A ton bag intelligent grabbing control method and system

Abstract

The present invention provides a ton bag intelligent grab control method and system, the method comprising the following steps: moving the sling assembly to the initial position of the ton bag by the moving assembly; using image recognition technology to identify the magnetic area containing the positioning magnet in the top image of the ton bag; using the moving assembly and the lifting module to move the ton bag grab module according to the ton bag grabbing sequence until the electromagnet unit is magnetically connected with the positioning magnet, and controlling the ton bag grab module to grab the target ton bag in sequence; when the ton bag grab module grabs any of the target ton bags, using the moving assembly to move the target ton bag to above the target placement position, and using the lifting module and the ton bag grab module to place the target ton bag at the target placement position. The present invention achieves the effect of improving the efficiency of the sling for lifting goods.

Description

Technical Field

[0001] The present invention belongs to the technical field of automated transport equipment, and in particular relates to a ton-bag intelligent grabbing control method and system. Background Art

[0002] When a sling is used to lift goods, it is usually necessary to use the hook on the sling to lift the goods to ensure the balance of the lifting of the goods. In the prior art, a multifunctional rotating sling is usually used, which has the advantage of achieving vertical lifting and horizontal rotation by setting a balanced slewing mechanism and a rotating mechanism, solving the problem of smooth transition and balance between the position of the workpiece before lifting and the position during lifting, so that the workpiece can be used in assembly stations at different angles, and can be lifted vertically or horizontally. A variety of balanced rotating slings are integrated into one, and the slings can be converted according to different needs.

[0003] With regard to the above-mentioned related technologies, the inventors believe that the following defects exist: before the hook of the sling lifts the ton bag, the staff is usually required to hang the sling of the ton bag on the hook first to realize the lifting of the goods by the hook. This method is not only time-consuming and labor-intensive, but also affects the efficiency of the sling in lifting the goods, and the degree of automation is very backward, which increases the labor intensity of the staff. In addition, the ton bag will swing when being lifted, making the sling of the ton bag easy to fall off the hook, resulting in many safety hazards during the lifting process of the ton bag, which in turn affects the lifting effect of the sling on the ton bag. It is inconvenient to use and cannot meet the actual use needs, reducing the efficiency and effect of the use of the sling. Summary of the invention

[0004] In order to solve the problem that before the hook of the sling lifts the ton bag, the staff is usually required to hang the sling of the ton bag on the hook first, the degree of automation is very backward, and the ton bag will swing when being lifted, so that the sling of the ton bag is easy to fall off the hook, resulting in many safety hazards in the lifting process of the ton bag, the present application provides a ton bag intelligent grabbing control method and system.

[0005] In a first aspect, the present invention provides a ton-bag intelligent grabbing control method, which is applied to a ton-bag grabbing device, wherein the ton-bag grabbing device comprises a support frame, a mobile hanger frame is arranged on the support frame, the mobile hanger frame comprises a moving assembly and a hanger assembly, the moving assembly is used to drive the hanger assembly to move horizontally on the support frame, the hanger assembly comprises a driving clamping module, a lifting module and a ton-bag grabbing module, the driving clamping module is fixedly arranged below the moving assembly, the driving clamping module is used to limit the ton-bag grabbed by the ton-bag grabbing module, the lifting module is arranged below the driving clamping module, the ton-bag grabbing module is arranged below the lifting module, the ton-bag grabbing module comprises the ton-bag grabbing unit and an image acquisition unit, and the lifting module is used to control the vertical movement of the ton-bag grabbing unit;

[0006] The method comprises the following steps:

[0007] Obtaining multiple ton-bag grabbing tasks for target ton-bags to be transferred, determining the initial ton-bag positions where all the target ton-bags are temporarily placed and the target placement positions of the target ton-bags according to the ton-bag grabbing tasks, and determining the preset identification code arrangement order according to the ton-bag grabbing tasks, wherein an identification picture is provided on the upper surface of each target ton-bag, and the identification picture displays a unique identification code;

[0008] Moving the spreader assembly to the initial position of the ton bag by the moving assembly;

[0009] When the spreader assembly reaches the initial position of the ton bag, the image acquisition unit is used to acquire the top images of all the target ton bags in real time;

[0010] The image of the top of the ton bag is identified by image recognition technology to obtain the identification code recognition result of the identification picture, and the identification code recognition result is arranged according to the identification code arrangement order to obtain the ton bag grabbing order of all the target ton bags;

[0011] Using the moving assembly and the lifting module to move the ton bag grabbing module according to the ton bag grabbing sequence, and controlling the ton bag grabbing module to grab the target ton bags in sequence;

[0012] When the ton bag grabbing module grabs any of the target ton bags, the moving component is used to move the target ton bag above the target placement position, and the lifting module and the ton bag grabbing module are used to place the target ton bag at the target placement position.

[0013] Optionally, a positioning magnet is provided on the bag belt of each target bag, and the image recognition technology is used to identify the top image of the bag to obtain the identification code recognition result of the identification picture, and the identification code recognition results are arranged according to the identification code arrangement order to obtain the bag grabbing order of all the target bags, including the following steps:

[0014] Using image recognition technology to identify the magnetic area containing the positioning magnet and the identification area containing the identification picture in the top image of the ton bag;

[0015] Counting the number of first areas of all the magnet areas and the number of second areas of all the identification areas in the top image of the ton bag, and counting the number of identification codes based on the arrangement order of the identification codes;

[0016] Determining whether the number of the first areas and the number of the second areas are both the same as the number of the identification codes;

[0017] If the number of the first regions and the number of the second regions are both the same as the number of identification codes, parsing the identification images in all the identification regions to obtain identification code recognition results;

[0018] The identification code recognition results are arranged according to the identification code arrangement order to obtain the ton-bag grabbing order of all the target ton-bags.

[0019] Optionally, the step of using image recognition technology to identify the magnet area containing the positioning magnet and the identification area containing the identification picture in the top image of the ton bag comprises the following steps:

[0020] Preprocessing the top image of the ton bag;

[0021] Using an edge detection algorithm to mark a plurality of initial image regions in the preprocessed image of the top of the ton bag;

[0022] Using a preset image recognition model, a target image region including the positioning magnet or the identification image is identified from the plurality of initial image regions;

[0023] The target image area is classified into a magnet area including the positioning magnet and a logo area including the logo picture through a feature matching algorithm.

[0024] Optionally, the ton bag grabbing module further includes an electromagnet unit, and the lifting module is further used to control the vertical movement of the electromagnet unit. The use of the moving assembly and the lifting module to move the ton bag grabbing module according to the ton bag grabbing sequence, and controlling the ton bag grabbing module to grab the target ton bags in sequence includes the following steps:

[0025] The identification picture corresponding to the identification code recognition result of the first order in the ton bag grabbing sequence is used as the target identification picture;

[0026] Keep the target identification area containing the target identification picture in the top image of the ton bag, and hide all other identification areas;

[0027] Marking the magnet region closest to the target identification region among all the magnet regions as a target magnet region, and hiding the target identification region and all other magnet regions;

[0028] Using the moving assembly to move the ton bag grabbing module until the area center point of the target magnet area coincides with the image center point of the ton bag top image;

[0029] The lifting module is used to move the ton-bag grabbing module vertically downward, and the ton-bag grabbing module is controlled to grab the target ton-bag.

