Intelligent sorting method, system, medium and program product applied to conveyor belt

Abstract

An intelligent sorting method, system, medium and program product applied to a conveyor belt, in which the stacking density of items is calculated and determined as the compression rate of items; an abnormal discharge port is determined; the weight parameter, volume parameter and target discharge port of the items to be sorted on the conveyor belt are read; the items to be sorted corresponding to the target discharge port being the abnormal discharge port are marked as items to be adjusted, and the density value is calculated; the straight-line distance is calculated according to the physical space coordinates of other discharge ports, and an initial spare discharge port grade table is generated according to the straight-line distance; the corresponding remaining capacity and remaining bearing capacity are calculated; the matching coefficient is calculated; the final spare discharge port grade table is re-arranged; the discharge port ranked first in the final spare discharge port grade table is used as a temporary target discharge port; and the sorting execution device is controlled to transfer the items to be adjusted to the temporary target discharge port. The sorting efficiency of the conveyor belt is improved when a material port fails, thereby improving the yield rate of the items sorted by the conveyor belt.

Description

Technical Field

[0001] The present application belongs to the field of sorting single items, and in particular, relates to an intelligent sorting method, system, medium and program product applied to a conveyor belt. Background Art

[0002] Conveyor belt sorting technology is widely used in logistics warehousing, manufacturing and other fields to realize the automatic classification and distribution of goods. In the traditional conveyor belt sorting process, manual identification and sorting are usually adopted, which is not only inefficient, but also prone to problems such as missed picking and wrong picking. Especially when dealing with large quantities and multiple categories of goods, the accuracy and efficiency of manual sorting are difficult to meet the needs of modern production.

[0003] In related technologies, cameras can be installed above the conveyor belt to collect images of items, and image recognition algorithms can be used to identify and classify items, and the items can be sorted to the corresponding discharge ports by controlling a robotic arm or a diversion device. This method improves the automation and accuracy of sorting, reduces manual participation, and improves sorting efficiency.

[0004] However, when the processing capacity of a certain outlet temporarily decreases or fails, it may cause items to pile up at the outlet or reduce sorting efficiency. If the problematic outlet continues to be transported, the items may be subjected to excessive pressure, causing deformation or damage, reducing the yield rate of items sorted by the conveyor belt. Summary of the invention

[0005] The present application provides an intelligent sorting method, system, medium and program product applied to a conveyor belt, which is used to improve the sorting efficiency when a failure occurs at a material port of the conveyor belt, thereby improving the yield rate of items sorted by the conveyor belt.

[0006] In a first aspect, the present application provides an intelligent sorting method applied to a conveyor belt, which calculates the stacking density of the items based on the stacking height value of the items at each outlet and the pressure value of the bottom items, and determines the ratio of the stacking density of the items to a preset reference density as the compression rate of the items;

[0007] The discharge port corresponding to the compression rate of the object being greater than the dynamic warning threshold is determined as an abnormal discharge port;

[0008] Read the electronic tag information of the items to be sorted on the conveyor belt to obtain the weight parameters, volume parameters and target discharge port of the items to be sorted;

[0009] Mark the to-be-sorted items corresponding to the target discharge port being the abnormal discharge port as the to-be-adjusted items, and calculate the density value of the to-be-adjusted items based on the weight parameters and volume parameters of the to-be-adjusted items;

[0010] According to the physical space coordinates of other outlets except the target outlet, the straight-line distances between the items to be adjusted and other outlets are calculated, and an initial spare outlet ranking table is generated according to the straight-line distances. Other outlets in the initial spare outlet ranking table are sorted according to the corresponding straight-line distances.

[0011] Calculate the corresponding remaining capacity and remaining bearing capacity according to the maximum stacking height parameters and maximum bearing pressure parameters of other discharge ports;

[0012] The weight parameter and volume parameter of the object to be adjusted are matched and calculated with the remaining capacity and remaining load-bearing capacity of other discharge ports to obtain a matching coefficient;

[0013] Re-arrange the initial spare discharge port ranking table based on the matching coefficient to obtain a final spare discharge port ranking table;

[0014] The discharge port ranked first in the final standby discharge port ranking table is used as the temporary target discharge port;

[0015] Control the sorting execution device to transfer the items to be adjusted to the temporary target discharge port.

[0016] By adopting the above technical solution, the stacking status of items at each outlet is monitored in real time, the stacking density and compression rate of items are calculated, and the outlet with abnormal stacking can be accurately identified. When a certain outlet is determined to be an abnormal outlet, the system will automatically re-plan the items that should have been sorted to the outlet to the optimal backup outlet. It can slow down the continuous deterioration of abnormal accumulation and reduce the occurrence of items being damaged by excessive squeezing. At the same time, the system will comprehensively consider the parameters of the items themselves and the remaining capacity and load-bearing capacity of the backup outlets, and select the best temporary sorting target by calculating the matching coefficient to ensure the smooth transfer of items and improve the overall sorting efficiency by using the existing outlet resources. The matching calculation process will also evaluate the stability of the stacking of items, and sort the items to the outlet with a good stacking state as much as possible, reduce the risk of secondary slippage, and improve the sorting efficiency of the conveyor belt when the material port fails, thereby improving the yield rate of the conveyor belt sorted items.

