Sorting method of logistics package sorting system

Abstract

The invention provides a sorting method of a logistics parcel sorting system, and the logistics parcel sorting system comprises a parcel supply platform used for loading parcels to a corresponding target trolley and a main line conveying belt used for conveying the parcels to a corresponding lower grid opening. The main line conveying belt is provided with a plurality of target trolleys which are used for placing parcels and can be controlled to comprise falling grids, the main line conveying belt is provided with an image acquisition mechanism, and the image acquisition mechanism is used for acquiring photos of specific positions of the parcels on the target trolleys; the sorting method comprises the following steps that the deviation between the center position of a parcel and the center position of a target trolley is determined according to a picture collected by an image collection mechanism; and the target trolley adjusts the parcel falling time according to the deviation condition between the center position of the parcel and the center position of the target trolley. According to the method, the discharging time of the parcels can be adjusted according to the specific positions of the parcels, and therefore the parcel sorting accuracy can be effectively guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics package sorting, and in particular to a sorting method of a logistics package sorting system. Background Art

[0002] The modern logistics industry is developing rapidly. As the core product of logistics automation, parcel sorting machines occupy an important position in major logistics companies and even in the entire domestic logistics industry. The improvement and perfection of parcel sorting machine technology is conducive to the development of logistics automation and has a very positive significance in saving labor, improving efficiency, reducing error rates and reducing costs.

[0003] However, in the existing parcel sorting machine, the staff's energy is limited when loading the parcels, so it is impossible to ensure that the parcels on the main conveyor belt can always be located in the center of the target trolley; this makes it easy to make mistakes when unloading the parcels; although the prior art discloses that the position of the parcel on the target trolley is corrected by a correction device, it is difficult to truly correct the parcel in the center of the target trolley due to the different sizes of the loaded parcels, and therefore it is difficult to ensure the accuracy of parcel sorting. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention proposes a sorting method for a logistics parcel sorting system, which can adjust the timing of unloading a parcel according to the specific location of the parcel, thereby effectively ensuring the accuracy of parcel sorting.

[0005] The technical solution of the present invention is achieved in this way:

[0006] A sorting method for a logistics parcel sorting system, wherein the logistics parcel sorting system comprises a parcel supply platform for loading parcels onto corresponding target trolleys and a main line conveyor belt for transporting parcels to corresponding lower grid openings, the main line conveyor belt is provided with a plurality of target trolleys for placing parcels and controlling the drop grids, the main line conveyor belt is provided with an image acquisition mechanism, the image acquisition mechanism is used to capture photos of specific positions of parcels on the target trolleys; the method comprises the following steps:

[0007] Determine the deviation between the center position of the package and the center position of the target vehicle based on the photos collected by the image collection mechanism;

[0008] The target car adjusts the time when the package drops according to the deviation between the center position of the package and the center position of the target car.

[0009] Preferably, the step of determining the deviation between the center position of the package and the center position of the target vehicle based on the photos collected by the image collection mechanism includes:

[0010] Determine the center position of the target vehicle and the center position of the package based on the photos collected by the image acquisition mechanism;

[0011] Take the upper left corner of the target car in the photo as the coordinate origin, the transmission direction of the conveyor belt in the target car as the X axis, the transmission direction of the main line conveyor belt as the Y axis, and the area where the target car is located as the first quadrant of the coordinate axis to determine the center coordinate of the target car (X 0 ,Y 0 ) and the center coordinates of the package (X 包 ,Y 包 );

[0012] The deviations ΔX and ΔY between the package and the target vehicle on the X-axis and Y-axis are determined according to the center coordinates of the target vehicle and the center coordinates of the package.

