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then this application should also be considered to include embodiments containing one or more other possible combinations of A, B, C, and D, even if such embodiments are not explicitly described in the following text.
[0040] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the function and arrangement of the described elements without departing from the scope of this application. Various processes or components may be appropriately omitted, substituted, or added to the examples. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.
[0041] See Figure 1 , Figure 1 This is a flowchart illustrating an adaptive control method for the entry and exit of finished cigarettes in an embodiment of this application. In this embodiment, the method includes:
[0042] S101. Receive control instructions, determine the object to be processed based on the control type, and obtain the basic information of the object to be processed.
[0043] The basic information includes cigarette factory information, labeling location information, and cigarette type, and the control type is either palletizing and warehousing control or depalletizing and warehousing control.
[0044] The entity executing this application may be a cloud server.
[0045] In the embodiments described in this specification, whenever a new round of inbound / outbound operations is required, staff will send control commands to the cloud server via mobile phones, computers, tablets, or other terminals. Upon receiving the control commands, the cloud server will parse them to determine the control type, i.e., whether it is an outbound or inbound control. Depending on the control type, the area for this control operation will also differ. The cloud server will use image recognition, laser point cloud recognition, or other methods to determine the object to be processed in the corresponding inbound / outbound area. After determining the object to be processed, its basic information can be obtained through image recognition, identification code reading, etc., thus identifying which cigarette factory produced which type of finished cigarette and the location of the No. 1 engineering code. Furthermore, in addition to determining the cigarette model, the type can also be used to determine whether the cigarette is a regular or non-standard type.
[0046] In one possible implementation, receiving control commands and determining the object to be processed based on the control type includes:
[0047] Receive control commands, respond to the control commands, and determine the control type of the control commands;
[0048] The target region is determined based on the control type, image information of the target region is acquired, and the object to be processed is determined based on the image information.
[0049] In the embodiments of this specification, after receiving a control command, the cloud server can determine the control type corresponding to the control command by responding to the control command. The control areas for inbound and outbound operations are not necessarily the same; therefore, the target area for this control process can only be determined after the control type is determined. Next, the cloud server acquires image information of the target area using a binocular vision camera and identifies the object to be processed from the image information through image recognition. Since the color of the finished cigarettes is significantly different from the surrounding environment, the image recognition process can determine the outline of the finished cigarettes by the pixel values of the pixels, and then match and compare the local images within the outline with standard images of various types of cigarettes stored in the database. The cigarette type of the standard image with the highest similarity is determined as the cigarette type of the object to be processed, and information such as the cigarette factory and labeling location is determined through the associated database corresponding to that cigarette type.
[0050] S102. Based on the cigarette factory information and cigarette type, query the stack-type sequence diagram of the object to be processed.
[0051] In the embodiments of this specification, different cigarette factories may have different standards and requirements for stacking the same type of cigarettes. Therefore, the cloud server will query the database using basic information to determine a stacking sequence diagram that matches the cigarette factory information and cigarette type corresponding to the basic information. This stacking sequence diagram can represent the stacking method of the cigarette factory when stacking this type of cigarette. Specifically, the stacking sequence diagram will show the stacking position of each finished cigarette on each layer, the stacking order, and the points where the finished cigarettes should be grabbed during the stacking process.
[0052] S103. Scan the object to be processed based on the labeling location information, and determine the control information of the object to be processed based on the stacking timing diagram and control type.
[0053] The control information includes the capture point, the point movement path, and the point control sequence.
[0054] In the embodiments described in this specification, the cloud server first determines the position of each No. 1 engineering code in the object to be processed based on the labeling location information, and controls the scanning device to scan and record each No. 1 engineering code. Next, the cloud server determines the grab point of each finished cigarette in the object to be processed, and determines the coordinate position that each finished cigarette needs to be moved to according to the stacking sequence diagram, thereby planning the shortest path for each grab point. Simultaneously, depending on whether it is outbound or inbound, the finished cigarettes may be stacked forward according to the stacking sequence diagram, or they may be unstacked in reverse order according to the stacking sequence. Therefore, the cloud server also needs to determine the point control sequence based on the control type.
[0055] In one possible implementation, scanning the object to be processed based on the barcode location information includes:
[0056] Based on the label location information and image information, each scanning point is determined on the object to be processed, and the object is controlled to scan the label sequentially at each of the scanning points.
[0057] In the embodiments described in this specification, the cloud server will determine each finished cigarette in the object to be processed by image recognition of image information, and determine the position of the No. 1 engineering code, i.e., the scanning point, in the current posture of each finished cigarette by the labeling position information. Then, the cloud server will control the scanning object (e.g., a barcode reader) to move sequentially to each scanning point through a robotic arm, and scan each scanning point respectively.