[0017] In combination with some embodiments of the first aspect, in some embodiments, the stacking density of the items is calculated based on the stacking height of the items at each outlet and the pressure value of the items on the bottom layer, specifically including:

[0018] Obtain the stacking height values ​​of several groups of items at each discharge port and the pressure values ​​of the bottom items within a preset time period;

[0019] Perform time-weighted averaging on the stacking height values ​​of several groups of items and the pressure values ​​of the bottom items to obtain the average stacking height value and the average pressure value;

[0020] The average pressure value is divided by the product of the average stacking height value and the cross-sectional area of ​​the discharge port to obtain the stacking density of the items.

[0021] By adopting the above technical solution, when calculating the stacking density of items, a time-weighted average processing method is adopted, which can reduce the influence of occasional fluctuations and measurement errors, and obtain a more stable and reliable density value. By averaging multiple sets of stacking height and bottom pressure data over a period of time, the interference of individual extreme values ​​can be reduced, and the overall stacking condition of the material outlet can be accurately reflected. Taking the average value also has a certain predictiveness, and the trend of continuous increase in density can be discovered in advance. In addition, the density calculation formula takes into account both the stacking height and the bottom pressure, which comprehensively reflects the compactness of the stacked items, which is better than a single parameter judgment. The density value obtained by dividing the average pressure value by the product of the average height and the cross-sectional area has a clear physical meaning, which can objectively evaluate the stacking load of the discharge port and improve the accuracy and reliability of the judgment.

[0022] In combination with some embodiments of the first aspect, in some embodiments, the weight parameter and volume parameter of the item to be adjusted are matched and calculated with the remaining capacity and remaining load-bearing capacity of other discharge ports to obtain a matching coefficient, which specifically includes:

[0023] Calculate the ratio of the weight parameter of the object to be adjusted to the remaining load-bearing capacity of other outlets to obtain the load-bearing matching degree;

[0024] Calculate the ratio of the volume parameter of the item to be adjusted to the remaining capacity of other outlets to obtain the capacity matching degree;

[0025] Calculate the item stacking stability coefficient based on the current stacking status of items at other outlets;

[0026] The load-bearing matching degree, capacity matching degree and stacking stability coefficient are weightedly calculated to obtain the matching coefficient.

[0027] By adopting the above technical solution, when calculating the matching between items and the discharge port, a comprehensive evaluation is conducted from three aspects: load-bearing capacity, capacity and stacking stability, and the matching coefficient obtained is more comprehensive and reasonable. The system first calculates the ratio of the weight of the item to the remaining load-bearing capacity of the discharge port, and the ratio of the volume of the item to the remaining capacity, and obtains two dimensionless parameters, load-bearing matching degree and capacity matching degree, which can quantitatively reflect the degree of adaptation between the item and the discharge port in terms of weight and volume. On this basis, the system will also evaluate the stability of the current stacking of items at the discharge port, which will be taken into consideration as the third influencing factor. By weighted summing the three parameters, a comprehensive matching coefficient that takes into account weight, volume and stability can be obtained. The higher the matching coefficient, the better the adaptability of the item to the discharge port. It reduces the problem of distribution imbalance that may be caused by simple judgment, makes optimal use of limited discharge port resources, and improves the overall performance of the sorting system.

[0028] In combination with some embodiments of the first aspect, in some embodiments, after the discharge port ranked first in the final standby discharge port ranking table is used as the temporary target discharge port, the method further includes:

[0029] According to the current stacking height value of the temporary target discharge port, calculate the buffer space that is not less than the height parameter of the item to be adjusted;

[0030] Calculate the shortest path distance based on the current position of the object to be adjusted and the spatial coordinates of the temporary target discharge port;

[0031] Determine the starting position and the ending position of the speed change interval according to the shortest path distance and the weight parameter of the object to be adjusted;

[0032] When the object to be adjusted enters the starting position of the speed change interval, the conveyor belt speed is reduced according to the preset deceleration curve until the object to be adjusted reaches the ending position of the speed change interval.

[0033] By adopting the above technical solution, the optimal speed control curve is automatically planned according to the real-time position and movement parameters of the items, so as to achieve a smooth transition of the items. The system first reserves a buffer space at the discharge port that is not less than the height of the items to ensure that there is enough stacking space after the items are transferred and no new stacking anomalies are caused. Based on the spatial coordinates of the current position of the item and the discharge port, the shortest path distance between the two is calculated. Combined with the weight parameters of the items, the system can estimate the minimum distance required for the items to decelerate and brake on the conveyor belt, and determine the starting and end points of the speed control accordingly. When the item moves to the starting point of the speed change range, the system begins to reduce the conveyor belt speed according to the preset deceleration curve until the item reaches the end of the speed change range smoothly, reducing the impact force on the items during the transfer process and improving the warehousing efficiency.