[0013] Preferably, the preset standard drop time of the package on the target cart is T 标 , then the method for the target vehicle to adjust the parcel drop time according to the deviation between the center position of the parcel and the center position of the target vehicle is:

[0014] The horizontal coordinate X wrapped on the X axis 包 Located between the center of the target trolley and the lower grid opening, and taking the transmission direction of the main conveyor belt as the reference direction, when the package on the Y axis is located in front of the center of the target trolley, the actual grid drop time of the package is:

[0015] Wrap the horizontal axis X on the X axis 包 If the package is not located between the center of the target trolley and the lower grid opening, and the package is located in front of the center of the target trolley on the Y axis when the transmission direction of the main line conveyor belt is used as the reference direction, the actual time when the package falls into the grid is:

[0016] Wrap the horizontal axis X on the X axis 包 Located between the center of the target trolley and the lower grid opening, and taking the transmission direction of the main line conveyor belt as the reference direction, when the package on the Y axis is located behind the center of the target trolley, the actual grid drop time of the package is:

[0017] Wrap the horizontal axis X on the X axis 包 If the package is not located between the center of the target trolley and the lower grid opening, and the package is located behind the center of the target trolley on the Y axis when the transmission direction of the main line conveyor belt is used as the reference direction, the actual time when the package falls into the grid is:

[0018] Among them, V 主 is the transmission speed of the main transmission belt, V 车输送带 is the transmission speed of the conveyor belt in the target car.

[0019] Preferably, the logistics parcel sorting system further comprises a light curtain detection mechanism for detecting the type of parcel, the logistics parcel sorting system further comprises a light curtain detection mechanism for detecting the type of parcel, the first section conveyor belt, the second section conveyor belt and the third section conveyor belt are sequentially connected on the package supply platform, the first conveyor belt is located at the front end of the package supply platform, and the third conveyor belt is close to the main line transmission belt, and the light curtain detection mechanism is arranged between the first section conveyor belt or the first conveyor belt and the second conveyor belt; wherein in the sorting method, before the step of determining the deviation between the center position of the parcel and the center position of the trolley according to the photos collected by the image acquisition mechanism, the following steps are also included:

[0020] Determine the type of package based on the detection information of the light curtain detection module, where the package type includes but is not limited to large packages, small packages, large items and small items;

[0021] Adjust the transmission speed of the third conveyor belt on the package supply table according to the package type.

[0022] Preferably, the step of determining the type of package according to the detection information of the light curtain detection module includes:

[0023] The measured length L of the package is determined according to the time t that the package passes through the light curtain detection mechanism and the transmission speed V of the conveyor belt where the light curtain detection mechanism is located, where L = Vt;

[0024] When the package passes through the light curtain detection mechanism, the measurement width of the package is determined according to the digital number of the edge detector on the light curtain detection mechanism that can detect the signal and the interval between adjacent detectors on the light curtain;

[0025] The package type of the package is determined based on whether the package measurement length or the package measurement width is within the predicted size range of the corresponding package type.

[0026] Preferably, before the step of adjusting the transmission speed of the third conveyor belt on the package supplying platform according to the package type, the method further includes the following steps:

[0027] The package supply station also determines the timing of the package entering the third conveyor belt based on the package type and the package deviation type.

[0028] Preferably, the step of determining the timing of the package entering the third conveyor belt according to the package type and the deviation type of the package includes:

[0029] Determine the deflection type of the package on the conveyor belt of the package supply platform according to the detection information of the light curtain detection mechanism; the deflection type includes deflection to the left side of the belt, deflection to the right side of the belt and located at the center line of the belt;

[0030] Determine the compensation time of the package according to the package type and the bias type of the package, wherein the compensation time includes the package type replenishment time and the bias type replenishment time;

[0031] Determine the corresponding target vehicle arrival time based on the standard time and compensation time;

[0032] The timing for the package to enter the third conveyor belt is determined based on the arrival time of the target trolley.

[0033] Preferably, the step of determining the deflection type of the package on the conveyor belt of the package supply platform according to the detection information of the light curtain detection mechanism includes:

[0034] Assume that the detectors on the light curtain detection mechanism are numbered from left to right. The two edge detectors on the light curtain detection mechanism that can detect signals after the package passes through are N1 and N2. The total number of detectors on the light curtain detection mechanism is N. 总 ;

[0035] when Then the package is biased to the right side of the belt;

[0036] when Then the package is biased to the left side of the belt;

[0037] when Then the package is located on the center line of the belt.