[0030] Optionally, marking the magnet region closest to the target identification region among all the magnet regions as the target magnet region comprises the following steps:

[0031] Determine the first center point coordinates of the area center point of each of the magnet areas in the top image of the ton bag respectively;

[0032] Determine the coordinates of a second center point of the target center point of the target identification area in the top image of the ton bag;

[0033] Calculate the Euclidean distance between the coordinates of the first center point and the coordinates of the second center point respectively;

[0034] The magnet region corresponding to the coordinates of the first center point with the smallest Euclidean distance is marked as a target magnet region.

[0035] Optionally, the step of using the lifting module to vertically move the ton bag grabbing module downward and controlling the ton bag grabbing module to grab the target ton bag comprises the following steps:

[0036] Controlling the current in the electromagnet unit to increase to a preset first current magnitude;

[0037] Using the lifting module to vertically move the electromagnet unit and the ton bag grabbing unit downward until the electromagnet unit is magnetically connected to the positioning magnet;

[0038] Controlling the current in the electromagnet unit to increase from the first current magnitude to a preset second current magnitude;

[0039] The lifting module is used to vertically move the electromagnet unit and the ton bag grabbing unit upward, and the pulling force value of the electromagnet unit is monitored in real time;

[0040] When the pulling force value exceeds the preset pulling force threshold, the vertical upward movement process of the electromagnet unit and the ton bag grabbing unit is suspended, the ton bag grabbing unit is controlled to grab the target ton bag, and the current in the electromagnet unit is set to 0;

[0041] The lifting module is used to continue to vertically move the electromagnet unit and the ton bag grabbing unit upward until the upper limit of the vertical movement of the lifting module is reached.

[0042] Optionally, after the ton bag grabbing module grabs any of the target ton bags, using the moving component to move the target ton bag to above the target placement position includes the following steps:

[0043] When the ton bag grabbing module grabs any of the target ton bags, the ton bag weight of the target ton bag is detected by the ton bag grabbing module, and the image acquisition unit is used to acquire the identification image including the identification image on the target ton bag;

[0044] generating a clamping strategy for the driving clamping module based on the weight of the ton bag and the identification image, and controlling the driving clamping module to limit the target ton bag based on the clamping strategy;

[0045] Obtaining the current location of the mobile component;

[0046] generating a moving path of the mobile component based on the current positioning position and the target placement position;

[0047] The target ton bag is moved to above the target placement position by using the moving component according to the moving path.

[0048] Optionally, the driving clamping module includes a driving box and two clamping units, the driving box is fixedly arranged below the moving assembly, the lifting module is arranged below the driving clamping module, the two clamping units are arranged opposite to each other on the side walls of the driving box, the driving box is used to control the horizontal movement and / or vertical movement of the two clamping units, and a clamping block is arranged at one end of the two clamping units away from the driving box;

[0049] The generating of the clamping strategy of the driving clamping module based on the weight of the ton bag and the identification image, and controlling the driving clamping module to limit the target ton bag based on the clamping strategy comprises the following steps:

[0050] Determine whether the weight of the ton bag is greater than a preset weight threshold;

[0051] If the weight of the ton bag is less than or equal to the weight threshold, a first clamping strategy of the driving clamping module is generated, and based on the clamping strategy, the driving clamping module is controlled to limit the target ton bag. The first clamping strategy is to control the two clamping units through the driving box to drive the clamping block to move vertically downward for a preset first clamping block movement distance, and then control the two clamping units through the driving box to drive the clamping blocks to move horizontally toward the target ton bag until the two clamping blocks are in contact with the outer surface of the target ton bag;

[0052] If the weight of the ton bag exceeds the weight threshold, it is determined whether the complete identification image in the identification image is recognized by using image recognition technology;

[0053] If the complete identification picture in the identification image is identified by image recognition technology, a second clamping strategy for the driving clamping module is generated, and based on the clamping strategy, the driving clamping module is controlled to limit the target ton bag, wherein the second clamping strategy is to control the two clamping units by the driving box to drive the clamping block to move vertically downward by a preset second clamping block moving distance, and then control the two clamping units by the driving box to drive the clamping blocks to move horizontally toward the target ton bag until the two clamping blocks are in contact with the outer surface of the target ton bag, and the second clamping block moving distance is greater than the first clamping block moving distance;

[0054] If the complete identification image in the identification image is not recognized by using image recognition technology, a third clamping strategy for the driving clamping module is generated, and based on the clamping strategy, the driving clamping module is controlled to limit the target ton bag. The third clamping strategy is to control the two clamping units by the driving box to drive the clamping block to move vertically downward a preset third clamping block moving distance, and then control the two clamping units by the driving box to drive the clamping blocks to move horizontally toward the target ton bag until the two clamping blocks are in contact with the outer surface of the target ton bag, and the third clamping block moving distance is greater than the second clamping block moving distance.

[0055] Optionally, the method further comprises the following steps:

[0056] In the process of moving the target ton bag along the moving path using the moving assembly, the two clamping units are controlled by the driving box to move in the opposite direction of the moving direction of the target ton bag.

[0057] In the second aspect, the present application also provides a ton-bag intelligent grabbing control system, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, it implements the ton-bag intelligent grabbing control method as described in the first aspect.

[0058] The beneficial effects of the present invention are:

[0059] By using image recognition technology and automated control, the intelligent grabbing and placement of ton bags is realized, the tedious and unsafe manual operation is avoided, the efficiency and automation of cargo lifting by the sling are significantly improved, the labor intensity of the staff is reduced, and the top image of the ton bag is collected in real time by the image acquisition unit, and the identification code on the identification picture is identified by image recognition technology, so as to accurately determine the position and grabbing order of the ton bag, ensure the stable grabbing and placement of the ton bag, avoid the swaying of the ton bag and the falling off of the sling during the lifting process, and thus improve the efficiency and safety of the sling. Compared with the prior art, the present invention can not only realize vertical and horizontal rotation lifting, but also solve the time-consuming and labor-intensive problems through intelligent grabbing and placement methods, improve the convenience and reliability of operation, and meet the actual use needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 This is a schematic diagram of the overall structure of a ton bag grabbing device in one embodiment of the present application.

[0061] Figure 2 This is a schematic diagram of the structure of a sling assembly in one embodiment of the present application.

[0062] Figure 3 This is a flow chart of a method for intelligent grabbing and controlling ton bags in one of the embodiments of the present application.

[0063] Description of reference numerals:

[0064] 1. Support frame; 2. Mobile spreader frame; 3. Target ton bag; 21. Mobile assembly; 22. Spreader assembly; 31. Positioning magnet; 32. Identification picture; 221. Drive clamping module; 222. Lifting module; 223. Ton bag grabbing module; 2211. Drive box; 2212. Clamping unit; 2231. Ton bag grabbing unit; 2232. Electromagnet unit; 2233. Image acquisition unit. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0066] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0067] Reference Figure 1 and Figure 2 The intelligent grabbing control method for ton bags disclosed in the present invention is applied to a ton bag grabbing device, which is used to grab and move target ton bags 3 to be transferred. A positioning magnet 31 is arranged on the ton bag belt of each target ton bag 3, and an identification picture 32 is arranged on the upper surface of each target ton bag 3. The identification picture 32 displays a unique identification code, which can be a bar code, a QR code or a digital code. The ton bag grabbing device includes a support frame 1, on which a mobile hanger frame 2 is arranged, and the mobile hanger frame 2 includes a moving component 21 and a hanger component 22. The moving component 21 can be a gantry truck, and the moving component 21 is used to drive the hanger component 22 to move horizontally in four directions of front, back, left and right on the support frame 1. The hanger component 22 includes a driving clamping module 221, a lifting module 222 and a ton bag grabbing module 223. The driving clamping module 221 is fixedly arranged below the moving component 21, and the driving clamping module 221 is used to limit the ton bag grabbed by the ton bag grabbing module 223. The lifting module 222 is arranged below the driving clamping module 221, and the ton bag grabbing module 223 is arranged below the lifting module 222. The ton bag grabbing module 223 includes a ton bag grabbing unit 2231 and an image acquisition unit 2233. The lifting module 222 can control the vertical movement of the ton bag grabbing unit 2231 through a hydraulic rod or an electric lifting rod. The ton bag grabbing unit 2231 includes a rotatable grab hook and a tension sensor for detecting the real-time tension of the grab hook.

