A deviation correction control method for express sorting and conveying

Abstract

This invention relates to the field of express delivery sorting technology, and discloses a deviation correction control method for express delivery sorting and conveying. The method includes marking the unloading position, obtaining a first conveying distance, a conveying time, and a second conveying distance; obtaining the start time of the sub-conveyor belt based on the conveying time and the second conveying distance; generating a deviation correction control command based on the start time; and controlling the sub-conveyor belt to start at a set time according to the deviation correction control command. Compared with existing technologies, by obtaining the cargo balance point, the critical point of weight balance of express goods can be accurately identified, the deviation amplitude of express goods at different positions on the sub-conveyor belt can be obtained, and reasonable sorting and unloading positions can be accurately marked for express goods of different sizes. The accurate time for the sub-conveyor belt to start for express sorting and unloading is calculated, thereby ensuring that express goods at different positions on the sub-conveyor belt can be accurately sorted into the corresponding unloading chute, improving the sorting accuracy of express goods.

Description

Technical Field

[0001] This invention relates to the field of express delivery sorting technology, and more specifically, to a deviation control method for express delivery sorting and conveying. Background Technology

[0002] With the continuous development of the express delivery industry, the sorting operation of express goods in logistics centers is also developing rapidly. Before the express goods are loaded onto the truck, they need to be sorted so that they can be quickly and accurately sorted from the logistics conveyor belt into the corresponding unloading chute according to the actual delivery address and different specifications and sizes, thereby facilitating subsequent loading and transportation operations.

[0003] Reference patent application CN116460046A discloses a logistics transportation sorting system with correction adjustment function and adaptive identification. It uses a correction sensing module and a correction adjustment module to perform correction operation on the items on the conveyor belt to prevent the items from shifting position, which facilitates the accuracy and completeness of the data collection module for the items, thereby ensuring the accuracy of the item classification, reducing sorting errors, and greatly improving work efficiency.

[0004] The existing technology has the following shortcomings:

[0005] In existing express delivery sorting and conveying processes, visual technology is used to identify the delivery address of goods on sub-conveyor belts. When the goods are transported to the corresponding unloading chute, the sub-conveyor belt is activated to transport the goods into the unloading chute, achieving the sorting effect. However, when goods are transferred from other conveyor belts to the sub-conveyor belt, their own weight and transfer speed can affect their position, causing them to deviate from the center of the sub-conveyor belt. This results in inconsistent conveying distances between the goods and the unloading chute, making it impossible to guarantee that the goods can be accurately sorted and transported to the correct unloading chute, thus reducing the accuracy of express delivery sorting and conveying.

[0006] In view of this, the present invention proposes a deviation correction control method for express sorting and conveying to solve the above problems. Summary of the Invention

[0007] To overcome the aforementioned deficiencies of the prior art and to achieve the above objectives, the present invention provides the following technical solution: a deviation correction control method for express delivery sorting and conveying, applied to a conveyor belt controller, comprising:

[0008] S1: Obtain comprehensive correction information for express shipments, including address number, shipment specifications, and shipment balance point;

[0009] S2: Mark the unloading location based on the address number, cargo specifications, and cargo balance point;

[0010] S3: Based on the cargo balance point and the unloading position, obtain the first conveying distance, the conveying time, and the second conveying distance respectively;

[0011] S4: Based on the conveying time and the second conveying distance, obtain the start time of the sub-conveyor belt;

[0012] S5: Based on the start-up time, generate correction control commands and control the sub-conveyor belt to start at regular intervals according to the correction control commands.

[0013] Furthermore, the specifications of the goods include large items and small items;

[0014] Methods for obtaining cargo balance points include:

[0015] A top-down image is obtained by capturing images of express goods on the sub-conveyor belt using a camera installed above the main conveyor belt;

[0016] Computer vision technology is used to identify and extract the area corresponding to the express delivery goods in the top-view image to obtain the goods area image;

[0017] The four boundaries of the cargo area image are labeled J1, J2, J3 and J4 in sequence, and a line is drawn connecting two non-adjacent corner points in the cargo area image to form a diagonal line;

[0018] Randomly mark a node on the diagonal, and measure the minimum distance from the node to J1 and J3, and the minimum distance from the node to J2 and J4 respectively;

[0019] Continuously adjust the position of the node on the diagonal until the minimum distance from the node to J1 and J3 is equal, and the minimum distance from the node to J2 and J4 is equal. Then mark the node as the cargo balance point.