[0038] Preferably, the logistics parcel sorting system also includes a centering mechanism arranged on the main conveyor belt, which is used to center the parcels entering the main conveyor belt.

[0039] Compared with the prior art, the present invention has the following advantages: the sorting method of the logistics parcel sorting system of the present invention, after the parcel supply platform puts the parcel on the main line conveyor belt, determines the deviation between the center position of the parcel and the center position of the target trolley through the photos collected by the image acquisition mechanism, and then the target trolley adjusts the parcel drop time according to the deviation between the center position of the parcel and the center position of the target trolley, thereby effectively ensuring the accuracy of parcel sorting. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0041] Figure 1 It is a structural schematic diagram of the logistics package sorting system in the present invention;

[0042] Figure 2It is a flow chart of the sorting method of the logistics package sorting system of the present invention;

[0043] Figure 3 A schematic diagram of establishing a coordinate system for the target cart with the package placed on it;

[0044] Figure 4 This is the detection principle diagram of the light curtain detection mechanism;

[0045] Figure 5 It is a schematic diagram of the structure of the package on the first conveyor belt. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] See also Figure 1 and Figure 2 The embodiment of the present invention discloses a sorting method for a logistics package sorting system, wherein Figure 1 As shown, the logistics parcel sorting system includes a parcel supply platform for loading parcels onto corresponding target carts and a main line conveyor belt for transporting parcels to corresponding lower grid openings, the main line conveyor belt is provided with a plurality of target carts for placing parcels and controlling the drop grid, the main line conveyor belt is provided with an image acquisition mechanism, the image acquisition mechanism is used to capture photos of the specific position of the parcel on the target cart; wherein, Figure 1 As shown, the main conveyor belt may be an annular structure, and the lower grid opening may be located on the inner side of the main conveyor belt or on the outer side of the main conveyor belt.

[0048] Among them Figure 2 As shown, the sorting method of the logistics parcel sorting system specifically includes the following steps:

[0049] S1, determining the deviation between the center position of the package and the center position of the target vehicle according to the photos collected by the image acquisition mechanism;

[0050] S2, the target car adjusts the parcel drop time according to the deviation between the center position of the parcel and the center position of the target car.

[0051] In step S1, after the image acquisition mechanism acquires a photo of the target vehicle transporting the package, the center position of the package and the center position of the target vehicle can be determined by background image processing and analysis, and then the deviation between the center position of the package and the center position of the target vehicle can be determined.

[0052] In step S2, after determining the deviation between the center position of the package and the center position of the target cart, the target cart adjusts the drop time of the package according to the deviation between the center position of the package and the center position of the target cart, that is, adjusts the timing of unloading the package, thereby effectively ensuring the accuracy of package sorting.

[0053] Specifically, step S1 includes:

[0054] S101, determining the center position of the target vehicle and the center position of the package according to the photos collected by the image collection mechanism;

[0055] In this embodiment, after capturing a photo of a target trolley with a package, the outline of the package and the outline of the target trolley can be determined based on image recognition, and finally the center position of the target trolley and the center position of the package can be finally determined based on the outline of the package and the outline of the target trolley. As for how to finally determine the center position of the target trolley and the center position of the package based on the outer contour of the package and the outer contour of the target trolley, this belongs to the prior art and will not be described in detail in the embodiments of the present invention.

[0056] S102, taking the upper left corner of the target car in the photo as the coordinate origin, the transmission direction of the conveyor belt in the target car as the X axis, the transmission direction of the main line conveyor belt as the Y axis, and the area where the target car is located as the first quadrant of the coordinate axis, determine the center coordinates (X 0 ,Y 0 ) and the center coordinates of the package (X 包 ,Y 包 );

[0057] In the embodiment of the present invention, Figure 3 As shown in the figure, the upper left corner of the target car in the captured photo is taken as the coordinate origin, and the transmission direction of the conveyor belt in the target car is the X axis (i.e. Figure 3 The length direction of the target vehicle is shown in the figure), and the transmission direction of the main line conveyor belt is the Y axis (i.e. Figure 3 The height direction of the target car shown in the figure); since the size of the target car is already determined, the coordinates of the center position of the target car can be calculated; and the position of the package outline in the coordinate system in the collected photo is also determined, so the coordinates of the center position of the package can also be calculated.