[0068] In one embodiment, the bag grabbing module 223 further includes an electromagnet unit 2232, in which a tension sensor is provided, and the magnetic pole of the electromagnet unit 2232 after being energized is different from the magnetic pole of the positioning magnet 31 on any target bag 3, and the lifting module 222 can also control the vertical movement of the electromagnet unit 2232 through a hydraulic rod or an electric lifting rod. The driving clamping module 221 includes a driving box 2211 and two clamping units 2212, the driving box 2211 is fixedly arranged below the moving assembly 21, the lifting module 222 is arranged below the driving clamping module 221, and the two clamping units 2212 are arranged opposite to each other on the side wall of the driving box 2211.

[0069] like Figure 2 As shown, the clamping unit 2212 includes a first short connecting rod, a second short connecting rod and a long connecting rod, one end of the first short connecting rod extends from the middle position of the side wall of the driving box 2211 to the inside of the driving box 2211, and the first short connecting rod is movably connected to the side wall of the driving box 2211, and one end of the first short connecting rod away from the driving box 2211 is movably connected to the long connecting rod. One end of the first short connecting rod inside the driving box 2211 is fixedly connected to a fixed block, and the fixed block is sleeved on a vertically arranged screw rod in the driving box 2211. The screw rod is driven by a motor inside the driving box 2211. When the motor drives the screw rod to rotate, the fixed block will move vertically up and down on the screw rod, and at this time, the fixed block will drive the long connecting rod to move vertically up and down through the first short connecting rod. One end of the second short connecting rod extends from the bottom of the side wall of the driving box 2211 to the inside of the driving box 2211, and the end of the second short connecting rod away from the driving box 2211 is movably connected to the long connecting rod. The end of the second short connecting rod inside the driving box 2211 is connected to the hydraulic rod horizontally arranged inside the driving box 2211. The hydraulic rod inside the driving box 2211 can control the horizontal movement of the second short connecting rod through the hydraulic press inside the driving box 2211. The two clamping units 2212 are both provided with clamping blocks at their ends away from the driving box 2211, and the clamping blocks are provided with pressure sensors.

[0070] Figure 3 FIG. 1 is a flow chart of a method for controlling the intelligent grabbing of ton bags in one embodiment. It should be understood that although Figure 3 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 3 At least part of the steps in the above method may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps. Figure 3 As shown, the intelligent grabbing control method for ton bags disclosed in the present invention specifically includes the following steps:

[0071] S101. Obtain ton-bag grabbing tasks for multiple target ton-bags to be transferred, determine the initial positions of all target ton-bags where they are temporarily placed and the target placement positions of each target ton-bag according to the ton-bag grabbing tasks, and determine the preset identification code arrangement order according to the ton-bag grabbing tasks.

[0072] Among them, before starting the ton bag grabbing task, it is necessary to first obtain detailed information of multiple target ton bags to be transferred. This information includes the initial position and target placement position of each target ton bag. The initial position refers to the specific position of the ton bag before it is grabbed, while the target placement position refers to the final position where the ton bag needs to be placed after it is transferred. In addition, it is necessary to determine the unique identification code of each target ton bag and sort them according to the preset identification code arrangement order. Each target ton bag is affixed with an identification picture on the upper surface, which shows a unique identification code, which can be a barcode, QR code or digital code. By reading these identification codes, each ton bag can be accurately identified and its order and position in the entire grabbing and placing process can be determined. For example, assuming there are three target ton bags with identification codes A1, B2, and C3, the order of grabbing and placing is determined according to the preset order (such as A1-B2-C3).

[0073] S102. Move the spreader assembly to the initial position of the ton bag by moving the assembly.

[0074] Among them, the mobile component usually adopts a gantry structure, which can realize horizontal movement in four directions: front, back, left and right on the support frame. The design of the gantry structure allows the spreader assembly to be flexibly moved to the position of any target ton bag. The precise positioning function of the mobile component ensures that the spreader assembly can accurately reach the initial position of each target ton bag, preparing for subsequent grabbing operations. For example, if the initial position of the target ton bag is in a corner of the warehouse, according to the preset path and position parameters, the mobile component moves along the support frame until the spreader assembly reaches the target position. In order to ensure the smoothness and accuracy of the moving process, the position information of the mobile component is monitored in real time, and necessary adjustments are made. The implementation of this step ensures that the spreader assembly can accurately reach the initial position of the ton bag, providing a basis for subsequent grabbing operations.

[0075] S103. When the spreader assembly reaches the initial position of the ton bag, the image acquisition unit is used to acquire the top images of all target ton bags in real time.

[0076] Among them, the image acquisition unit usually uses a high-resolution camera, which can clearly capture the logo image on the top of the ton bag. In order to ensure the accuracy of image acquisition, the exposure and focus parameters of the camera are automatically adjusted according to the ambient light conditions. For example, if the ambient light is dim, the exposure time of the camera will be automatically increased to ensure that a clear image is obtained. In this way, high-quality logo images can be obtained to provide data support for subsequent image recognition. In actual operation, the camera is controlled to aim at the top of the ton bag, and the logo image of each target ton bag is obtained by real-time image acquisition.

[0077] S104. Use image recognition technology to identify the top image of the ton bag to obtain the identification code recognition result of the identification image, arrange the identification code recognition result according to the identification code arrangement order, and obtain the ton bag grabbing order of all target ton bags.

[0078] Among them, the image recognition technology includes steps such as image preprocessing, feature extraction and pattern matching. First, the collected image is preprocessed, such as grayscale, binarization and denoising, to improve the image quality. Then, the key features in the image are extracted by the feature extraction algorithm, such as the stripes of the barcode, the black and white modules of the QR code or the shape of the digital code. Finally, the extracted features are matched with the preset identification code library to identify the identification code on each identification image. For example, if the image contains a QR code, the information in the QR code is decoded by the QR code recognition algorithm, and it is compared with the preset identification code library to determine the specific content of the identification code. The identified identification codes are arranged in a preset arrangement order to obtain the grabbing order of all target ton packages. The implementation of this step ensures that the identification code of each target ton package can be accurately identified, and the grabbing and placement operations are performed according to the preset order, which improves the efficiency and accuracy of the operation.

[0079] S105. Use the moving assembly and the lifting module to move the ton-bag grabbing module according to the ton-bag grabbing sequence, and control the ton-bag grabbing module to grab the target ton-bags in sequence.

[0080] Among them, the moving component drives the spreader component to move on the support frame, so that the ton bag grabbing module can accurately reach the position of each target ton bag. The lifting module controls the vertical movement of the ton bag grabbing module through a hydraulic rod or an electric lifting rod, so that the grab hook can accurately grab the bag strap of the ton bag. The grab hook in the ton bag grabbing module can rotate to ensure that the bag strap of the ton bag can be firmly grasped. The tension sensor detects the tension of the grab hook in real time to ensure the safety and stability of the grabbing process. For example, after identifying the identification code of the first target ton bag, the moving component will drive the spreader component to move to the initial position of the ton bag, and the lifting module will control the grab hook to descend and grab the bag strap of the ton bag. After the tension sensor detects that the tension of the grab hook reaches the preset value, it confirms that the grab is successful and is ready to move to the position of the next target ton bag.