[0034] In combination with some embodiments of the first aspect, in some embodiments, determining the starting position and the ending position of the speed change interval according to the shortest path distance and the weight parameter of the object to be adjusted specifically includes:

[0035] Obtain the real-time moving speed and acceleration parameters of the object to be adjusted;

[0036] A dynamic friction model is established based on the weight parameter of the object to be adjusted;

[0037] Calculate the minimum braking distance of the object to be adjusted based on the dynamic friction model;

[0038] Divide the shortest path distance into an acceleration interval, a constant speed interval, and a deceleration interval;

[0039] In the deceleration interval, the starting position of the speed change interval is determined based on the real-time moving speed, acceleration parameters and minimum braking distance of the object to be adjusted;

[0040] The end position of the speed change interval is determined according to the buffer space of the temporary target discharge port and the height parameters of the object to be adjusted.

[0041] By adopting the above technical solution, the real-time moving speed and acceleration parameters of the items to be adjusted are obtained, and the real-time motion state of the items to be adjusted can be accurately grasped. A dynamic friction model is established according to the weight parameters of the items to be adjusted, which can simulate the actual friction of the items to be adjusted on the conveyor belt. The minimum braking distance of the items to be adjusted is calculated using the dynamic friction model, and the shortest braking distance required for the items to be adjusted to ensure safe parking can be obtained. By dividing the shortest path distance into an acceleration interval, a uniform speed interval, and a deceleration interval, the movement process of the items to be adjusted can be reasonably planned and controlled. In the deceleration interval, the real-time moving speed, acceleration parameters, and minimum braking distance of the items to be adjusted are comprehensively considered, and the starting position of the speed change interval can be accurately determined to ensure that the items to be adjusted start to decelerate at the appropriate time. At the same time, according to the buffer space of the temporary target discharge port and the height parameters of the items to be adjusted, the end position of the speed change interval is determined, which can make full use of the buffer space and avoid collisions between the items to be adjusted and the existing items, thereby improving the sorting efficiency and accuracy.

[0042] In combination with some embodiments of the first aspect, in some embodiments, after the conveyor belt speed is reduced according to the preset deceleration curve until the object to be adjusted reaches the end position of the speed change interval, the method further includes:

[0043] Obtain the actual landing point coordinates of the object to be adjusted at the temporary target discharge port;

[0044] Calculate the deviation between the actual landing point position coordinates and the preset theoretical landing point position coordinates;

[0045] When the deviation value is greater than the preset threshold, the preset deceleration curve is corrected based on the actual landing point position coordinates;

[0046] Obtain the real-time accumulation status parameters of the items in the temporary target discharge port;

[0047] Calculate the stability index of the stack of items based on real-time stacking state parameters;

[0048] When the stability index is lower than the preset safety value, the preset item stacking shaping operation is triggered.

[0049] By adopting the above technical solution, the actual landing point position coordinates of the items to be adjusted at the temporary target discharge port are obtained, and the deviation value between the actual landing point position coordinates and the preset theoretical landing point position coordinates is calculated, so that the actual sorting effect of the items to be adjusted can be monitored and evaluated in real time. When the deviation value is greater than the preset threshold, it means that there is a large deviation between the actual sorting result and the expectation, and the sorting process needs to be optimized and adjusted. By correcting the preset deceleration curve based on the actual landing point position coordinates, the deceleration strategy of the conveyor belt can be dynamically adjusted to make it more adaptable to the actual sorting situation, thereby improving the sorting accuracy of subsequent items. By obtaining the real-time stacking state parameters of the items in the temporary target discharge port and calculating the stability index of the item stacking, the safety and stability of the item stacking can be evaluated in real time. When the stability index is lower than the preset safety value, the preset item stacking shaping operation is triggered, and the shape and structure of the item stacking are optimized to improve the stability of the stacking and reduce the probability of item collapse or slipping.

[0050] In conjunction with some embodiments of the first aspect, in some embodiments, the preset triggering of the object stacking shaping operation specifically includes:

[0051] Acquire three-dimensional spatial scanning data of the temporary target discharge port, and construct a three-dimensional model of the stacking of objects based on the three-dimensional spatial scanning data;

[0052] Calculate the center of gravity position and support area distribution of the stacked items, and determine the optimal shaping plan based on the center of gravity position and support area distribution;

[0053] The sorting execution device is controlled to push the objects on the surface of the object stack along a preset trajectory.

[0054] By adopting the above technical solution, when the shaping operation of the stack of items is triggered, the three-dimensional spatial scanning data of the temporary target discharge port is first obtained. By performing a full-scale and multi-angle scanning of the stack of items in the discharge port, the three-dimensional spatial information of the stack of items can be accurately obtained. A three-dimensional model of the stack of items is constructed, and the shape and structure of the stack of items are digitally expressed and analyzed. Taking into account the overall force distribution of the stack of items, the shaping effect is more comprehensive and lasting, which can reduce the risk of cargo damage and improve the safety and efficiency of the logistics process.

[0055] In a second aspect, an embodiment of the present application provides an intelligent sorting system applied to a conveyor belt, wherein the intelligent sorting system applied to a conveyor belt comprises: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code comprises computer instructions, and one or more processors call the computer instructions so that the system executes the method described in the first aspect and any possible implementation method of the first aspect.

[0056] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, comprising instructions, which, when executed on a system, causes the system to execute the method described in the first aspect and any possible implementation of the first aspect.

[0057] In a fourth aspect, an embodiment of the present application provides a computer program product, characterized in that when the computer program product runs on a system, the system executes the method described in any possible implementation manner in the first aspect.