[0058] S103, determining the deviations ΔX and ΔY between the package and the target vehicle on the X-axis and Y-axis according to the center coordinates of the target vehicle and the center coordinates of the package.

[0059] In this embodiment, since the center position coordinates of the target trolley and the center position coordinates of the package have been determined, the deviations ΔX and ΔY between the package and the target trolley on the X-axis and Y-axis respectively can be calculated, namely:

[0060] ΔX=|X 0 -X 包 |, ΔY=|Y 0 -Y 包 |.

[0061] It is assumed that the background has calculated the preset standard drop time of the package on the target cart as T 标 , V 主 is the transmission speed of the main transmission belt, V 车输送带 is the transmission speed of the conveyor belt in the target trolley; then in step S2, the method for adjusting the parcel drop time of the target trolley according to the deviation between the center position of the parcel and the center position of the target trolley is:

[0062] The horizontal coordinate X wrapped on the X axis 包 Located between the center of the target trolley and the lower grid opening, and taking the transmission direction of the main conveyor belt as the reference direction, when the package on the Y axis is located in front of the center of the target trolley, the actual grid drop time of the package is: In this case, since the package is closer to the lower compartment opening than the center position of the target vehicle in the X-axis direction, the unloading time needs to be delayed in the X-axis direction. On the Y axis, the package is located in front of the center of the target car, so it needs to be moved in advance. Therefore Then control the package unloading.

[0063] Wrap the horizontal axis X on the X axis 包 If the package is not located between the center of the target trolley and the lower grid opening, and the package is located in front of the center of the target trolley on the Y axis when the transmission direction of the main line conveyor belt is used as the reference direction, the actual time when the package falls into the grid is: In this case, since the parcel is farther from the lower grid opening than the center position of the target vehicle in the X-axis direction, the parcel needs to be unloaded earlier in the X-axis direction. On the Y axis, the package is located in front of the center of the target car, so it needs to be moved in advance. Therefore Then control the package unloading.

[0064] Wrap the horizontal axis X on the X axis 包 Located between the center of the target trolley and the lower grid opening, and taking the transmission direction of the main line conveyor belt as the reference direction, when the package on the Y axis is located behind the center of the target trolley, the actual grid drop time of the package is: In this case, since the package is closer to the lower compartment opening than the center position of the target vehicle in the X-axis direction, the unloading time needs to be delayed in the X-axis direction. On the Y axis, the package is behind the center of the target car, so a delay is required. Therefore Then control the package unloading.

[0065] Wrap the horizontal axis X on the X axis 包 If the package is not located between the center of the target trolley and the lower grid opening, and the package is located behind the center of the target trolley on the Y axis when the transmission direction of the main line conveyor belt is used as the reference direction, the actual time when the package falls into the grid is: In this case, since the parcel is farther from the lower grid opening than the center position of the target vehicle in the X-axis direction, the parcel needs to be unloaded earlier in the X-axis direction. On the Y axis, the package is behind the center of the target car, so a delay is required. Therefore Then control the package unloading.

[0066] The present invention accurately determines the specific location of the package and then accurately controls the time of unloading the package according to the specific location of the package, thereby ensuring that the package can be accurately unloaded, thereby effectively improving the accuracy of package sorting.

[0067] Furthermore, in an embodiment of the present invention, the logistics parcel sorting system further includes a light curtain detection mechanism for detecting the type of parcel, the first section conveyor belt, the second section conveyor belt and the third section conveyor belt are sequentially connected on the package supply platform, the first conveyor belt is located at the front end of the package supply platform, and the third conveyor belt is close to the main line transmission belt, and the light curtain detection mechanism is arranged between the first section conveyor belt or the first conveyor belt and the second conveyor belt; wherein in the sorting method, before the step of determining the deviation between the center position of the parcel and the center position of the trolley according to the photos collected by the image acquisition mechanism, the following steps are also included:

[0068] S001, determining the type of package according to the detection information of the light curtain detection module, wherein the package type includes but is not limited to large and small items;

[0069] S003, adjusting the transmission speed of the third conveyor belt on the package supply table according to the package type.