[0081] S106. After the ton-bag grabbing module grabs any target ton-bag, it uses the moving component to move the target ton-bag above the target placement position, and uses the lifting module and the ton-bag grabbing module to place the target ton-bag at the target placement position.

[0082] Among them, when the ton bag grabbing module successfully grabs the target ton bag, the moving component is used to move the target ton bag above the target placement position. The precise positioning function of the moving component ensures that the target ton bag can accurately reach the target placement position. Then, the lifting module controls the vertical movement of the ton bag grabbing module through a hydraulic rod or an electric lifting rod to slowly place the target ton bag on the target placement position. For example, if the target placement position is in a certain area of ​​the warehouse, according to the preset path and position parameters, the moving component moves along the support frame until the target ton bag reaches above the target placement position. In order to ensure the stability of the placement process, the drive box and clamping unit in the drive clamping module will limit the ton bag to prevent the ton bag from tilting or moving during the placement process. The pressure sensor on the clamping unit monitors the clamping force in real time to ensure that the ton bag can be firmly placed at the target position.

[0083] In one embodiment, the image recognition technology is used to identify the top image of the ton bag to obtain the identification code recognition result of the identification picture, and the identification code recognition result is arranged according to the identification code arrangement order to obtain the ton bag grabbing order of all target ton bags, including the following steps:

[0084] Image recognition technology is used to identify the magnetic area containing the positioning magnet and the logo area containing the logo image in the top image of the ton bag;

[0085] Count the number of first areas of all magnet areas and the number of second areas of all identification areas in the top image of the ton bag, and count the number of identification codes based on the arrangement order of the identification codes;

[0086] Determine whether the number of the first area and the number of the second area are both the same as the number of identification codes;

[0087] If the number of the first regions and the number of the second regions are both the same as the number of identification codes, parsing the identification images in all identification regions to obtain identification code recognition results;

[0088] Arrange the identification code recognition results according to the identification code arrangement order to obtain the ton-bag grabbing order of all target ton-bags.

[0089] In this embodiment, the implementation principle of the image recognition technology mainly includes steps such as image acquisition, preprocessing, region segmentation and feature extraction. First, the image of the top of the ton bag is collected in real time by a high-resolution camera. In order to ensure the clarity of the image, the exposure and focus parameters of the camera will be automatically adjusted according to the ambient light conditions. Next, the collected image is preprocessed, including grayscale, binarization and denoising, to improve the quality of the image. Then, the image is divided into multiple regions by an image segmentation algorithm, and the features of the magnet region and the logo region are identified by a feature extraction algorithm. The magnet region contains a positioning magnet, and the logo region contains a logo image. In this way, the magnet region and the logo region in the image can be accurately identified. If the image contains multiple magnets and logo images, the location and quantity of these regions can be identified by a feature extraction algorithm, providing data support for subsequent statistics and analysis.

[0090] After identifying the magnet area and the identification area, the next step is to count the number of first areas of all magnet areas and the number of second areas of all identification areas in the top image of the ton bag, and count the number of identification codes based on the identification code arrangement order. First, the number of all magnet areas in the image, that is, the number of first areas, is counted using the area counting algorithm. Then the number of all identification areas, that is, the number of second areas, is counted. Next, the number of identification codes is counted according to the preset identification code arrangement order. For example, if the preset identification code arrangement order is A1-B2-C3, the number of identification codes is 3.

[0091] After counting the number of first areas and the number of second areas, it is necessary to determine whether the number of first areas and the number of second areas are the same as the number of identification codes. Compare the counted number of first areas and second areas with the number of identification codes to check whether they are the same. If the numbers are the same, it means that the identified magnet areas and identification areas are correct, and the number of identification codes is consistent with expectations. For example, if the counted number of first areas and second areas is 3, and the number of identification codes is also 3, it means that the results of identification and statistics are correct. If the numbers are inconsistent, it means that at least one of the following situations occurs: the positioning magnet of the ton bag is blocked, the identification image on the ton bag is blocked, the identification image on the ton bag is contaminated, the number of ton bags in the initial position of the ton bag exceeds the number of ton bags to be grabbed in this ton bag grabbing task, and the number of ton bags in the initial position of the ton bag is less than the number of ton bags to be grabbed in this ton bag grabbing task.

[0092] If the number of first areas and the number of second areas are the same as the number of identification codes, then it is necessary to parse the identification images in all identification areas to obtain the identification code recognition result. The implementation principle of identification code parsing mainly includes image decoding and information extraction. First, the identification image is parsed by an image decoding algorithm to extract the identification code information. The identification code is usually a barcode, a QR code or a digital code, and the specific identification code content can be obtained through the corresponding decoding algorithm. For example, if the identification image contains a QR code, the information in the QR code can be decoded by the QR code recognition algorithm and converted into an identification code. Then, all identification codes are summarized to obtain the identification code recognition result.

[0093] After obtaining the identification code recognition results, it is finally necessary to arrange the identification code recognition results according to the identification code arrangement order to obtain the grabbing order of all target ton bags. The implementation principle of the arrangement mainly includes sequential sorting and grabbing plan generation. First, sort the identification code recognition results according to the preset identification code arrangement order. The preset identification code arrangement order is usually determined according to actual operation requirements and the placement order of ton bags. Then, a grabbing plan is generated according to the sorted identification codes to determine the grabbing order and placement position of each target ton bag. For example, if the preset arrangement order of the identification code is A1-B2-C3, by sorting the identification code recognition results, the grabbing order can be obtained as A1-B2-C3. Then, a grabbing plan is generated according to the grabbing order to determine the grabbing and placement steps for each target ton bag.

[0094] In one embodiment, using image recognition technology to identify the magnetic area containing the positioning magnet and the identification area containing the identification picture in the top image of the ton bag includes the following steps:

[0095] Preprocess the ton bag top image;

[0096] An edge detection algorithm is used to mark multiple initial image regions in the preprocessed ton bag top image;

[0097] Using a preset image recognition model, a target image region including a positioning magnet or a logo image is identified from a plurality of initial image regions;

[0098] The target image area is classified into a magnet area containing a positioning magnet and a logo area containing a logo image through a feature matching algorithm.

[0099] In this embodiment, the implementation principle of the preprocessing mainly includes the steps of image acquisition, grayscale, denoising and enhancement. First, an image of the top of the ton bag is collected by a high-resolution camera. In order to ensure the quality of the image, the parameters of the camera such as exposure time and focus distance will be automatically adjusted according to the ambient light conditions. Next, the collected image is grayscaled to convert the color image into a grayscale image, which can simplify the subsequent image processing steps. Then, a denoising algorithm is used to remove noise in the image to improve the clarity and quality of the image. Commonly used denoising algorithms include Gaussian filtering, median filtering, etc. In addition, the image can also be enhanced, for example, by contrast stretching and histogram equalization to enhance the edges and details of the image. Through these preprocessing steps, a high-quality grayscale image can be obtained, which provides a good foundation for subsequent edge detection and target recognition.