[0058] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0059] 1. The present application provides an intelligent sorting method for conveyor belts, which monitors the stacking state of items at each outlet in real time, calculates the stacking density and compression rate of items, and can accurately identify outlets with abnormal stacking. When a certain outlet is determined to be an abnormal outlet, the system will automatically re-plan the items that should have been sorted to the outlet to the optimal spare outlet. It can slow down the continuous deterioration of abnormal accumulation and reduce the occurrence of items being damaged by excessive squeezing. At the same time, the system will comprehensively consider the parameters of the items themselves and the remaining capacity and load-bearing capacity of the spare outlets, and select the best temporary sorting target by calculating the matching coefficient to ensure the smooth transfer of items and improve the overall sorting efficiency by using existing outlet resources. The matching calculation process will also evaluate the stability of the stacking of items, and sort the items to the outlet with a good stacking state as much as possible, reduce the risk of secondary slippage, and improve the sorting efficiency of the conveyor belt when the material port fails, thereby improving the yield rate of the conveyor belt sorted items.

[0060] 2. The present application provides an intelligent sorting method applied to conveyor belts. According to the real-time position and motion parameters of the items, the optimal speed control curve is automatically planned to achieve a smooth transition of the items. The system first reserves a buffer space at the discharge port that is not less than the height of the items to ensure that there is enough stacking space after the items are transferred and no new stacking anomalies are caused. Based on the spatial coordinates of the current position of the item and the discharge port, the shortest path distance between the two is calculated. Combined with the weight parameters of the items, the system can estimate the minimum distance required for the items to decelerate and brake on the conveyor belt, and determine the starting and end points of the speed control accordingly. When the item moves to the starting point of the speed change interval, the system begins to reduce the conveyor belt speed according to the preset deceleration curve until the item reaches the end of the speed change interval smoothly, reducing the impact force on the items during the transfer process and improving the warehousing efficiency.

[0061] 3. The present application provides an intelligent sorting method applied to a conveyor belt, which obtains the actual landing position coordinates of the items to be adjusted at the temporary target discharge port, and calculates the deviation value between the actual landing position coordinates and the preset theoretical landing position coordinates, so as to monitor and evaluate the actual sorting effect of the items to be adjusted in real time. When the deviation value is greater than the preset threshold, it means that there is a large deviation between the actual sorting result and the expectation, and the sorting process needs to be optimized and adjusted. Based on the actual landing position coordinates, the preset deceleration curve is corrected, and the deceleration strategy of the conveyor belt can be dynamically adjusted to make it more adaptable to the actual sorting situation, thereby improving the sorting accuracy of subsequent items. By obtaining the real-time stacking state parameters of the items in the temporary target discharge port and calculating the stability index of the item stacking, the safety and stability of the item stacking can be evaluated in real time. When the stability index is lower than the preset safety value, the preset item stacking shaping operation is triggered, and the shape and structure of the item stacking are optimized to improve the stability of the stacking and reduce the probability of item collapse or slipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 It is a flow chart of an intelligent sorting method applied to a conveyor belt in an embodiment of the present application.

[0063] Figure 2 It is another flow chart of an intelligent sorting method applied to a conveyor belt in an embodiment of the present application.

[0064] Figure 3 It is a schematic diagram of the physical device structure of an intelligent sorting system applied to a conveyor belt provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification and appended claims of the present application, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear indication to the contrary in the context. It should also be understood that the term "and / or" used in the present application refers to any or all possible combinations comprising one or more listed items.

[0066] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0067] The following uses an embodiment and combines Figure 1, an intelligent sorting method applied to a conveyor belt in an embodiment of the present application is described:

[0068] See also Figure 1 , which is a flow chart of an intelligent sorting method applied to a conveyor belt in an embodiment of the present application.

[0069] S101, calculating the stacking density of the items based on the stacking height of the items at each discharge port and the pressure value of the items on the bottom layer, and determining the ratio of the stacking density of the items to the preset reference density as the compression rate of the items;

[0070] The system calculates the stacking density of the items based on the stacking height of the items at each outlet and the pressure value of the items at the bottom layer, and determines the ratio of the stacking density of the items to the preset reference density as the compression rate of the items. The stacking density of the items based on the stacking height of the items at each outlet and the pressure value of the items at the bottom layer specifically includes:

[0071] Obtain the stacking height values ​​of several groups of items at each discharge port and the pressure values ​​of the bottom items within a preset time period;

[0072] Perform time-weighted averaging on the stacking height values ​​of several groups of items and the pressure values ​​of the bottom items to obtain the average stacking height value and the average pressure value;

[0073] The average pressure value is divided by the product of the average stacking height value and the cross-sectional area of ​​the discharge port to obtain the stacking density of the items.

[0074] The system calculates the stacking density of the items based on the stacking height of the items at each outlet and the pressure value of the items on the bottom layer, and determines the ratio of the stacking density of the items to the preset reference density as the item compression rate. The purpose of this step is to evaluate the compactness and pressure of the items in each outlet by calculating the stacking density and compression rate of the items, and provide a data basis for subsequent judgment of abnormal outlets.