[0058] In one possible implementation, after scanning the object to be processed based on the barcode location information, the method further includes:
[0059] The timing diagram of the stack type is verified based on the scanning results.
[0060] In the embodiments described in this specification, the cloud server also determines the scanning result, that is, whether the No. 1 engineering code was scanned at the scanning point. The cloud server will use the scanning result to verify the stacking time sequence diagram in reverse. If the scanning results of most scanning points indicate scanning failure, it is considered that the No. 1 engineering code is not actually located at the scanning point. This indicates that the cigarette type and / or cigarette factory information determined in the previous steps is problematic and does not match the actual situation of the finished cigarette, thus leading to the selection of the wrong scanning point. In this case, the obtained stacking time sequence diagram is also mismatched. If the subsequent control process is carried out based on the stacking time sequence diagram, it is easy to cause the finished cigarette to collapse and wear due to unbalanced stacking, or to be damaged due to incorrect gripping points. Therefore, only when most scanning results are normal is the stacking time sequence diagram considered to be successfully verified, and the subsequent step of generating control information will proceed; otherwise, an abnormal alarm will be issued. Furthermore, since the delivered finished cigarettes may be in cartons, the position of the No. 1 engineering barcode on some cartons may be obstructed by the ground before stacking, leading to barcode scanning failure. Therefore, during the verification process, it is not necessary for all barcode scans to indicate that the stacking sequence diagram verification is successful.
[0061] In one possible implementation, after determining the control information of the object to be processed based on the stack-type timing diagram and the control type, the method further includes:
[0062] When the number of capture points exceeds the maximum number of the stack-type timing diagram, the objects to be processed are grouped based on the maximum number.
[0063] In the embodiments of this specification, for structural stability considerations, the number of stacking layers in the stacking sequence diagram is not unlimited; a maximum number of layers is generally set (e.g., 5 layers). Therefore, each stacking sequence diagram will have a corresponding maximum quantity, which is the upper limit of the number of stacks that can be stacked according to that stacking sequence diagram. If the number of cigarette cases is large, resulting in the number of grab points identified in this batch of cigarette cases exceeding the maximum quantity, then it is necessary to divide them into at least two batches for inbound and outbound processing. Therefore, in this case, the cloud server will determine the number of groups based on the ratio of the maximum quantity to the number of grab points, and group the objects to be processed.
[0064] S104. Based on the control information, control the execution object to grab and move the object to be processed.
[0065] In the embodiments of this specification, after the control information is determined, the cloud server will control the execution object (e.g., the pallet unpacking robot) to grasp and move the object to be processed according to the control information, so as to autonomously complete the process of palletizing into the warehouse or unpacking out of the warehouse.
[0066] In one possible implementation, after controlling the execution object to grasp and move the object to be processed based on the control information, the method further includes:
[0067] Identify unscanned objects and scan them based on the label location information.
[0068] In the embodiments described in this specification, some cigarette packs may not be scanned before they are stacked because the object to be scanned cannot be moved to the scanning point (e.g., the scanning point is flush with the ground). These unscanned objects will be marked. After the execution object completes the entire control process, the cloud server will determine the current location of the unscanned objects and then control the scanning object to re-scan and register them.
[0069] In one possible implementation, the method further includes:
[0070] The total processing time of the objects to be processed is calculated, and the processing efficiency of the objects to be processed is determined based on the total processing time.
[0071] When the processing efficiency is lower than the preset efficiency, the cigarette type of the object to be processed is marked, and a reminder message is sent to the preset terminal.
[0072] In the embodiments of this specification, for certain types of irregularly shaped cigarettes, their unique shapes lead to more complex palletizing methods. Although the objects being processed can still be automatically depalletized and depalletized under the control of the control information, the time spent may be longer, affecting overall efficiency. Therefore, the cloud server will calculate the total processing time for each batch of objects to be processed and calculate the processing efficiency of this process based on the total processing time and the total number of cigarettes in the objects to be processed, i.e., how many pieces can be processed per minute. If the processing efficiency is lower than the preset efficiency, it is considered that the efficiency of fully intelligent processing is too low for this type of cigarette from this cigarette factory. The cloud server will mark it and send a reminder message to the preset terminal used by the staff, so that the staff can be notified to handle it manually the next time this type of cigarette is processed.