[0020] Furthermore, the material feeding position includes a safe position and a standard position;

[0021] Methods for marking safe and standard locations include:

[0022] Identify the address number of the express goods and mark the unloading chute group whose number matches the address number as the target chute group;

[0023] Mark the sub-conveyor belt containing the express delivery goods as the target conveyor belt;

[0024] When the cargo is large, mark the first slide in the target slide group as the target slide and mark the midpoint of the inlet of the target slide as the standard position;

[0025] When the cargo is a small item, mark the second slide in the target slide group as the target slide;

[0026] Draw a horizontal line in the cargo area image, passing through the cargo balance point and along the conveying direction parallel to the target conveyor belt.

[0027] Measure the vertical distance from the corner points located above and below the horizontal line in the cargo area image to the horizontal line, and mark them as the upper distance value and the lower distance value, respectively;

[0028] The maximum value of the upper distance and the maximum value of the lower distance are summed to obtain the reserved value;

[0029] Mark two points on the target slide, at a distance of one reserved length from the two side walls of the inlet. The point closer to the target conveyor belt is marked as the starting position, and the point farther away from the target conveyor belt is marked as the ending position.

[0030] Mark the position on the target slide that is between the starting and ending positions as the safe position.

[0031] Furthermore, the first conveying distance includes the safe conveying distance and the standard conveying distance;

[0032] Methods for obtaining safe transport distance include:

[0033] A camera installed on the top of the workshop captures an overhead view of the conveyor line, and the target chute and target conveyor belt are marked in the overhead view of the conveyor line.

[0034] Mark the corner point corresponding to the maximum value of the upper distance on the target conveyor belt, and draw the first measurement line parallel to the conveying direction of the target conveyor belt through the corner point;

[0035] Mark the starting and ending positions on the target slide, and draw a second and a third measuring line parallel to the conveying direction of the target conveyor belt through the starting and ending positions, respectively.

[0036] The distances between the first measurement line and the second and third measurement lines are measured using a scale, and the starting and ending distances are obtained after scaling.

[0037] The safe conveying distance is obtained by adding the starting distance and the ending distance together and then averaging them.

[0038] Mark the standard position in the target slide, and draw a fourth measurement line parallel to the conveying direction of the target conveyor belt through the standard position;

[0039] Mark the cargo balance point on the target conveyor belt, and draw a fifth measurement line parallel to the conveying direction of the target conveyor belt through the cargo balance point;

[0040] The standard conveying distance is obtained by measuring the distance between the fourth and fifth measuring lines using a scale and then converting the distance proportionally.

[0041] Furthermore, the conveying time includes safe conveying time and standard conveying time;

[0042] Methods for obtaining safe delivery time and standard delivery time include:

[0043] The speed of the main conveyor belt is collected by the conveyor belt controller and recorded as the main speed.

[0044] The safe conveying distance and the main speed are compared to obtain the safe conveying time;

[0045] The expression for safe delivery time is:

[0046] ;

[0047] In the formula, For safe delivery time, For safe transport distance, Main speed;

[0048] The standard conveying time is obtained by comparing the standard conveying distance with the main speed.

[0049] The expression for standard delivery time is:

[0050] ;

[0051] In the formula, For standard delivery time, This is the standard conveying distance.

[0052] Furthermore, the method for obtaining the second conveying distance includes:

[0053] On the top view of the conveyor and at the location of the cargo balance point, draw a vertical line perpendicular to the direction of movement of the target conveyor belt to obtain the sixth measurement line;

[0054] At the location on the target slide that is past the standard or safe position, draw a horizontal line parallel to the direction of movement of the target conveyor belt to obtain the seventh measurement line;

[0055] Mark the intersection of the sixth and seventh measurement lines as the target point;

[0056] The second conveying distance is obtained by measuring the distance from the target point to the standard or safe position using a scale and then performing a proportional conversion.

[0057] Furthermore, startup time includes secure startup time and standard startup time;

[0058] Methods for obtaining secure boot time and standard boot time include:

[0059] The target conveyor belt speed is obtained by the conveyor belt controller, and the sub-conveying time is obtained by comparing the target conveyor belt speed with the second conveying distance.

[0060] The expression for the sub-transport time is:

[0061] ;

[0062] In the formula, For the delivery time of the child, For the second conveying distance, The target conveyor belt's speed;

[0063] The safe time difference is obtained by subtracting the safe delivery time from the sub-delivery time and the preset delay time.

[0064] The expression for the safety time difference is:

[0065] ;

[0066] In the formula, For safety time difference, The preset delay time;

[0067] The moment when the cargo balance point is reached is recorded as the start time. The difference between the start time and the safe start time is accumulated to obtain the safe start time.

[0068] The expression for secure boot time is:

[0069] ;

[0070] In the formula, For safe startup time, The starting time;

[0071] The standard time difference is obtained by subtracting the standard delivery time from the sub-delivery time and the preset delay time.