[0100] Based on the preprocessed image, it is necessary to use an edge detection algorithm to mark multiple initial image regions in the image. The implementation principle of edge detection mainly includes edge detection operators and region marking algorithms. First, the edges in the image are detected by edge detection operators (such as Canny operator, Sobel operator, etc.). The edge detection operator can detect areas with large grayscale changes in the image, which usually correspond to the boundaries of objects. Then, the detected edges are connected into closed areas through the region marking algorithm to mark multiple initial image areas. The region marking algorithm can use a connected domain marking algorithm to traverse the pixels in the image and connect adjacent edge points into a complete area.

[0101] After marking the initial image area, the next step is to use a preset image recognition model to identify the target image area containing the positioning magnet or the identification picture from multiple initial image areas. The implementation principle of the image recognition model mainly includes model training and target recognition. First, the image recognition model is trained with a large amount of sample data. The sample data includes images containing positioning magnets and identification pictures, as well as images that do not contain targets. By performing feature extraction and classification training on these sample data, an image recognition model that can accurately identify the target can be obtained. Commonly used image recognition models include deep learning models such as convolutional neural networks (CNNs). Then, the preprocessed image is input into the trained image recognition model, and the model is used to identify each initial image area in the image to determine whether it contains a positioning magnet or a identification picture.

[0102] After identifying the target image area, the target image area needs to be classified into a magnet area containing a positioning magnet and a logo area containing a logo picture through a feature matching algorithm. The implementation principle of feature matching mainly includes feature extraction and matching algorithms. First, the feature information in the target image area is extracted through a feature extraction algorithm. The feature information can be the texture, shape, color, etc. of the image, and the feature extraction algorithm can convert this information into a feature vector. Then, the extracted feature vector is matched with a preset feature library through a feature matching algorithm to determine the category of the target image area. Commonly used feature matching algorithms include SIFT (Scale Invariant Feature Transform) and SURF (Speeded Robust Features). For example, if the target image area contains a magnet, the feature matching algorithm can match its feature vector with the feature library of the magnet to determine that it is a magnet area; if the target image area contains a logo picture, the feature matching algorithm can match its feature vector with the feature library of the logo picture to determine that it is a logo area.

[0103] In one embodiment, using the moving assembly and the lifting module to move the ton bag grabbing module according to the ton bag grabbing sequence, and controlling the ton bag grabbing module to grab the target ton bags in sequence includes the following steps:

[0104] The identification picture corresponding to the identification code recognition result of the first order in the ton package grabbing sequence is used as the target identification picture;

[0105] Keep the target logo area containing the target logo image in the top image of the ton package, and hide all other logo areas;

[0106] Mark the magnet area closest to the target identification area among all magnet areas as the target magnet area, and hide the target identification area and all other magnet areas;

[0107] Using the moving assembly to move the ton bag grabbing module until the area center point of the target magnet area coincides with the image center point of the top image of the ton bag;

[0108] The lifting module is used to move the ton-bag grabbing module vertically downward, and the ton-bag grabbing module is controlled to grab the target ton-bag.

[0109] In this embodiment, first, the identification picture corresponding to the identification code recognition result of the first order in the ton bag grabbing order needs to be used as the target identification picture. After determining the target identification picture, the target identification area containing the picture is screened out. In order to improve the efficiency of subsequent processing, it is necessary to hide all other identification areas. These unnecessary areas can be covered by an image processing algorithm. After retaining the target identification area, since the target ton bag usually has a large volume, the identification picture on the target ton bag is closest to the positioning magnet on the same ton bag, so the distance between each magnet area and the target identification area can be calculated. Specifically, the calculation can be performed using methods such as Euclidean distance or Manhattan distance, and then the magnet area with the smallest distance is selected as the target magnet area. In order to improve the efficiency of subsequent processing, it is necessary to hide the target identification area and all other magnet areas. These unnecessary areas can be covered by an image processing algorithm.

[0110] After marking the target magnet area, the mobile component is then used to move the ton bag grabbing module until the area center point of the target magnet area coincides with the image center point of the top image of the ton bag. The implementation principle of this step mainly includes position calculation and movement control. First, the area center point of the target magnet area is calculated by the image processing algorithm. Then, the image center point of the top image of the ton bag is calculated by the image processing algorithm. In order to ensure the accuracy of the grabbing operation, the two center points need to coincide. The mobile component is used to control the movement of the ton bag grabbing module. The implementation of this step ensures that the grabbing module can accurately align with the target magnet area, improving the success rate and accuracy of the grabbing operation. After the mobile component aligns the grabbing module with the target magnet area, the vertical movement of the grabbing module is controlled by the lifting module. The lifting module can achieve precise height control through sensors and control systems. Then, when the grabbing module reaches above the target magnet area, the grabbing module is controlled to perform the grabbing operation.

[0111] In one embodiment, marking the magnet region closest to the target identification region in all magnet regions as the target magnet region comprises the following steps:

[0112] Determine the coordinates of the first center point of the regional center point of each magnet region in the top image of the ton bag respectively;

[0113] Determine the coordinates of the second center point of the target center point of the target identification area in the top image of the ton bag;

[0114] Calculate the Euclidean distance between the coordinates of each first center point and the coordinates of the second center point respectively;

[0115] The magnet region corresponding to the coordinates of the first center point with the smallest Euclidean distance is marked as the target magnet region.

[0116] In this embodiment, in order to calculate the center point coordinates of each magnet area, an image processing algorithm, such as a centroid calculation method, can be used. The centroid calculation method determines the center point of the area by calculating the average coordinates of all pixels in the area. For example, if a magnet area is composed of multiple pixels, the center point coordinates of the magnet area can be obtained by calculating the average value of the x-coordinates and y-coordinates of these pixels. These center point coordinates are the first center point coordinates of each magnet area in the image. Then the center point coordinates of the target identification area are calculated using the same centroid calculation method as the magnet area.

[0117] After determining the coordinates of the first center point of each magnet area and the coordinates of the second center point of the target identification area, the Euclidean distance between the coordinates of the first center point and the coordinates of the second center point needs to be calculated. The implementation principle of this step mainly includes the mathematical formula and calculation method of distance calculation. The Euclidean distance refers to the straight-line distance between two points, which can be calculated by a mathematical formula. Specifically, assuming that the coordinates of the two points are and , then the Euclidean distance between these two points is It can be calculated by the following formula:

[0118]

[0119] By using this formula, the distance between the first center point coordinates of each magnet area and the second center point coordinates of the target identification area can be calculated. For example, if the first center point coordinates of a magnet area are (10,20) and the second center point coordinates of the target identification area are (30,40), then the Euclidean distance between the two points is:

[0120]

[0121] Finally, the magnet area corresponding to the coordinates of the first center point with the smallest Euclidean distance is marked as the target magnet area. Then the corresponding magnet area is marked as the target magnet area. After marking the target magnet area, the area can be highlighted or marked in other forms through the image processing algorithm so that the subsequent grabbing operation can be accurately located.

[0122] In one embodiment, using the lifting module to vertically move the ton bag grabbing module downward, and controlling the ton bag grabbing module to grab the target ton bag includes the following steps:

[0123] Controlling the current in the electromagnet unit to increase to a preset first current magnitude;

[0124] Use the lifting module to vertically move the electromagnet unit and the bag grabbing unit downward until the electromagnet unit is magnetically connected to the positioning magnet;

[0125] Controlling the current in the electromagnet unit to increase from a first current magnitude to a preset second current magnitude;

[0126] Use the lifting module to vertically move the electromagnet unit and the bag grabbing unit upward, and monitor the pulling force value of the electromagnet unit in real time;

[0127] When the pulling force value exceeds the preset pulling force threshold, the vertical upward movement process of the electromagnet unit and the bag grabbing unit is suspended, the bag grabbing unit is controlled to grab the target bag, and the current in the electromagnet unit is set to 0;

[0128] The lifting module is used to continue to move the electromagnet unit and the bag grabbing unit vertically upward until the upper limit of the vertical movement of the lifting module is reached.