[0073] The following will be combined with the appendix Figure 2 This application provides a detailed description of the adaptive control device for the entry and exit of finished cigarettes in an embodiment. It should be noted that the appendix... Figure 2 The adaptive control device for the entry and exit of finished cigarettes shown is used to execute the present application. Figure 1 The methods shown in the embodiments are for illustrative purposes only, illustrating the parts relevant to the embodiments of this application. For specific technical details not disclosed, please refer to this application. Figure 1 The example shown.
[0074] Please see Figure 2 , Figure 2 This is a schematic diagram of the structure of an adaptive control device for the entry and exit of finished cigarettes provided in an embodiment of this application. Figure 2 As shown, the device includes:
[0075] The receiving module 201 is used to receive control instructions, determine the object to be processed based on the control type, and obtain the basic information of the object to be processed. The basic information includes cigarette factory information, labeling location information and cigarette type. The control type is palletizing and warehousing control or depalletizing and warehousing control.
[0076] Query module 202 is used to query the stack-type sequence diagram of the object to be processed based on the cigarette factory information and cigarette type;
[0077] The determination module 203 is used to scan the object to be processed based on the labeling location information, and determine the control information of the object to be processed based on the stacking timing diagram and control type. The control information includes the grab point, the point movement path and the point control sequence.
[0078] The control module 204 is used to control the execution object to grab and move the object to be processed based on the control information.
[0079] In one possible implementation, the receiving module 201 is specifically used for:
[0080] Receive control commands, respond to the control commands, and determine the control type of the control commands;
[0081] The target region is determined based on the control type, image information of the target region is acquired, and the object to be processed is determined based on the image information.
[0082] In one possible implementation, the determining module 203 is specifically used for:
[0083] Based on the label location information and image information, each scanning point is determined on the object to be processed, and the object is controlled to scan the label sequentially at each of the scanning points.
[0084] In one possible implementation, the determining module 203 is further configured to:
[0085] The timing diagram of the stack type is verified based on the scanning results.
[0086] In one possible implementation, the determining module 203 is further configured to:
[0087] When the number of capture points exceeds the maximum number of the stack-type timing diagram, the objects to be processed are grouped based on the maximum number.
[0088] In one possible implementation, the control module 204 is further configured to:
[0089] Identify unscanned objects and scan them based on the label location information.
[0090] In one possible implementation, the device further includes:
[0091] The statistics module is used to calculate the total processing time of the object to be processed and determine the processing efficiency of the object to be processed based on the total processing time.
[0092] The marking module is used to mark the cigarette type of the object to be processed when the processing efficiency is lower than the preset efficiency, and to send a reminder message to the preset terminal.
[0093] Those skilled in the art will clearly understand that the technical solutions of the embodiments of this application can be implemented by means of software and / or hardware. In this specification, "unit" and "module" refer to software and / or hardware that can independently complete or cooperate with other components to complete a specific function, wherein the hardware may be, for example, a field-programmable gate array (FPGA), an integrated circuit (IC), etc.
[0094] Each processing unit and / or module in the embodiments of this application can be implemented by an analog circuit that implements the functions described in the embodiments of this application, or by software that executes the functions described in the embodiments of this application.
[0095] See Figure 3 It shows a schematic diagram of the structure of an electronic device according to an embodiment of this application, which can be used to implement... Figure 1 The method in the illustrated embodiment. (As shown) Figure 3 As shown, the electronic device 300 may include: at least one processor 301, at least one network interface 304, user interface 303, memory 305, and at least one communication bus 302.
[0096] The communication bus 302 is used to enable communication between these components.
[0097] The user interface 303 may include a display screen and a camera. Optionally, the user interface 303 may also include a standard wired interface and a wireless interface.
[0098] The network interface 304 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).
[0099] The processor 301 may include one or more processing cores. The processor 301 connects to various parts within the electronic device 300 using various interfaces and lines, and performs various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and by calling data stored in the memory 305. Optionally, the processor 301 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 301 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 301 and may be implemented as a separate chip.
[0100] The memory 305 may include random access memory (RAM) or read-only memory. Optionally, the memory 305 may include a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 305 may also be at least one storage device located remotely from the aforementioned processor 301. Figure 3 As shown, the memory 305, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and program instructions.
[0101] exist Figure 3In the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and to acquire user input data; while the processor 301 can be used to call the adaptive control application for finished cigarette inventory stored in the memory 305, and specifically perform the following operations:
[0102] Receive control instructions, determine the object to be processed based on the control type, and obtain the basic information of the object to be processed. The basic information includes cigarette factory information, labeling location information, and cigarette type. The control type is palletizing and warehousing control or depalletizing and warehousing control.