[0072] The expression for the standard time difference is:

[0073] ;

[0074] In the formula, This is the standard time difference;

[0075] The standard startup time is obtained by summing the differences between the start time and the standard time.

[0076] The expression for standard startup time is:

[0077] ;

[0078] In the formula, This is the standard startup time.

[0079] Furthermore, the corrective control commands include safety corrective control commands and standard corrective control commands;

[0080] The methods for generating safety corrective control commands and standard corrective control commands include:

[0081] When the startup time is the safe startup time, a safe correction control command is generated;

[0082] When the startup time is the standard startup time, a standard correction control command is generated.

[0083] Furthermore, the control method for timed start-up of the sub-conveyor belt includes:

[0084] When a safety correction control command is generated, the conveyor belt controller controls the drive motor of the sub-conveyor belt corresponding to the target conveyor belt to start at the time corresponding to the safety start time;

[0085] When a standard correction control command is generated, the conveyor belt controller controls the drive motor of the sub-conveyor belt corresponding to the target conveyor belt to start at the time corresponding to the standard start time.

[0086] A deviation correction control system for express sorting and conveying is applied to a conveyor belt controller to implement the deviation correction control method for express sorting and conveying. The system includes an information acquisition module, a material unloading position marking module, a first calculation module, a second calculation module, and an instruction control module, wherein the modules are connected to each other via wired or wireless network.

[0087] The information collection module is used to acquire comprehensive correction information for express goods, including address number, goods specifications, and goods balance point.

[0088] The unloading location marking module is used to mark the unloading location based on the address number, cargo specifications, and cargo balance point;

[0089] The first calculation module is used to obtain the first conveying distance, the conveying time, and the second conveying distance based on the cargo balance point and the unloading position, respectively.

[0090] The second calculation module is used to obtain the start time of the sub-conveyor belt based on the conveying time and the second conveying distance;

[0091] The instruction control module is used to generate correction control instructions based on the start time, and control the sub-conveyor belt to start at regular intervals according to the correction control instructions.

[0092] The technical effects and advantages of the deviation control method for express sorting and conveying according to the present invention are as follows:

[0093] This invention obtains the address number, specifications, and balance point of express goods, and marks the unloading position. Based on the balance point and unloading position, it obtains a first conveying distance, a conveying time, and a second conveying distance. Based on the conveying time and the second conveying distance, it obtains the start time of the sub-conveyor belt, including a safe start time and a standard start time. Based on the start time, it generates a correction control command and controls the sub-conveyor belt to start at a set time according to the correction control command. Compared with the prior art, by obtaining the balance point, the weight balance critical point of express goods can be accurately identified, the offset of express goods at different positions on the sub-conveyor belt can be obtained, and reasonable sorting and unloading positions can be accurately marked for express goods of different sizes. The accurate time for the sub-conveyor belt to start for express sorting and unloading can be calculated, thereby ensuring that express goods at different positions on the sub-conveyor belt can be accurately sorted into the corresponding unloading chute, improving the sorting accuracy of express goods and achieving a highly efficient correction control effect. Attached Figure Description

[0094] Figure 1 This is a flowchart illustrating a deviation control method for express sorting and conveying provided in Embodiment 1 of the present invention.

[0095] Figure 2 This is a schematic diagram of a deviation correction control system for express sorting and conveying provided in Embodiment 2 of the present invention;

[0096] Figure 3 This is a schematic diagram of a top view of the conveyor line provided in Embodiment 1 of the present invention. Detailed Implementation

[0097] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0098] Example 1: Please refer to Figure 1 and Figure 3 As shown in this embodiment, a deviation correction control method for express sorting and conveying is applied to a conveyor belt controller and includes:

[0099] S1: Obtain comprehensive correction information for express shipments, including address number, shipment specifications, and shipment balance point;

[0100] Comprehensive correction information refers to information that can affect when the sorting and unloading of express goods will be carried out. By collecting comprehensive correction information, we can have a comprehensive and intuitive understanding of the original correction information of express goods during transportation and unloading, thereby providing data support for subsequent correction control operations.

[0101] Comprehensive corrective information includes address number, cargo specifications, and cargo balance point;

[0102] The address number refers to the number corresponding to the city address of the express delivery. Since there are numbered feeding chutes representing different city addresses placed on the side of the main conveyor belt, different address numbers will correspond to different feeding chutes. The address number is obtained by scanning the barcode on the express delivery with a barcode scanner installed above the main conveyor belt.

[0103] Cargo specifications refer to the size of express delivery goods. Generally, goods are divided into large items and small items. When sorting large items, it is necessary to accurately locate the sorting and unloading position of large items. When sorting small items, it is only necessary to ensure that the sorting position of small items is within a reasonable range. Cargo specifications are obtained by scanning the barcode on the express delivery goods with a barcode scanner installed across the main conveyor belt.