[0075] In specific implementation, the system can use a variety of methods to obtain the stacking height value of the items and the pressure value of the bottom items. For example, the system can install height sensors and pressure sensors at each discharge port to collect the data of the stacking height of the items and the bottom pressure in real time. At the same time, in order to improve the reliability of the calculation results, the system can collect multiple sets of data within a preset time period, and obtain the average stacking height value and the average pressure value through the time-weighted average method to eliminate the influence of instantaneous fluctuations. When calculating the stacking density of the items, the system divides the average pressure value by the product of the average stacking height value and the cross-sectional area of ​​the discharge port to obtain the average mass of the items per unit volume, that is, the stacking density of the items.

[0076] S102, determining the discharge port corresponding to the object compression rate being greater than the dynamic warning threshold as an abnormal discharge port;

[0077] The system determines the discharge port corresponding to the item compression rate greater than the dynamic warning threshold as an abnormal discharge port. The purpose of this step is to timely find the discharge port with abnormal item accumulation by comparing the item compression rate and the dynamic warning threshold, providing a basis for subsequent sorting adjustments.

[0078] In specific implementation, the system can set the initial dynamic warning threshold based on historical data and expert experience. As the sorting process proceeds, the system can continuously collect and analyze the compression rate data of items, and use machine learning algorithms to adaptively adjust the dynamic warning threshold to make it more in line with the actual situation. For example, the system can use a clustering algorithm to group the compression rate data of items, and determine the warning thresholds under different states based on the clustering results. When the compression rate of an item exceeds the warning threshold of the corresponding state, the system marks the discharge port as an abnormal discharge port.

[0079] In actual applications, due to the influence of factors such as ambient temperature and humidity, items of different materials and packaging may exhibit different compression characteristics. In order to improve the accuracy of abnormal discharge port judgment, the system can establish an association model between item material and packaging and compression characteristics. By analyzing the material information and packaging information of the item, the system can predict the compression behavior of the item under different environmental conditions and dynamically adjust the warning threshold. For example, for paper packaging items that are easily compressed and deformed, the system can appropriately increase the warning threshold; while for metal or plastic packaging items that are not easy to compress, the system can appropriately lower the warning threshold. By introducing the material and packaging characteristics of the item, the system can more accurately judge the abnormal discharge port and reduce false alarms and missed alarms.

[0080] S103, reading the electronic tag information of the items to be sorted on the conveyor belt to obtain the weight parameters, volume parameters and target discharge port of the items to be sorted;

[0081] The system reads the electronic tag information of the items to be sorted on the conveyor belt to obtain the weight parameters, volume parameters and target discharge port of the items to be sorted. The purpose of this step is to obtain the key attribute parameters and predetermined sorting targets of the items by reading the electronic tag information of the items, so as to provide data support for subsequent sorting decisions.

[0082] In specific implementation, the system can use RFID, QR code, NFC and other electronic tag technologies to identify and read the information of items. When the items enter the sorting system, the system automatically obtains the electronic tag information of the items through the electronic tag reader installed on the conveyor belt. The electronic tag information contains key data such as the unique identification code, weight parameters, volume parameters and the predetermined target discharge port of the item. Based on the read electronic tag information, the system associates the attribute parameters and target discharge port of the item with the item identification code to form complete sorting task data.

[0083] S104, marking the to-be-sorted items corresponding to the target discharge port being the abnormal discharge port as the to-be-adjusted items, and calculating the density value of the to-be-adjusted items based on the weight parameters and volume parameters of the to-be-adjusted items;

[0084] The system marks the items to be sorted corresponding to the target discharge port as abnormal discharge ports as items to be adjusted, and calculates the density value of the items to be adjusted based on the weight parameters and volume parameters of the items to be adjusted. The purpose of this step is to provide necessary data support for subsequent evaluation of alternative discharge ports and sorting adjustments by marking the items to be adjusted and calculating their density values.

[0085] In the specific implementation, the system first determines whether the target discharge port of each item to be sorted is an abnormal discharge port. If the target discharge port is marked as an abnormal discharge port, the system marks the item as an item to be adjusted, indicating that it needs to adjust the sorting path. Then, the system calculates the density value of the item to be adjusted based on the weight parameter and volume parameter of the item to be adjusted. The calculation formula of the density value is: density value = weight parameter ÷ volume parameter. By calculating the density value, the system can evaluate the compactness and space utilization efficiency of the item to be adjusted, and provide a reference for the subsequent evaluation of alternative discharge ports.

[0086] S105, calculating the straight-line distance between the object to be adjusted and the other outlets according to the physical space coordinates of the other outlets except the target outlet, and generating an initial spare outlet grade table according to the straight-line distance;

[0087] The system calculates the straight-line distance between the item to be adjusted and other outlets based on the physical space coordinates of other outlets except the target outlet, and generates an initial spare outlet ranking table based on the straight-line distance. Other outlets in the initial spare outlet ranking table are sorted according to the corresponding straight-line distance.

[0088] The system calculates the straight-line distance between the item to be adjusted and other outlets based on the physical space coordinates of other outlets except the target outlet, and generates an initial alternate outlet ranking table based on the straight-line distance. Other outlets in the initial alternate outlet ranking table are ranked according to the corresponding straight-line distance. The purpose of this step is to preliminarily evaluate the priority of the alternative outlets by calculating the straight-line distance between the item to be adjusted and the alternative outlets, so as to provide a reference for the subsequent optimal outlet selection.