[0070] In the embodiment of the present invention, considering that when the size difference of the parcel is large, it will also affect the accuracy of the parcel when it is loaded onto the parcel supply platform, it is also necessary to adjust the transmission speed of the conveyor belt on the supply platform where the parcel is about to be loaded according to the type of the parcel, so as to ensure that the parcel is accurately loaded onto the corresponding target trolley on the main line conveyor belt. For example, when it is determined that the parcel type is a large piece, the third section of the conveyor belt is adjusted to run at the preset large piece speed V1; and when it is determined that the parcel type is a small piece, the third section of the conveyor belt is adjusted to run at the preset small piece speed V2. In this embodiment, ensuring that the parcel can be accurately loaded onto the corresponding target trolley is also to ensure that the subsequent parcels can be unloaded, thereby ensuring the accuracy of sorting.

[0071] Among them, in step S001, the step of determining the type of package according to the detection information of the light curtain detection module includes:

[0072] S001A, determining the measured length L of the package according to the time t that the package passes through the light curtain detection mechanism and the transmission speed V of the conveyor belt where the light curtain detection mechanism is located, where L=Vt;

[0073] S001B, when the package passes through the light curtain detection mechanism, the measurement width of the package is determined according to the distance between the two edge detectors on the light curtain detection mechanism that can detect signals;

[0074] S001C, determining a package type of the package according to whether a measured length of the package or a measured width of the package is within a predicted size range of the corresponding package type.

[0075] Among them, Figure 4 As shown, the light curtain detection mechanism usually includes at least two parts: a light emitter and a light receiver. The light emitter emits light and the light receiver receives light. When a package blocks the light, the light curtain detection mechanism will detect it and send a corresponding signal. In the embodiment of the present invention, in order to detect packages of larger sizes, a 48-point light curtain detection mechanism or a light curtain detection mechanism with a higher number of points can be used for detection.

[0076] When a package passes through the light curtain detection mechanism, it will block the light emitted by the light emitter at the corresponding position of the light curtain detection mechanism, causing the light receiver to be unable to receive the light, and then the corresponding size of the package can be detected based on the detection information.

[0077] In the embodiment of the present invention, when the package passes through the light curtain detection mechanism, the measured length L of the package can be determined according to the time t of the package passing through the light curtain detection mechanism and the transmission speed V of the conveyor belt where the light curtain detection mechanism is located, that is, L=Vt;

[0078] As for the measurement width of the package, it can be determined based on the digital number of the edge detector on the light curtain detection mechanism that can detect the signal when the package passes through the light curtain detection mechanism, and the interval between adjacent detectors on the light curtain. Figure 4 As shown, after the package has completely passed through the light curtain detection mechanism, assuming that the two edge detectors on the light curtain detection mechanism that can detect signals (i.e., the photoreceivers cannot receive the light emitted by the light emitter) are photoreceivers No. 6 and No. 35, then the measured width of the package at this time is D = (35-6) × d, where d is the spacing width between two adjacent photoreceivers.

[0079] However, since the direction of the package cannot be guaranteed when the staff is wrapping the package, in this embodiment, the measured length L and width D of the package are not necessarily the actual length and width of the package, but the length and width of the circumscribed rectangle of the package. The width of the circumscribed rectangle (i.e., the measured width D of the package) is parallel to the light curtain measurement mechanism. For details, see Figure 5 In the embodiment of the present invention, the package type of the package is finally confirmed based on the length (i.e., the measured length L) and width (the measured width D) of the circumscribed rectangle of the package, rather than the actual length and width of the package.

[0080] When the length or width of the circumscribed rectangle, i.e., the measured length or measured width of the package detected by the light curtain detection mechanism, is within the predicted size range of the corresponding package type, the package type of the package can be determined. For example, when the measured length or measured width of the package is greater than the predicted size of the large package, the type of the package is a large package; and when the measured length or measured width of the package, as long as one of them is within the predicted size range of the small package, the type of the package is a small package. Similarly, if the package type also includes large packages, medium packages, small packages, etc., if the package is within the corresponding predicted size range, the package type of the package can be determined.