[0104] The cargo balance point refers to the critical point of the weight of the express delivery goods themselves. The cargo balance point is the critical position at which the express delivery goods will not slide down the conveyor belt, thus affecting the sorting time and position of the express delivery goods.

[0105] Methods for obtaining cargo balance points include:

[0106] A top-down image is obtained by capturing images of express goods on the sub-conveyor belt using a camera installed above the main conveyor belt;

[0107] Computer vision technology is used to identify and extract the area corresponding to the express delivery goods in the top-view image to obtain the goods area image;

[0108] The four boundaries of the cargo area image are labeled J1, J2, J3 and J4 respectively. A line is drawn connecting two non-adjacent corner points in the cargo area image to form a diagonal. The corner points refer to the four boundary corners of the express cargo, which are used to limit the cargo area image to a rectangular structure.

[0109] Randomly mark a node on the diagonal, and measure the minimum distance from the node to J1 and J3, and the minimum distance from the node to J2 and J4 respectively;

[0110] The node's position on the diagonal is continuously adjusted until the minimum distance from the node to J1 and J3 is equal, and the minimum distance from the node to J2 and J4 is equal. At this point, the node is marked as the cargo balance point. By measuring the minimum distance, it can be ensured that the distance from the node to the four sides of the cargo area image is at its shortest distance, and that the intersection of the line connecting J1 and J3 and the line connecting J2 and J4 can coincide with the cargo balance point, thereby improving the accuracy of the cargo balance point's position.

[0111] It should be noted that when the distance from the node to J1 and J3 is equal, and the distance from the node to J2 and J4 is equal, it means that the node is at the weight center of the express goods. At this time, when a driving force is applied to the unloading direction of the express goods, the position state of the express goods can be changed, and the unloading of the express goods can be realized.

[0112] S2: Based on the address number, cargo specifications, and cargo balance point, mark the unloading position, which includes a safe position and a standard position;

[0113] The unloading position refers to the location of the unloading chute when the express goods are sorted. When the unloading position is marked, the specific location of the unloading of the express goods can be obtained, which can help with subsequent sorting control.

[0114] The unloading position includes the safety position and the standard position; the safety position is the position when small parts are sorted and unloaded. The safety position is not a fixed value, but a range of values. The standard position is the position when large parts are sorted and unloaded. The standard position is a fixed value.

[0115] Methods for marking safe and standard locations include:

[0116] Identify the address number of the express goods and mark the unloading chute group with the same number as the address number as the target chute group; each unloading chute group consists of two chutes, namely the first chute and the second chute, and the two chutes are set adjacent to each other and the inlet size of the chutes is the same;

[0117] Mark the sub-conveyor belt containing the express delivery goods as the target conveyor belt;

[0118] When the cargo is large, mark the first slide in the target slide group as the target slide and mark the midpoint of the inlet of the target slide as the standard position;

[0119] When the cargo is a small item, mark the second slide in the target slide group as the target slide;

[0120] Draw a horizontal line in the cargo area image, passing through the cargo balance point and along the conveying direction parallel to the target conveyor belt.

[0121] Measure the vertical distance from the corner points located above and below the horizontal line in the cargo area image to the horizontal line, and mark them as the upper distance value and the lower distance value, respectively;

[0122] The maximum value of the upper distance and the maximum value of the lower distance are added together to obtain the reserve value. By obtaining the reserve value, the area that needs to be reserved can be accurately marked on the target slide, thereby providing the necessary reserve space for small express parcels.

[0123] Mark two points on the target slide, at a distance of one reserved length from the two side walls of the inlet. The point closer to the target conveyor belt is marked as the starting position, and the point farther away from the target conveyor belt is marked as the ending position.

[0124] Mark the position on the target slide that is between the starting and ending positions as the safe position;

[0125] Figure 3 In the diagram, A is the main conveyor belt, B is the sub-conveyor belt, C is the express delivery goods, D is the target chute group, D1 is the first chute, and D2 is the second chute.

[0126] S3: Based on the cargo balance point and unloading position, obtain the first conveying distance and conveying time of the express cargo on the main conveyor belt, and the second conveying distance of the express cargo on the sub-conveyor belt;

[0127] The first conveying distance refers to the distance that express goods need to move on the main conveyor belt when they are picked up from the target conveyor belt and sorted into the target chute. When the unloading position is marked, the distance between the goods and the unloading position needs to be calculated according to the actual unloading position, and different unloading positions correspond to different first conveying distances.