[0129] In this embodiment, the magnetic field strength generated by the electromagnet can be adjusted by controlling the current in the electromagnet. The preset first current size is used to attract the electromagnet unit to the positioning magnet. For example, if the preset first current size is 5 amperes, the current is adjusted to 5 amperes by the current controller to ensure that the electromagnet generates sufficient magnetic field strength. In this way, it can be ensured that the electromagnet unit can be effectively magnetically connected to the positioning magnet. Next, the electromagnet unit and the ton bag grabbing unit are moved vertically downward by the lifting module until the electromagnet unit is magnetically connected to the positioning magnet. The lifting module is usually composed of a motor and a guide rail. Through the control of the motor, precise vertical movement of the electromagnet unit and the ton bag grabbing unit can be achieved. The specific implementation method is to send instructions through the control system to drive the motor to drive the electromagnet unit and the ton bag grabbing unit to move vertically downward.

[0130] When the electromagnet unit contacts the positioning magnet, the magnetic field generated by the electromagnet will generate a magnetic attraction force with the positioning magnet, thereby realizing a magnetic connection. Then it is necessary to control the current in the electromagnet unit from the first current magnitude to the preset second current magnitude. By increasing the current to the preset second current magnitude, the magnetic field strength of the electromagnet can be further enhanced to ensure that the connection between the electromagnet and the positioning magnet is more secure. The specific implementation method is to increase the current from the first current magnitude to the second current magnitude through the current controller to enhance the magnetic field strength and provide a guarantee for the subsequent grabbing operation. Next, the electromagnet unit and the ton bag grabbing unit are moved vertically upward by the lifting module, and the tension value of the electromagnet unit is monitored in real time. The tension value of the electromagnet unit can be monitored in real time by the tension sensor. When the tension value exceeds the preset threshold, it means that the electromagnet unit has straightened the ton bag belt of the target ton bag through the positioning magnet, but has not yet lifted the target ton bag off the ground. At this time, it is necessary to pause the vertical upward movement, and at the same time control the ton bag grabbing unit to perform the grabbing operation to grab the ton bag belt, and set the current in the electromagnet to 0, so that the electromagnet unit is separated from the positioning magnet. Finally, the lifting module is used to continue to move the electromagnet unit and the bag grabbing unit vertically upward until the upper limit of the vertical movement of the lifting module is reached.

[0131] In one embodiment, after the ton bag grabbing module grabs any target ton bag, using the moving component to move the target ton bag to above the target placement position includes the following steps:

[0132] When the ton bag grabbing module grabs any target ton bag, the ton bag weight of the target ton bag is detected by the ton bag grabbing module, and the image acquisition unit is used to acquire the identification image containing the identification image on the target ton bag;

[0133] Generate a clamping strategy for the driving clamping module based on the weight of the ton bag and the identification image, and control the driving clamping module to limit the target ton bag based on the clamping strategy;

[0134] Get the current position of the mobile component;

[0135] Generate a moving path of the mobile component based on the current positioning position and the target placement position;

[0136] Use the moving component to move the target bag to the target placement position according to the moving path.

[0137] In this embodiment, after the ton bag grabbing module successfully grabs any target ton bag, it is first necessary to detect the weight of the target ton bag through the ton bag grabbing module. The implementation principle of this step mainly includes the use of weight sensors and data acquisition. The weight sensor is usually installed on the grabbing claw or supporting structure of the grabbing module. When the grabbing module grabs the ton bag, the weight sensor will measure the weight of the ton bag in real time and transmit the data to the control system. Next, the image acquisition unit is used to collect the identification image containing the identification image on the target ton bag. The implementation principle of this step mainly includes the use of image acquisition equipment and image processing technology. The image acquisition unit is usually composed of a camera and image processing software. The identification image on the ton bag is photographed by the camera, and the image processing software is used to process and identify it. The specific implementation method is to use the image acquisition unit to shoot the identification image on the ton bag, and transmit the captured image to the control system for processing. Then, based on the weight of the ton bag and the identification image, the clamping strategy of the driving clamping module is generated, and based on the clamping strategy, the driving clamping module is controlled to limit the target ton bag, ensuring that the clamping module can safely and stably clamp the ton bag, providing guarantee for subsequent mobile operations.

[0138] The mobile component is usually equipped with positioning sensors, such as GPS, LiDAR or visual positioning system, through which the current position of the mobile component can be obtained in real time. Then the moving path of the mobile component is generated based on the current positioning position and the target placement position. The implementation principle of this step mainly includes the use of path planning algorithm and path generation. Usually the path planning algorithm can generate the optimal moving path according to the current positioning position and the target placement position, and transmit the path data to the mobile component. In this way, it can be ensured that the mobile component can move according to the optimal path and improve the movement efficiency. Finally, the mobile component is used to move the target ton bag above the target placement position according to the moving path. Through the above steps, the grabbing, identification, clamping and moving operations of the ton bag can be completed efficiently and accurately, ensuring that the ton bag can accurately reach the target position, improving the level of automation and operating efficiency.

[0139] In one embodiment, generating a clamping strategy for a driving clamping module based on the weight of the ton bag and the identification image, and controlling the driving clamping module to limit the target ton bag based on the clamping strategy includes the following steps:

[0140] Determine whether the weight of the ton bag is greater than the preset weight threshold;

[0141] If the weight of the ton bag is less than or equal to the weight threshold, the first clamping strategy of the driving clamping module is generated, and the driving clamping module is controlled to limit the target ton bag based on the clamping strategy. The first clamping strategy is to control the two clamping units through the driving box to drive the clamping block to move vertically downward for a preset first clamping block movement distance, and then control the two clamping units through the driving box to drive the clamping blocks to move horizontally toward the target ton bag until the two clamping blocks are in contact with the outer surface of the target ton bag;

[0142] If the weight of the ton bag exceeds the weight threshold, it is determined whether the complete logo image in the logo image is recognized by using image recognition technology;

[0143] If the complete logo image in the logo image is identified by using image recognition technology, a second clamping strategy for the driving clamping module is generated, and the driving clamping module is controlled to limit the target ton bag based on the clamping strategy. The second clamping strategy is to control the two clamping units through the driving box to drive the clamping block to move vertically downward for a preset second clamping block moving distance, and then control the two clamping units through the driving box to drive the clamping blocks to move horizontally toward the target ton bag until the two clamping blocks are in contact with the outer surface of the target ton bag, and the second clamping block moving distance is greater than the first clamping block moving distance.

[0144] If the complete logo image in the logo image is not recognized using image recognition technology, a third clamping strategy is generated for the driving clamping module, and based on the clamping strategy, the driving clamping module is controlled to limit the target ton bag. The third clamping strategy is to control the two clamping units through the driving box to drive the clamping block to move vertically downward for a preset third clamping block moving distance, and then control the two clamping units through the driving box to drive the clamping blocks to move horizontally toward the target ton bag until the two clamping blocks are in contact with the outer surface of the target ton bag, and the third clamping block moving distance is greater than the second clamping block moving distance.