[0081] Furthermore, in S003, before the step of adjusting the transmission speed of the third conveyor belt on the package supplying platform according to the package type, the following steps are also included:

[0082] S002, the package supply station also determines the timing for the package to enter the third conveyor belt according to the package type and the package orientation type.

[0083] In this embodiment, in order to save space and allow the parcel to enter the main conveyor belt more smoothly, the parcel supply platform is generally set to form a certain angle with the main conveyor belt. Figure 1 .

[0084] However, when the staff is loading the parcels on the package supply platform, it cannot be guaranteed that the parcels are always located at the center of the package supply platform conveyor belt. When the parcels are located on different sides of the belt, the time required for them to reach the main conveyor belt is also different, which will also affect the accuracy of the parcel loading. In addition, for different types of parcels, even if the transmission speed of the package supply platform conveyor belt is consistent, and the center position of the parcels is located at the same position on the same side of the package supply platform conveyor belt, the time for large and small parcels to arrive at the main conveyor belt is not the same, and the size of the parcel itself will affect the time for the parcel to arrive at the main conveyor belt. Therefore, in the embodiment of the present invention, it is also necessary to determine the timing of the parcel entering the third section conveyor belt according to the type of parcel and the deviation type of the parcel.

[0085] Specifically, in S002, the step of determining the timing of the package entering the third conveyor belt according to the package type and the deviation type of the package includes:

[0086] S0021, determining the deflection type of the package on the conveyor belt of the package supply platform according to the detection information of the light curtain detection mechanism; the deflection type includes deflection to the left side of the belt, deflection to the right side of the belt and located at the center line of the belt;

[0087] S0022, determining a compensation time for the package according to the package type and the bias type of the package, wherein the compensation time includes a package type replenishment time and a bias type replenishment time;

[0088] S0023, determine the corresponding target vehicle arrival time according to the standard time and compensation time;

[0089] S0024, determine the timing for the package to enter the third conveyor belt according to the arrival time of the target vehicle.

[0090] Among them, in S20021, the step of determining the deflection type of the package on the conveyor belt of the package supply platform according to the detection information of the light curtain detection mechanism includes:

[0091] Assume that the detectors on the light curtain detection mechanism are numbered from left to right. The two edge detectors on the light curtain detection mechanism that can detect signals after the package passes through are N1 and N2. The total number of detectors on the light curtain detection mechanism is N. 总 ;

[0092] when Then the package is biased to the right side of the belt;

[0093] when Then the package is biased to the left side of the belt;

[0094] when Then the package is located on the center line of the belt.

[0095] In this embodiment, the two edge detectors on the light curtain detection mechanism that can detect signals can be used to determine whether the package is biased to the left side of the belt, biased to the right side of the belt, or located on the center line of the belt; Figure 4 As shown, when the light curtain detection mechanism is a 48-point light curtain, the center line of the light curtain is the center line of the belt. Assuming that the two edge detectors on the light curtain detection mechanism that can detect signals (that is, the light receiver cannot receive the light emitted by the light emitter) are light receiver No. 6 and light receiver No. 35, the center line of the package is at (6+35) / 2=20.5, and the center line of the light curtain is at 48 / 2=24, and 20.5<24, so it can be known that the package deviates to the left side of the belt, and then the deviation direction of the package can be determined.