[0128] Due to the differences between safe and standard positions, the first conveying distance will also exhibit different phenomena. The first conveying distance includes the safe conveying distance and the standard conveying distance; the safe conveying distance refers to the distance the express goods travel to the safe position, while the standard conveying distance refers to the distance the express goods travel to the standard position.

[0129] Methods for obtaining safe conveying distance and standard conveying distance include:

[0130] A camera installed on the top of the workshop captures an overhead view of the conveyor line, and the target chute and target conveyor belt are marked in the overhead view of the conveyor line.

[0131] Mark the corner point corresponding to the maximum value of the upper distance on the target conveyor belt, and draw the first measurement line parallel to the conveying direction of the target conveyor belt through the corner point;

[0132] Mark the starting and ending positions on the target slide, and draw a second and a third measuring line parallel to the conveying direction of the target conveyor belt through the starting and ending positions, respectively.

[0133] The distances between the first measurement line and the second and third measurement lines are measured using a scale, and the starting and ending distances are obtained after scaling.

[0134] The safe conveying distance is obtained by adding the starting distance and the ending distance together and then averaging them.

[0135] Mark the standard position in the target slide, and draw a fourth measurement line parallel to the conveying direction of the target conveyor belt through the standard position;

[0136] Mark the cargo balance point on the target conveyor belt, and draw a fifth measurement line parallel to the conveying direction of the target conveyor belt through the cargo balance point;

[0137] The standard conveying distance is obtained by measuring the distance between the fourth and fifth measuring lines using a scale and then converting the distance proportionally.

[0138] The conveying time refers to the time required for the express goods to reach the length corresponding to the first conveying distance. It is also the time for the express goods to move from the sub-conveyor belt into the target chute. Therefore, the movement time corresponding to the first conveying distance and the second conveying distance is equal.

[0139] The conveying time includes the safe conveying time and the standard conveying time. The safe conveying time refers to the time it takes for the target conveyor belt to travel to the safe position, while the standard conveying time refers to the time it takes for the target conveyor belt to travel to the standard position. Since the first conveying distance varies depending on the safe position and the standard position, the safe conveying time and the standard conveying time will also be different.

[0140] Methods for obtaining safe delivery time and standard delivery time include:

[0141] The speed of the main conveyor belt is collected by the conveyor belt controller and recorded as the main speed.

[0142] The safe conveying distance and the main speed are compared to obtain the safe conveying time;

[0143] The expression for safe delivery time is:

[0144] ;

[0145] In the formula, For safe delivery time, For safe transport distance, Main speed;

[0146] The standard conveying time is obtained by comparing the standard conveying distance with the main speed.

[0147] The expression for standard delivery time is:

[0148] ;

[0149] In the formula, For standard delivery time, Standard conveying distance:

[0150] When the main conveyor belt transports the target conveyor belt carrying express goods to the unloading position, the express goods on the target conveyor belt need to be sorted and transported into the target chute to ensure that the express goods are accurately and timely sorted into the corresponding target chute and to prevent the phenomenon of incorrect sorting or omission of express goods.

[0151] The methods for obtaining the second conveying distance include:

[0152] On the top view of the conveyor and at the location of the cargo balance point, draw a vertical line perpendicular to the direction of movement of the target conveyor belt to obtain the sixth measurement line;

[0153] At the location on the target slide that is past the standard or safe position, draw a horizontal line parallel to the direction of movement of the target conveyor belt to obtain the seventh measurement line;

[0154] Mark the intersection of the sixth and seventh measurement lines as the target point;

[0155] The second conveying distance is obtained by measuring the distance from the target point to the standard or safe position using a scale and then converting the distance proportionally.

[0156] S4: Based on the conveying time and the second conveying distance, obtain the start time of the sub-conveyor belt, which includes the safe start time and the standard start time;

[0157] Start-up time refers to the moment when the target conveyor belt starts working during the process of the main conveyor belt transporting express goods to the target chute. By obtaining the start-up time, the target conveyor belt can be controlled in a timely and accurate manner to sort and transport express goods, thereby accurately sorting and transporting express goods into the target chute.

[0158] Start-up time includes safe start-up time and standard start-up time; safe start-up time refers to the start time of the target conveyor belt when the express goods are delivered to a safe position, and standard start-up time refers to the start time of the target conveyor belt when the express goods are delivered to a standard position.

[0159] Since the speed of the sub-conveyor belts is centrally controlled by the conveyor belt controller, all sub-conveyor belts operate at the same speed. In order to ensure that the sub-conveyor belts can start after the start time, the speed of the sub-conveyor belts will be less than the speed of the main conveyor belt.

[0160] Methods for obtaining secure boot time and standard boot time include:

[0161] The target conveyor belt speed is obtained by the conveyor belt controller, and the sub-conveying time is obtained by comparing the target conveyor belt speed with the second conveying distance.