[0089] In specific implementation, the system first obtains the physical space coordinates of other outlets except the target outlet, and calculates the straight-line distance between the current position of the object to be adjusted and each alternative outlet.

[0090] S106, calculating the corresponding remaining capacity and remaining bearing capacity according to the maximum stacking height parameters and maximum bearing pressure parameters of other discharge ports;

[0091] The system calculates the corresponding remaining capacity and remaining bearing capacity based on the maximum stacking height parameters and maximum bearing pressure parameters of other outlets. The maximum stacking height parameter indicates the maximum allowable height of the items stacked in the outlet, and the maximum bearing pressure parameter indicates the maximum pressure that the bottom of the outlet can withstand. By calculating the remaining capacity and remaining bearing capacity, the system can evaluate the actual available space and bearing capacity of other outlets, providing an important basis for subsequent sorting decisions.

[0092] Specifically, the system can use the maximum stacking height parameter to subtract the current stacking height of the items to obtain the remaining capacity of the discharge port, which reflects the size of the space in the discharge port that can accommodate new items. Similarly, the system can use the maximum load-bearing pressure parameter to subtract the pressure value of the current bottom item to obtain the remaining load-bearing capacity of the discharge port, which reflects the capacity of the bottom of the discharge port to carry new items.

[0093] S107, matching and calculating the weight parameter and volume parameter of the object to be adjusted with the remaining capacity and remaining load-bearing capacity of other discharge ports to obtain a matching coefficient;

[0094] The system matches and calculates the weight parameter and volume parameter of the item to be adjusted with the remaining capacity and remaining load-bearing capacity of other outlets to obtain a matching coefficient. Specifically, the system calculates the ratio of the weight parameter of the item to be adjusted to the remaining load-bearing capacity of other outlets to obtain a load-bearing matching degree.

[0095] Calculate the ratio of the volume parameter of the item to be adjusted to the remaining capacity of other outlets to obtain the capacity matching degree;

[0096] Calculate the item stacking stability coefficient based on the current stacking status of items at other outlets;

[0097] The load-bearing matching degree, capacity matching degree and stacking stability coefficient are weightedly calculated to obtain the matching coefficient.

[0098] The system matches and calculates the weight parameters and volume parameters of the items to be adjusted with the remaining capacity and remaining load-bearing capacity of other outlets to obtain the matching coefficient. The matching coefficient reflects the degree of adaptability between the items to be adjusted and other outlets. The higher the matching coefficient, the better the matching degree between the items to be adjusted and the outlet, and the higher the priority of sorting to the outlet.

[0099] Specifically, the system can calculate the matching coefficient in the following way: first, calculate the ratio of the weight parameter of the item to be adjusted and the remaining load-bearing capacity of other outlets to obtain the load-bearing matching degree. The smaller the load-bearing matching degree, the more sufficient the remaining load-bearing capacity of the outlet; then, calculate the ratio of the volume parameter of the item to be adjusted and the remaining capacity of other outlets to obtain the capacity matching degree. The smaller the capacity matching degree, the more sufficient the remaining capacity of the outlet; furthermore, the system can also calculate the stacking stability coefficient of the items based on the current stacking status of the items at other outlets. The stacking stability coefficient can be obtained by evaluating factors such as the overall force distribution and the center of gravity position of the stacked items; finally, the load-bearing matching degree, capacity matching degree and stacking stability coefficient are weightedly calculated to obtain a comprehensive matching coefficient.

[0100] S108, re-sorting the initial spare material outlet grade table based on the matching coefficient to obtain a final spare material outlet grade table;

[0101] The system reorders the initial alternate outlet ranking table based on the matching coefficient to obtain the final alternate outlet ranking table. The higher the matching coefficient, the higher the degree of adaptability between the item to be adjusted and the outlet, and the higher the ranking in the alternate outlet ranking table. By reordering, the system can increase the priority of the outlet that is most suitable for sorting the item to be adjusted, thereby improving the accuracy and efficiency of sorting.

[0102] Specifically, the system can use a variety of sorting algorithms to re-sort the initial backup outlet ranking table, such as quick sort, merge sort, heap sort, etc. These sorting algorithms can sort the outlets in descending order according to the matching coefficient, and the outlet with the highest matching coefficient is ranked first.

[0103] In some cases, there may be multiple outlets with the same matching coefficient. To further optimize the sorting effect, the system can introduce additional sorting rules. For example, when the matching coefficients are the same, the system can compare the current number of items at the outlets, and the outlets with fewer items are sorted higher; or, the system can compare the physical distances of the outlets, and the outlets closer to the items to be adjusted are sorted higher. By reasonably setting additional sorting rules, the system can further optimize sorting decisions when the matching coefficients are the same.

[0104] S109: Use the discharge port ranked first in the final standby discharge port ranking table as a temporary target discharge port, and control the sorting execution device to transfer the items to be adjusted to the temporary target discharge port.