[0103] Based on the cigarette factory information and cigarette type, query the stack-type sequence diagram of the object to be processed;
[0104] The object to be processed is scanned based on the labeling location information, and the control information of the object to be processed is determined based on the stacking timing diagram and control type. The control information includes the grab point, the point movement path and the point control sequence.
[0105] Based on the control information, the control execution object is controlled to grab and move the object to be processed.
[0106] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method. The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives, as well as magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.
[0107] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.
[0108] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.
[0109] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some service interface; the indirect coupling or communication connection between devices or units may be electrical or other forms.
[0110] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0111] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.
[0112] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.
[0113] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.
[0114] The foregoing description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Those skilled in the art will readily conceive of embodiments of this disclosure upon considering the specification and practicing the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described herein. The specification and embodiments are to be considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.
Claims
1. An adaptive control method for the entry and exit of finished cigarettes, characterized in that, The method includes: Receive control instructions, determine the object to be processed based on the control type, and obtain the basic information of the object to be processed. The basic information includes cigarette factory information, labeling location information, and cigarette type. The control type is palletizing and warehousing control or depalletizing and warehousing control. Based on the cigarette factory information and cigarette type, query the stack-type sequence diagram of the object to be processed; The object to be processed is scanned based on the labeling location information, and the control information of the object to be processed is determined based on the stacking timing diagram and control type. The control information includes the grab point, the point movement path and the point control sequence. Based on the control information, the control execution object is controlled to grasp and move the object to be processed; The receiving of control commands, and determining the object to be processed based on the control type, includes: Receive control commands, respond to the control commands, and determine the control type of the control commands; The target region is determined based on the control type, image information of the target region is acquired, and the object to be processed is determined based on the image information. The step of scanning the object to be processed based on the label location information includes: Based on the label location information and image information, each scanning point is determined on the object to be processed, and the object is controlled to scan the code at each of the scanning points in sequence. After scanning the object to be processed based on the labeled location information, the process further includes: The stacking sequence diagram is verified based on the scanning results. The stacking sequence diagram will show the stacking position of each finished cigarette on each layer, the stacking order, and the point where the finished cigarette should be grabbed during the stacking process. After determining the control information of the object to be processed based on the stack type timing diagram and control type, the method further includes: When the number of capture points exceeds the maximum number of the stack-type timing diagram, the objects to be processed are grouped based on the maximum number.
2. The method according to claim 1, characterized in that, After controlling the execution object to grasp and move the object to be processed based on the control information, the process further includes: Identify unscanned objects and scan them based on the label location information.
3. The method according to claim 1, characterized in that, The method further includes: The total processing time of the objects to be processed is calculated, and the processing efficiency of the objects to be processed is determined based on the total processing time. When the processing efficiency is lower than the preset efficiency, the cigarette type of the object to be processed is marked, and a reminder message is sent to the preset terminal.
4. An adaptive control device for the entry and exit of finished cigarettes, used to perform the steps of the method as described in any one of claims 1-3, characterized in that, The device includes: The receiving module is used to receive control commands, determine the object to be processed based on the control type, and obtain the basic information of the object to be processed. The basic information includes cigarette factory information, labeling location information, and cigarette type. The control type is palletizing and warehousing control or depalletizing and warehousing control. The query module is used to query the stack-type sequence diagram of the object to be processed based on the cigarette factory information and cigarette type; The determination module is used to scan the object to be processed based on the labeling location information, and determine the control information of the object to be processed based on the stacking timing diagram and control type. The control information includes the grab point, the point movement path and the point control sequence. The control module is used to control the execution object to grasp and move the object to be processed based on the control information; Specifically, the receiving module is used for: Receive control commands, respond to the control commands, and determine the control type of the control commands; The target region is determined based on the control type, image information of the target region is acquired, and the object to be processed is determined based on the image information. The module is specifically used for: Based on the label location information and image information, each scanning point is determined on the object to be processed, and the object is controlled to scan the code at each of the scanning points in sequence. The module is also specifically used for: The stacking sequence diagram is verified based on the scanning results. The stacking sequence diagram will show the stacking position of each finished cigarette on each layer, the stacking order, and the point where the finished cigarette should be grabbed during the stacking process. The module is also specifically used for: When the number of capture points exceeds the maximum number of the stack-type timing diagram, the objects to be processed are grouped based on the maximum number.
5. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1-3.
6. A computer-readable storage medium having a computer program stored thereon, the computer-readable storage medium storing instructions that, when executed on a computer or processor, cause the computer or processor to perform the steps of the method as claimed in any one of claims 1-3.