[0162] The expression for the sub-transport time is:

[0163] ;

[0164] In the formula, For the delivery time of the child, For the second conveying distance, The target conveyor belt's speed;

[0165] The safe time difference is obtained by subtracting the safe conveying time from the sub-conveyor time and the preset delay time. The preset delay time refers to the time required for the sub-conveyor belt to reach the specified speed after receiving the start command. This allows for the identification of wasted time caused by the sub-conveyor belt itself and ensures the accuracy of subsequent safe time difference calculations. The preset delay time is obtained by collecting the average time taken by a large number of similar sub-conveyor belts from start to reach the specified speed in history, and then combining it with factors such as the service life and operating status of the currently used sub-conveyor belt, and optimizing it through multiple coefficients.

[0166] The expression for the safety time difference is:

[0167] ;

[0168] In the formula, For safety time difference, The preset delay time;

[0169] The moment when the cargo balance point is reached is recorded as the start time. The difference between the start time and the safe start time is accumulated to obtain the safe start time.

[0170] The expression for secure boot time is:

[0171] ;

[0172] In the formula, For safe startup time, The starting time;

[0173] The standard time difference is obtained by subtracting the standard delivery time from the sub-delivery time and the preset delay time.

[0174] The expression for the standard time difference is:

[0175] ;

[0176] In the formula, This is the standard time difference;

[0177] The standard startup time is obtained by summing the differences between the start time and the standard time.

[0178] The expression for standard startup time is:

[0179] ;

[0180] In the formula, Standard startup time;

[0181] S5: Based on the start time, generate correction control commands and control the sub-conveyor belt to start at a time according to the correction control commands;

[0182] Once the safe start time and standard start time are generated, the start time of the target conveyor belt can be precisely controlled, so that when the target conveyor belt is transported to the corresponding unloading position, the express goods on the target conveyor belt can be sorted into the corresponding target chute in a timely and accurate manner. Depending on the different safe start time and standard start time, corresponding correction control commands need to be generated.

[0183] The deviation correction control instructions include safety deviation correction control instructions and standard deviation correction control instructions. Safety deviation correction control instructions refer to instructions that require start-up time control of the target conveyor belt when the express goods are small, to ensure that the small express goods can be accurately sorted into the corresponding target chute, thus achieving deviation correction control for small express goods. Standard deviation correction control instructions refer to instructions that require start-up time control of the target conveyor belt when the express goods are large, to ensure that the large express goods can be accurately sorted into the corresponding target chute, thus achieving deviation correction control for large express goods.

[0184] The methods for generating safety corrective control commands and standard corrective control commands include:

[0185] When the start time is the safe start time, it means that the express goods on the target conveyor belt are small items. At this time, the target conveyor belt can only be started when the balance point of the goods reaches the safe position of the target slide. Then a safe correction control command is generated.

[0186] When the start time is the standard start time, it means that the express goods on the target conveyor belt are large items. At this time, the target conveyor belt can only be started when the balance point of the goods reaches the standard position of the target slide. Then, a standard correction control command is generated.

[0187] When generating safety correction control instructions or standard correction control instructions, it is necessary to start the target conveyor belt in a timely manner based on the start time to ensure that express goods can be accurately sorted into the target chute and achieve the sorting correction control effect of express goods.

[0188] The control methods for timed start-up of the sub-conveyor belt include:

[0189] When a safety correction control command is generated, the conveyor belt controller sends a timed start information to the sub-conveyor belt corresponding to the target conveyor belt and controls the drive motor of the sub-conveyor belt corresponding to the target conveyor belt to start at the time corresponding to the safety start time, so as to transport the express goods into the target chute;

[0190] When a standard correction control command is generated, the conveyor belt controller sends a delayed start information to the sub-conveyor belt corresponding to the target conveyor belt and controls the drive motor of the sub-conveyor belt corresponding to the target conveyor belt to start at the time corresponding to the standard start time, so as to transport the express goods into the target chute.

[0191] In this embodiment, by acquiring the address number, specifications, and balance point of the express goods, and marking the unloading position, a first conveying distance, a conveying time, and a second conveying distance are obtained based on the balance point and unloading position. Based on the conveying time and the second conveying distance, the start time of the sub-conveyor belt is obtained, including a safe start time and a standard start time. Based on the start time, a correction control command is generated, and the sub-conveyor belt is controlled to start at a specific time according to the correction control command. Compared with the prior art, by acquiring the balance point, the weight balance critical point of the express goods can be accurately identified, the offset of the express goods at different positions on the sub-conveyor belt can be obtained, and reasonable sorting and unloading positions can be accurately marked for express goods of different sizes. The accurate time for the sub-conveyor belt to start for express sorting and unloading can be calculated, thereby ensuring that express goods at different positions on the sub-conveyor belt can be accurately sorted into the corresponding unloading chute, improving the sorting accuracy of express goods, and achieving a highly efficient correction control effect.