[0105] The system uses the discharge port ranked first in the final alternate discharge port ranking table as the temporary target discharge port, and controls the sorting execution device to transfer the items to be adjusted to the temporary target discharge port. This step is to select the best alternative discharge port as the new target of the items to be adjusted based on the previous analysis and calculation results, and perform the actual sorting operation.

[0106] In the above embodiment, the stacking state of the items at each discharge port is monitored in real time, the stacking density of the items and the compression rate of the items are calculated, and the discharge port with abnormal stacking can be accurately identified. When a discharge port is determined to be an abnormal discharge port, the system will automatically re-plan the items that should have been sorted to the discharge port to the optimal backup discharge port. It can slow down the continuous deterioration of abnormal accumulation and reduce the occurrence of items being damaged by excessive squeezing. At the same time, the system will comprehensively consider the parameters of the items themselves and the remaining capacity and load-bearing capacity of the backup discharge port, and select the best temporary sorting target by calculating the matching coefficient to ensure the smooth transfer of items and improve the overall sorting efficiency by using the existing discharge port resources. The matching calculation process will also evaluate the stability of the stacking of items, and sort the items to the discharge port with a good stacking state as much as possible, reduce the risk of secondary slippage, and improve the sorting efficiency of the conveyor belt when the material port fails, thereby improving the yield rate of the conveyor belt sorted items.

[0107] In the above embodiment, the system realizes the automatic transfer of items from abnormal discharge ports by real-time monitoring and calculation of the stacking status of items, combined with multi-dimensional matching calculations. However, merely determining the temporary target discharge port is not enough to ensure the smooth sorting of items. Since items of different weights have different movement characteristics on the conveyor belt, if the transfer process of the items is not properly controlled, the position of the items may shift or the posture may become unstable when entering the temporary target discharge port, which in turn increases the risk of stack collapse. Therefore, after determining the temporary target discharge port, the transfer process of the items also needs to be finely controlled. The following is combined with Figure 2 , another intelligent sorting method applied to a conveyor belt in an embodiment of the present application is described:

[0108] See also Figure 2 , is another flow chart of an intelligent sorting method applied to a conveyor belt in an embodiment of the present application.

[0109] S201, calculating a buffer space that is not less than a height parameter of the item to be adjusted according to the current stacking height value of the item at the temporary target discharge port;

[0110] The system calculates a buffer space that is not less than the height parameter of the item to be adjusted based on the current item stacking height value of the temporary target discharge port. The buffer space refers to the space distance from the highest point of the current item stacking to the top of the discharge port in the temporary target discharge port, which determines whether there is enough space to accommodate the items to be adjusted. By calculating the buffer space, the system can determine whether the stacking of the items to be adjusted at the temporary target discharge port will cause the items to stack exceeding the maximum capacity of the discharge port, thereby affecting the sorting efficiency and safety.

[0111] Specifically, the system can calculate the buffer space in the following way: first, obtain the real-time item stacking height value of the temporary target discharge port, which can be collected in real time by a height sensor or a three-dimensional vision sensor in the discharge port; then, subtract the current item stacking height value from the maximum stacking height parameter of the discharge port to obtain the currently available buffer space height; finally, compare the buffer space height with the height parameter of the item to be adjusted. If the buffer space height is greater than or equal to the height parameter of the item to be adjusted, it means that the temporary target discharge port has enough space to accommodate the item to be adjusted. Otherwise, it is necessary to consider other discharge ports or wait for the items in the current discharge port to be cleared before sorting.

[0112] S202, calculating the shortest path distance based on the current position of the object to be adjusted and the spatial coordinates of the temporary target discharge port;

[0113] The system calculates the shortest path distance based on the current position of the item to be adjusted and the spatial coordinates of the temporary target outlet. The shortest path distance refers to the optimal route length for the item to be adjusted to move from the current position to the temporary target outlet, which affects the efficiency and stability of item transfer. By calculating the shortest path distance, the system can optimize the transfer path of items, reduce unnecessary detours or avoidances, and improve sorting efficiency.

[0114] Specifically, the system can calculate the shortest path distance in the following way: first, obtain the three-dimensional spatial coordinates of the current position of the object to be adjusted, which can be obtained through the positioning tag on the object or the positioning sensor on the conveyor belt; then, obtain the three-dimensional spatial coordinates of the temporary target discharge port, which can be obtained from the discharge port information library; then, based on the current position coordinates and the discharge port coordinates, use a path planning algorithm, such as the A* algorithm, the Dijkstra algorithm, etc., to calculate the shortest path between the two points; finally, the projection length of the shortest path in three-dimensional space is used as the shortest path distance. When planning the path, the system needs to fully consider factors such as obstacles on the conveyor belt and the accumulation of items to ensure that the planned path is feasible in practice.

[0115] S203, determining the starting position and the ending position of the speed change interval according to the shortest path distance and the weight parameter of the object to be adjusted;

[0116] The system determines the starting position and the ending position of the speed change interval according to the shortest path distance and the weight parameters of the object to be adjusted. Specifically: the real-time moving speed and acceleration parameters of the object to be adjusted are obtained;

[0117] A dynamic friction model is established based on the weight parameter of the object to be adjusted;

[0118] Calculate the minimum braking distance of the object to be adjusted based on the dynamic friction model;

[0119] Divide the shortest path distance into an acceleration interval, a constant speed interval, and a deceleration interval;

[0120] In the deceleration interval, the starting position of the speed change interval is determined based on the real-time moving speed, acceleration parameters and minimum braking distance of the object to be adjusted;

[0121] The end position of the speed change interval is determined according to the buffer space of the temporary target discharge port and the height parameters of the object to be adjusted.