[0145] In this embodiment, the weight sensor is usually installed on the grabbing claw or supporting structure of the grabbing module. When the grabbing module grabs the ton bag, the weight sensor will measure the weight of the ton bag in real time and transmit the data to the control system. The control system will compare the measured weight with the preset weight threshold to determine whether the weight of the ton bag exceeds the threshold. For example, if the preset weight threshold is 800 kg, and the measured weight of the ton bag is 1000 kg, the control system will determine that the weight of the ton bag exceeds the threshold. If the weight of the ton bag exceeds the threshold, it means that the ton bag grabbed at this time is overweight. The overweight ton bag may cause the ton bag strap to be stretched due to the natural gravity of the ton bag, and at the same time, it will stretch the upper surface fabric directly connected to the ton bag strap. Since the logo image is set on the upper surface fabric of the ton bag, the logo image will also be stretched obliquely. At this time, when the image of the logo image is vertically captured by the image acquisition unit, the complete logo image may not be captured.

[0146] The body of an overweight bag will be farther away from the bag grabbing unit in the air than the body of a bag that is not overweight. As a result, the driving clamping module may not be able to stably limit the body of the overweight bag in the normal clamping mode. On the other hand, the overweight bag will shake more when the moving assembly drives the bag to move because the bag straps are stretched, the bag is heavier, and has greater inertia. If the driving clamping module fails to limit the bag at this time, the bag will easily fall off.

[0147] If the weight of the ton bag is less than or equal to the weight threshold, the first clamping strategy for driving the clamping module is generated, and the clamping module is controlled to limit the target ton bag based on the clamping strategy. The implementation principle of the first clamping strategy mainly includes the drive and control of the clamping module. The clamping module is usually composed of a drive box and two clamping units. The drive box controls the two clamping units to drive the clamping block to move vertically downward for the preset first clamping block moving distance, and then controls the two clamping units through the drive box to drive the clamping blocks to move horizontally toward the target ton bag until both clamping blocks fit the outer surface of the target ton bag. For example, if the moving distance of the first clamping block is 10 cm, the control system will instruct the drive box to control the clamping unit to drive the clamping block to move vertically downward 10 cm, and then move horizontally inward until the clamping block fits the surface of the ton bag. In this way, it can be ensured that the clamping module can firmly clamp the ton bag with a smaller weight to prevent the ton bag from sliding or tilting during movement.

[0148] If the weight of the ton bag exceeds the weight threshold, it is necessary to determine whether the complete logo image in the logo image is recognized by the image recognition technology. If the complete logo image in the logo image is recognized by the image recognition technology, it means that although the ton bag is overweight, the ton bag strap is not stretched to a longer length. At this time, a second clamping strategy for driving the clamping module can be generated, and the driving clamping module can be controlled based on the clamping strategy to limit the target ton bag. The implementation principle of the second clamping strategy is similar to the first clamping strategy, but the moving distance of the clamping block is different. The specific implementation method is to send instructions through the control system, and the drive box controls the clamping unit to drive the clamping block to move vertically downward for the preset second clamping block moving distance, and then move horizontally inward until the clamping block fits the surface of the ton bag. For example, if the second clamping block moves 15 cm, the control system will instruct the drive box to control the clamping unit to drive the clamping block to move vertically downward 15 cm, and then move horizontally inward until the clamping block fits the surface of the ton bag. In this way, it can be ensured that the clamping module can firmly clamp the heavy ton bag while ensuring the stability and safety of the clamping.

[0149] If the complete logo image in the logo image is not recognized using image recognition technology, it means that the logo image has been stretched obliquely, indicating that the length of the ton bag strap is stretched to a long extent. At this time, it is necessary to generate a third clamping strategy for the drive clamping module, and control the drive clamping module to limit the target ton bag based on the clamping strategy. The implementation principle of the third clamping strategy is similar to the first two strategies, but the moving distance of the clamping block is greater. The specific implementation method is to send instructions through the control system, and the drive box controls the clamping unit to drive the clamping block to move vertically downward for the preset third clamping block moving distance, and then move horizontally inward until the clamping block fits the surface of the ton bag. For example, if the moving distance of the third clamping block is 20 cm, the control system will instruct the drive box to control the clamping unit to drive the clamping block to move vertically downward 20 cm, and then move horizontally inward until the clamping block fits the surface of the ton bag.

[0150] In one embodiment, the method further comprises the steps of:

[0151] In the process of moving the target ton bag along the moving path using the moving assembly, the two clamping units are controlled by the drive box to move in the opposite direction of the moving direction of the target ton bag.

[0152] In this embodiment, when the moving assembly starts to move the target ton bag, the drive box will receive instructions from the control system and control the two clamping units to perform corresponding moving operations. Specifically, the clamping unit is driven by an electric motor or a hydraulic system, and the clamping unit can be precisely moved in the horizontal and vertical directions through the control of the drive box. During the movement, the two clamping units will move in the opposite direction of the moving direction of the target ton bag, which means that if the ton bag moves forward, the clamping unit will move backward, and vice versa. This relative movement method can achieve the following effects: First, the ton bag always remains stable during the movement process to avoid tilting or sliding due to movement. Secondly, the relative movement of the clamping unit can effectively disperse the weight of the ton bag, reduce the pressure on the clamping unit and the moving assembly, and extend the service life of the equipment. Finally, this control method can improve the safety of the moving process and avoid accidents caused by the instability of the ton bag.

[0153] The present invention also discloses a ton-bag intelligent grabbing control system, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the ton-bag intelligent grabbing control method described in any one of the above-mentioned embodiments is implemented.

[0154] Among them, the processor can adopt a central processing unit (CPU). Of course, according to actual usage, other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. can also be adopted. The general-purpose processor can adopt a microprocessor or any conventional processor, etc., and this application does not impose any restrictions on this.

[0155] Among them, the memory can be an internal storage unit of a computer device, such as a hard disk or memory of a computer device, or an external storage device of a computer device, such as a plug-in hard disk, a smart memory card (SMC), a secure digital card (SD) or a flash memory card (FC) equipped on the computer device, and the memory can also be a combination of an internal storage unit and an external storage device of a computer device. The memory is used to store computer programs and other programs and data required by the computer device. The memory can also be used to temporarily store data that has been output or is to be output, and this application does not impose any restrictions on this.