[0192] Example 2: Please refer to Figure 2As shown, the parts not described in detail in this embodiment are described in Embodiment 1. A deviation correction control system for express sorting and conveying is provided, which is applied to a conveyor belt controller to implement a deviation correction control method for express sorting and conveying. The system includes an information acquisition module, a material unloading position marking module, a first calculation module, a second calculation module, and an instruction control module. The modules are connected to each other via wired or wireless network.

[0193] The information collection module is used to acquire comprehensive correction information for express goods, including address number, goods specifications, and goods balance point.

[0194] The unloading location marking module is used to mark the unloading location based on the address number, cargo specifications, and cargo balance point;

[0195] The first calculation module is used to obtain the first conveying distance, the conveying time, and the second conveying distance based on the cargo balance point and the unloading position, respectively.

[0196] The second calculation module is used to obtain the start time of the sub-conveyor belt based on the conveying time and the second conveying distance;

[0197] The instruction control module is used to generate correction control instructions based on the start time, and control the sub-conveyor belt to start at regular intervals according to the correction control instructions.

[0198] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for corrective control in express delivery sorting and conveying, applied to a conveyor belt controller, characterized in that, include: S1: Obtain comprehensive correction information for express shipments, including address number, shipment specifications, and shipment balance point; S2: Mark the unloading location based on the address number, cargo specifications, and cargo balance point; The material unloading position includes the safe position and the standard position: Methods for marking safe and standard locations include: Identify the address number of the express goods and mark the unloading chute group whose number matches the address number as the target chute group; Mark the sub-conveyor belt containing the express delivery goods as the target conveyor belt; When the cargo is large, mark the first slide in the target slide group as the target slide and mark the midpoint of the inlet of the target slide as the standard position; When the cargo is a small item, mark the second slide in the target slide group as the target slide; Draw a horizontal line in the cargo area image, passing through the cargo balance point and along the conveying direction parallel to the target conveyor belt. Measure the vertical distance from the corner points located above and below the horizontal line in the cargo area image to the horizontal line, and mark them as the upper distance value and the lower distance value, respectively; The maximum value of the upper distance and the maximum value of the lower distance are summed to obtain the reserved value; Mark two points on the target slide, at a distance of one reserved length from the two side walls of the inlet. The point closer to the target conveyor belt is marked as the starting position, and the point farther away from the target conveyor belt is marked as the ending position. Mark the position on the target slide that is between the starting and ending positions as the safe position; S3: Based on the cargo balance point and the unloading position, obtain the first conveying distance, the conveying time, and the second conveying distance respectively; S4: Based on the conveying time and the second conveying distance, obtain the start time of the sub-conveyor belt; S5: Based on the start-up time, generate correction control commands and control the sub-conveyor belt to start at regular intervals according to the correction control commands.

2. The deviation correction control method for express sorting and conveying according to claim 1, characterized in that, The specifications of the goods include large items and small items; Methods for obtaining cargo balance points include: A top-down image is obtained by capturing images of express goods on the sub-conveyor belt using a camera installed above the main conveyor belt; Computer vision technology is used to identify and extract the area corresponding to the express delivery goods in the top-view image to obtain the goods area image; The four boundaries of the cargo area image are labeled J1, J2, J3 and J4 in sequence, and a line is drawn connecting two non-adjacent corner points in the cargo area image to form a diagonal line; Randomly mark a node on the diagonal, and measure the minimum distance from the node to J1 and J3, and the minimum distance from the node to J2 and J4 respectively; Continuously adjust the position of the node on the diagonal until the minimum distance from the node to J1 and J3 is equal, and the minimum distance from the node to J2 and J4 is equal. Then mark the node as the cargo balance point.

3. The deviation correction control method for express sorting and conveying according to claim 2, characterized in that, The first conveying distance includes the safe conveying distance and the standard conveying distance; Methods for obtaining safe transport distance include: A camera installed on the top of the workshop captures an overhead view of the conveyor line, and the target chute and target conveyor belt are marked in the overhead view of the conveyor line. Mark the corner point corresponding to the maximum value of the upper distance on the target conveyor belt, and draw the first measurement line parallel to the conveying direction of the target conveyor belt through the corner point; Mark the starting and ending positions on the target slide, and draw a second and a third measuring line parallel to the conveying direction of the target conveyor belt through the starting and ending positions, respectively. The distances between the first measurement line and the second and third measurement lines are measured using a scale, and the starting and ending distances are obtained after scaling. The safe conveying distance is obtained by adding the starting distance and the ending distance together and then averaging them. Mark the standard position in the target slide, and draw a fourth measurement line parallel to the conveying direction of the target conveyor belt through the standard position; Mark the cargo balance point on the target conveyor belt, and draw a fifth measurement line parallel to the conveying direction of the target conveyor belt through the cargo balance point; The standard conveying distance is obtained by measuring the distance between the fourth and fifth measuring lines using a scale and then converting the distance proportionally.