[0096] In step S0022, when the target trolley is located at the center of the belt, the time required for the package to reach the main conveyor belt after exiting the light curtain detection mechanism is the standard time, and the compensation time is 0 at this time; when the target trolley is located on the left or right side of the belt, the compensation time of the package needs to be determined according to the package type and the deviation type of the package, where the compensation time includes the package type supplement time and the deviation type supplement time. Figure 1 As shown, since the package supply platform forms a certain angle with the main conveyor belt, when the deviation type of the package is to the left side of the belt, the time required for the package to reach the main conveyor belt at this time is longer than when the package is located in the center of the belt. The type of package also affects the time required for the package to reach the main conveyor belt. Therefore, the time required for the package to reach the main conveyor belt at this time = standard time + compensation time, where the compensation time can be a positive or negative number; according to the time required for the package to reach the main conveyor belt at this time, it is determined whether there is a suitable target vehicle on the main conveyor line within this time. For example, assuming that the standard time is 900ms, the time required for the package to reach the main conveyor belt when the package is located on the left side of the belt is 1100ms, then it is determined around this time whether there is a suitable target vehicle on the main conveyor belt. Assuming that a target vehicle can arrive after 1200ms, the second conveyor belt is controlled to pause for 100ms before transporting the package to the third conveyor belt. In this embodiment, since the location of the package on different sides of the conveyor belt will affect whether the package enters the corresponding target cart accurately, the present invention focuses more on adjusting the timing of the package entering the main conveyor belt. After determining that there is a suitable target cart, the timing of the package entering the main conveyor belt is controlled by controlling the start and pause of the second conveyor belt, thereby improving the accuracy of the package entering the corresponding target cart.

[0097] When the package is about to enter the third conveyor belt, the transmission speed of the third conveyor belt on the package supply table is adjusted according to the type of package; for example, when the package is large, the third conveyor belt is adjusted to run at the preset large-piece speed V1; and when the package is small, the third conveyor belt is adjusted to run at the preset small-piece speed V2, so that the package can enter the corresponding target cart more accurately. The sorting method of the implementation mode of the present invention has a higher sorting accuracy.

[0098] Furthermore, the logistics parcel sorting system also includes a centering mechanism provided on the main conveyor belt, which is used to preliminarily center the parcels entering the main conveyor belt. When the parcel is transported to the target trolley, the centering mechanism can preliminarily push or transport the parcel to the center of the target trolley. However, the centering of the parcel by the centering mechanism cannot guarantee that the parcel will be located at the center of the target trolley. Therefore, it is necessary to combine the correction camera of the present invention to effectively ensure the accuracy of parcel sorting.

[0099] In summary, the sorting method of the logistics parcel sorting system of the present invention, after the parcel supply platform puts the parcel on the main line conveyor belt, determines the deviation between the center position of the parcel and the center position of the target trolley through the photos collected by the image acquisition mechanism, and then the target trolley adjusts the parcel drop time according to the deviation between the center position of the parcel and the center position of the target trolley, thereby effectively ensuring the accuracy of parcel sorting.

[0100] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A sorting method for a logistics parcel sorting system, characterized in that: The logistics parcel sorting system includes a parcel supply platform for loading parcels onto corresponding target carts and a main conveyor belt for transporting parcels to corresponding lower grid openings. The main conveyor belt is provided with a plurality of target carts for placing parcels and controlling the drop grids. The main conveyor belt is provided with an image acquisition mechanism for acquiring photos of the specific position of the parcel on the target cart. It includes the following steps: Determine the deviation between the center position of the package and the center position of the target vehicle based on the photos collected by the image collection mechanism; The target car adjusts the time when the package drops according to the deviation between the center position of the package and the center position of the target car.

2. The sorting method according to claim 1, characterized in that: The step of determining the deviation between the center position of the package and the center position of the target vehicle according to the photo collected by the image collection mechanism comprises: Determine the center position of the target vehicle and the center position of the package based on the photos collected by the image acquisition mechanism; Take the upper left corner of the target car in the photo as the coordinate origin, the transmission direction of the conveyor belt in the target car as the X axis, the transmission direction of the main line conveyor belt as the Y axis, and the area where the target car is located as the first quadrant of the coordinate axis to determine the center coordinates of the target car (X0, Y0) and the center coordinates of the package (X 包 ,Y 包 ); The deviations ΔX and ΔY between the package and the target vehicle on the X-axis and Y-axis are determined according to the center coordinates of the target vehicle and the center coordinates of the package.