[0156] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0157] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A ton bag intelligent grab control method, characterized in that: Applied to a ton bag grabbing device, the ton bag grabbing device comprises a supporting frame, a mobile hanger frame is arranged on the supporting frame, the mobile hanger frame comprises a moving assembly and a hanger assembly, the moving assembly is used to drive the hanger assembly to move horizontally on the supporting frame, the hanger assembly comprises a driving clamping module, a lifting module and a ton bag grabbing module, the driving clamping module is fixedly arranged below the moving assembly, the driving clamping module is used to limit the ton bag grabbed by the ton bag grabbing module, the lifting module is arranged below the driving clamping module, the ton bag grabbing module is arranged below the lifting module, the ton bag grabbing module comprises a ton bag grabbing unit and an image acquisition unit, the lifting module is used to control the vertical movement of the ton bag grabbing unit, the ton bag grabbing module also comprises an electromagnet unit, and the lifting module is also used to control the vertical movement of the electromagnet unit; The method comprises the following steps: Obtaining ton bag grabbing tasks for multiple target ton bags to be transferred, determining the initial ton bag positions where all the target ton bags are temporarily placed and the target placement positions of each target ton bag according to the ton bag grabbing tasks, and determining the preset identification code arrangement order according to the ton bag grabbing tasks, wherein an identification picture is provided on the upper surface of each target ton bag, and the identification picture displays a unique identification code, and a positioning magnet is provided on the ton bag belt of each target ton bag; Moving the spreader assembly to the initial position of the ton bag by the moving assembly; When the spreader assembly reaches the initial position of the ton bag, the image acquisition unit is used to acquire the top images of all the target ton bags in real time; Using image recognition technology to identify the magnetic area containing the positioning magnet and the identification area containing the identification picture in the top image of the ton bag; Counting the number of first areas of all the magnet areas and the number of second areas of all the identification areas in the top image of the ton bag, and counting the number of identification codes based on the arrangement order of the identification codes; Determining whether the number of the first areas and the number of the second areas are both the same as the number of the identification codes; If the number of the first regions and the number of the second regions are both the same as the number of identification codes, parsing the identification images in all the identification regions to obtain identification code recognition results; Arrange the identification code recognition results according to the identification code arrangement order to obtain the bag grabbing order of all the target bag; The identification picture corresponding to the identification code recognition result of the first order in the ton bag grabbing sequence is used as the target identification picture; Keep the target identification area containing the target identification picture in the top image of the ton bag, and hide all other identification areas; Marking the magnet region closest to the target identification region among all the magnet regions as a target magnet region, and hiding the target identification region and all other magnet regions; Using the moving assembly to move the ton bag grabbing module until the area center point of the target magnet area coincides with the image center point of the ton bag top image; Using the lifting module to vertically move the ton bag grabbing module downward, and controlling the ton bag grabbing module to grab the target ton bag; When the ton bag grabbing module grabs any of the target ton bags, the moving component is used to move the target ton bag above the target placement position, and the lifting module and the ton bag grabbing module are used to place the target ton bag at the target placement position.

2. The intelligent grabbing control method for ton bags according to claim 1 is characterized in that: The method of using image recognition technology to identify the magnetic area containing the positioning magnet and the identification area containing the identification picture in the top image of the ton bag comprises the following steps: Preprocessing the top image of the ton bag; Using an edge detection algorithm to mark a plurality of initial image regions in the preprocessed image of the top of the ton bag; Using a preset image recognition model, a target image region including the positioning magnet or the identification image is identified from the plurality of initial image regions; The target image area is classified into a magnet area including the positioning magnet and a logo area including the logo picture through a feature matching algorithm.

3. The intelligent grabbing control method for ton bags according to claim 1 is characterized in that: The step of marking the magnet region closest to the target identification region in all the magnet regions as the target magnet region comprises the following steps: Determine the first center point coordinates of the area center point of each of the magnet areas in the top image of the ton bag respectively; Determine the coordinates of a second center point of the target center point of the target identification area in the top image of the ton bag; Calculate the Euclidean distance between the coordinates of the first center point and the coordinates of the second center point respectively; The magnet region corresponding to the coordinates of the first center point with the smallest Euclidean distance is marked as a target magnet region.

4. The intelligent grabbing control method for ton bags according to claim 1 is characterized in that: The method of using the lifting module to vertically move the ton bag grabbing module downward and controlling the ton bag grabbing module to grab the target ton bag comprises the following steps: Controlling the current in the electromagnet unit to increase to a preset first current magnitude; Using the lifting module to vertically move the electromagnet unit and the ton bag grabbing unit downward until the electromagnet unit is magnetically connected to the positioning magnet; Controlling the current in the electromagnet unit to increase from the first current magnitude to a preset second current magnitude; The lifting module is used to vertically move the electromagnet unit and the ton bag grabbing unit upward, and the pulling force value of the electromagnet unit is monitored in real time; When the pulling force value exceeds the preset pulling force threshold, the vertical upward movement process of the electromagnet unit and the ton bag grabbing unit is suspended, the ton bag grabbing unit is controlled to grab the target ton bag, and the current in the electromagnet unit is set to 0; The lifting module is used to continue to vertically move the electromagnet unit and the ton bag grabbing unit upward until the upper limit of the vertical movement of the lifting module is reached.

5. The intelligent grabbing control method for ton bags according to claim 1 is characterized in that: When the ton bag grabbing module grabs any of the target ton bags, using the moving component to move the target ton bag to above the target placement position includes the following steps: When the ton bag grabbing module grabs any of the target ton bags, the ton bag weight of the target ton bag is detected by the ton bag grabbing module, and the image acquisition unit is used to acquire the identification image including the identification image on the target ton bag; Generate a clamping strategy for the driving clamping module based on the weight of the ton bag and the identification image, and control the driving clamping module to limit the target ton bag based on the clamping strategy; Obtaining the current location of the mobile component; generating a moving path of the mobile component based on the current positioning position and the target placement position; The target ton bag is moved to above the target placement position by using the moving component according to the moving path.

6. The intelligent grabbing control method for ton bags according to claim 5 is characterized in that: The driving clamping module comprises a driving box and two clamping units, wherein the driving box is fixedly arranged below the moving assembly, the lifting module is arranged below the driving clamping module, the two clamping units are arranged opposite to each other on the side wall of the driving box, the driving box is used to control the horizontal movement and / or vertical movement of the two clamping units, and a clamping block is arranged at one end of the two clamping units away from the driving box; The generating of the clamping strategy of the driving clamping module based on the weight of the ton bag and the identification image, and controlling the driving clamping module to limit the target ton bag based on the clamping strategy comprises the following steps: Determine whether the weight of the ton bag is greater than a preset weight threshold; If the weight of the ton bag is less than or equal to the weight threshold, a first clamping strategy of the driving clamping module is generated, and based on the clamping strategy, the driving clamping module is controlled to limit the target ton bag. The first clamping strategy is to control the two clamping units through the driving box to drive the clamping block to move vertically downward for a preset first clamping block movement distance, and then control the two clamping units through the driving box to drive the clamping blocks to move horizontally toward the target ton bag until the two clamping blocks are in contact with the outer surface of the target ton bag; If the weight of the ton bag exceeds the weight threshold, it is determined whether the complete identification image in the identification image is recognized by using image recognition technology; If the complete identification picture in the identification image is identified by image recognition technology, a second clamping strategy for the driving clamping module is generated, and based on the clamping strategy, the driving clamping module is controlled to limit the target ton bag, wherein the second clamping strategy is to control the two clamping units by the driving box to drive the clamping block to move vertically downward by a preset second clamping block moving distance, and then control the two clamping units by the driving box to drive the clamping blocks to move horizontally toward the target ton bag until the two clamping blocks are in contact with the outer surface of the target ton bag, and the second clamping block moving distance is greater than the first clamping block moving distance; If the complete identification image in the identification image is not recognized by using image recognition technology, a third clamping strategy for the driving clamping module is generated, and based on the clamping strategy, the driving clamping module is controlled to limit the target ton bag. The third clamping strategy is to control the two clamping units by the driving box to drive the clamping block to move vertically downward a preset third clamping block moving distance, and then control the two clamping units by the driving box to drive the clamping blocks to move horizontally toward the target ton bag until the two clamping blocks are in contact with the outer surface of the target ton bag, and the third clamping block moving distance is greater than the second clamping block moving distance.

7. The intelligent grabbing control method for ton bags according to claim 6 is characterized in that: The method further comprises the steps of: In the process of moving the target ton bag along the moving path using the moving assembly, the two clamping units are controlled by the driving box to move in the opposite direction of the moving direction of the target ton bag.

8. A ton bag intelligent grabbing control system, 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, the ton-bag intelligent grabbing control method as described in any one of claims 1 to 7 is implemented.

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