4. The deviation correction control method for express sorting and conveying according to claim 3, characterized in that, The conveying time includes safe conveying time and standard conveying time; Methods for obtaining safe delivery time and standard delivery time include: The speed of the main conveyor belt is collected by the conveyor belt controller and recorded as the main speed. The safe conveying distance and the main speed are compared to obtain the safe conveying time; The expression for safe delivery time is: ； In the formula, For safe delivery time, For safe transport distance, Main speed; The standard conveying time is obtained by comparing the standard conveying distance with the main speed. The expression for standard delivery time is: ； In the formula, For standard delivery time, This is the standard conveying distance.

5. The deviation correction control method for express sorting and conveying according to claim 4, characterized in that, The method for obtaining the second conveying distance includes: On the top view of the conveyor and at the location of the cargo balance point, draw a vertical line perpendicular to the direction of movement of the target conveyor belt to obtain the sixth measurement line; At the location on the target slide that is past the standard or safe position, draw a horizontal line parallel to the direction of movement of the target conveyor belt to obtain the seventh measurement line; Mark the intersection of the sixth and seventh measurement lines as the target point; The second conveying distance is obtained by measuring the distance from the target point to the standard or safe position using a scale and then performing a proportional conversion.

6. The deviation correction control method for express sorting and conveying according to claim 5, characterized in that, The startup time includes safe startup time and standard startup time; Methods for obtaining secure boot time and standard boot time include: The target conveyor belt speed is obtained by the conveyor belt controller, and the sub-conveying time is obtained by comparing the target conveyor belt speed with the second conveying distance. The expression for the sub-transport time is: ； In the formula, For the delivery time of the child, For the second conveying distance, The target conveyor belt's speed; The safe time difference is obtained by subtracting the safe delivery time from the sub-delivery time and the preset delay time. The expression for the safety time difference is: ； In the formula, For safety time difference, The preset delay time; The moment when the cargo balance point is reached is recorded as the start time. The difference between the start time and the safe start time is accumulated to obtain the safe start time. The expression for secure boot time is: ； In the formula, For safe startup time, The starting time; The standard time difference is obtained by subtracting the standard delivery time from the sub-delivery time and the preset delay time. The expression for the standard time difference is: ； In the formula, This is the standard time difference; The standard startup time is obtained by summing the differences between the start time and the standard time. The expression for standard startup time is: ； In the formula, This is the standard startup time.

7. A method for corrective control in express sorting and conveying according to claim 6, characterized in that, The corrective control commands include safety corrective control commands and standard corrective control commands; The methods for generating safety corrective control commands and standard corrective control commands include: When the startup time is the safe startup time, a safe correction control command is generated; When the startup time is the standard startup time, a standard correction control command is generated.

8. A method for corrective control in express sorting and conveying according to claim 7, characterized in that, The control method for timed start-up of the sub-conveyor belt includes: When a safety correction control command is generated, the conveyor belt controller controls the drive motor of the sub-conveyor belt corresponding to the target conveyor belt to start at the time corresponding to the safety start time; When a standard correction control command is generated, the conveyor belt controller controls the drive motor of the sub-conveyor belt corresponding to the target conveyor belt to start at the time corresponding to the standard start time.

9. A deviation correction control system for express delivery sorting and conveying, applied to a conveyor belt controller, for implementing the deviation correction control method for express delivery sorting and conveying as described in any one of claims 1-8, characterized in that, It includes an information acquisition module, a material unloading position marking module, a first calculation module, a second calculation module, and an instruction control module, wherein the modules are connected to each other via wired or wireless network. The information collection module is used to acquire comprehensive correction information for express goods, including address number, goods specifications, and goods balance point. The unloading location marking module is used to mark the unloading location based on the address number, cargo specifications, and cargo balance point; The first calculation module is used to obtain the first conveying distance, the conveying time, and the second conveying distance based on the cargo balance point and the unloading position, respectively. The second calculation module is used to obtain the start time of the sub-conveyor belt based on the conveying time and the second conveying distance; The instruction control module is used to generate correction control instructions based on the start time, and control the sub-conveyor belt to start at regular intervals according to the correction control instructions.

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