3. The sorting method according to claim 2, characterized in that: The preset standard drop time of the package on the target cart is T 标 , then the method for the target vehicle to adjust the parcel drop time according to the deviation between the center position of the parcel and the center position of the target vehicle is: The horizontal coordinate X wrapped on the X axis 包 Located between the center of the target trolley and the lower grid opening, and taking the transmission direction of the main conveyor belt as the reference direction, when the package on the Y axis is located in front of the center of the target trolley, the actual grid drop time of the package is: Wrap the horizontal axis X on the X axis 包 If the package is not located between the center of the target trolley and the lower grid opening, and the package is located in front of the center of the target trolley on the Y axis when the transmission direction of the main line conveyor belt is used as the reference direction, the actual time when the package falls into the grid is: Wrap the horizontal axis X on the X axis 包 Located between the center of the target trolley and the lower grid opening, and taking the transmission direction of the main line conveyor belt as the reference direction, when the package on the Y axis is located behind the center of the target trolley, the actual grid drop time of the package is: Wrap the horizontal axis X on the X axis 包 If the package is not located between the center of the target trolley and the lower grid opening, and the package is located behind the center of the target trolley on the Y axis when the transmission direction of the main line conveyor belt is used as the reference direction, the actual time when the package falls into the grid is: Among them, V 主 is the transmission speed of the main transmission belt, V 车输送带 is the transmission speed of the conveyor belt in the target car.

4. The sorting method according to claim 1, characterized in that: The logistics package sorting system also includes a light curtain detection mechanism for detecting the type of the package, the first section of the conveyor belt, the second section of the conveyor belt and the third section of the conveyor belt are sequentially connected on the package supply platform, the first conveyor belt is located at the front end of the package supply platform, and the third conveyor belt is close to the main line transmission belt, and the light curtain detection mechanism is arranged between the first section of the conveyor belt or the first conveyor belt and the second conveyor belt; wherein in the sorting method, before the step of determining the deviation between the center position of the package and the center position of the trolley according to the photos collected by the image acquisition mechanism, the following steps are also included: Determine the type of package based on the detection information of the light curtain detection module, where the package type includes but is not limited to large and small items; Adjust the transmission speed of the third conveyor belt on the package supply table according to the package type.

5. The sorting method according to claim 1, characterized in that: The step of determining the type of package according to the detection information of the light curtain detection module includes: The measured length L of the package is determined according to the time t that the package passes through the light curtain detection mechanism and the transmission speed V of the conveyor belt where the light curtain detection mechanism is located, where L = Vt; When the package passes through the light curtain detection mechanism, the measurement width of the package is determined according to the distance between the two edge detectors on the light curtain detection mechanism that can detect signals; The package type of the package is determined based on whether the package measurement length or the package measurement width is within the predicted size range of the corresponding package type.

6. The sorting method according to claim 4 or 5, characterized in that: Before the step of adjusting the transmission speed of the third conveyor belt on the package supply table according to the package type, the following steps are also included: The package supply station also determines the timing of the package entering the third conveyor belt based on the package type and the package deviation type.

7. The sorting method according to claim 6, characterized in that: The step of determining the timing of the package entering the third conveyor belt according to the package type and the deviation type of the package includes: Determine the deflection type of the package on the conveyor belt of the package supply platform according to the detection information of the light curtain detection mechanism; the deflection type includes deflection to the left side of the belt, deflection to the right side of the belt and located at the center line of the belt; Determine the compensation time of the package according to the package type and the bias type of the package, wherein the compensation time includes the package type replenishment time and the bias type replenishment time; Determine the corresponding target vehicle arrival time based on the standard time and compensation time; The timing for the package to enter the third conveyor belt is determined based on the arrival time of the target trolley.

8. The sorting method according to claim 7, characterized in that: The step of determining the deflection type of the package on the conveyor belt of the package supply platform according to the detection information of the light curtain detection mechanism includes: Assume that the detectors on the light curtain detection mechanism are numbered from left to right. The two edge detectors on the light curtain detection mechanism that can detect signals after the package passes through are N1 and N2. The total number of detectors on the light curtain detection mechanism is N. 总 ; when Then the package is biased to the right side of the belt; when Then the package is biased to the left side of the belt; when Then the package is located on the center line of the belt.

9. The sorting method according to claim 1, characterized in that: The logistics parcel sorting system also includes a centering mechanism arranged on the main line conveyor belt, which is used to center the parcels entering the main line conveyor belt.

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