[0122] The system determines the starting and ending positions of the speed change interval based on the shortest path distance and the weight parameters of the items to be adjusted. The speed change interval refers to the specific path section where the conveyor belt needs to adjust the speed during the transfer of items. Reasonable setting of the speed change interval can make the speed and posture of the items more stable when entering the temporary target discharge port, reducing the risk of collision or rolling.

[0123] In order to determine the speed change range, the system first needs to obtain the real-time moving speed and acceleration parameters of the item to be adjusted. These parameters can be collected in real time through the speed sensor and acceleration sensor on the conveyor belt. At the same time, the system also needs to establish a dynamic friction model based on the weight parameters of the item to be adjusted. The dynamic friction model can describe the magnitude of the friction force and its changing pattern when the item moves on the conveyor belt. It is related to factors such as the weight, material, and contact area with the conveyor belt of the item. Based on the dynamic friction model, the system can calculate the minimum braking distance required for the item to be adjusted to decelerate from the current speed to zero speed on the conveyor belt, that is, the shortest distance required for the item to stop completely on the conveyor belt.

[0124] Next, the system divides the shortest path distance into an acceleration interval, a uniform speed interval, and a deceleration interval. In the deceleration interval, the system determines the starting position of the speed change interval based on the real-time moving speed, acceleration parameters, and minimum braking distance of the object to be adjusted. The starting position should be located at the starting point of the minimum braking distance to ensure that the object has enough distance to decelerate to a safe speed. At the same time, the system also needs to determine the end position of the speed change interval based on the buffer space of the temporary target discharge port and the height parameters of the object to be adjusted. The end position should be located where the object can safely enter the buffer space to ensure that the object does not collide or squeeze with the existing objects in the discharge port.

[0125] S204: When the object to be adjusted enters the starting position of the speed change interval, the conveyor belt speed is reduced according to a preset deceleration curve until the object to be adjusted reaches the ending position of the speed change interval.

[0126] When the object to be adjusted enters the starting position of the speed change interval, the system reduces the conveyor belt speed according to the preset deceleration curve until the object to be adjusted reaches the end position of the speed change interval. After that, the actual landing point coordinates of the object to be adjusted at the temporary target discharge port are obtained;

[0127] Calculate the deviation between the actual landing point position coordinates and the preset theoretical landing point position coordinates;

[0128] When the deviation value is greater than the preset threshold, the preset deceleration curve is corrected based on the actual landing point position coordinates;

[0129] Obtain the real-time accumulation status parameters of the items in the temporary target discharge port;

[0130] Calculate the stability index of the stack of items based on real-time stacking state parameters;

[0131] When the stability index is lower than the preset safety value, the preset item stacking shaping operation is triggered.

[0132] Among them, the preset triggering of the stacking and shaping operation of items includes:

[0133] Acquire three-dimensional spatial scanning data of the temporary target discharge port, and construct a three-dimensional model of the stacking of objects based on the three-dimensional spatial scanning data;

[0134] Calculate the center of gravity position and support area distribution of the stacked items, and determine the optimal shaping plan based on the center of gravity position and support area distribution;

[0135] The sorting execution device is controlled to push the objects on the surface of the object stack along a preset trajectory.

[0136] When the item to be adjusted enters the starting position of the speed change interval, the system reduces the conveyor belt speed according to the preset deceleration curve until the item to be adjusted reaches the end position of the speed change interval. The preset deceleration curve refers to the functional relationship between the conveyor belt speed and time or displacement within the speed change interval. Reasonable design of the deceleration curve can minimize the impact and bumps on the items during the deceleration process, thereby improving the stability and reliability of the sorting process.

[0137] After the item enters the speed change interval, the system will monitor the position and speed of the item in real time, and calculate the target speed of the conveyor belt at each moment according to the preset deceleration curve. By controlling the motor or other drive device of the conveyor belt, the system can accurately adjust the actual speed of the conveyor belt to keep it consistent with the target speed. Ideally, when the item to be adjusted reaches the end position of the speed change interval, its speed should be reduced to a safe value, so that it can smoothly enter the temporary target discharge port without collision or rolling.

[0138] In order to further improve the sorting accuracy, after the item to be adjusted reaches the final position, the system will obtain the coordinates of its actual landing point in the temporary target discharge port, and calculate the deviation between the actual landing point and the preset theoretical landing point. If the deviation value exceeds the preset threshold, it means that there may be a problem with the design of the deceleration curve, and optimization adjustment is required. The system can use iterative optimization algorithms, such as gradient descent, genetic algorithm, etc., to modify the parameters of the deceleration curve according to the actual landing point position, so that it is more in line with the movement characteristics of the item and the spatial constraints of the discharge port.

[0139] In addition, in order to ensure the stacking stability of the items after entering the temporary target discharge port, the system will also monitor the stacking status of the items in the discharge port in real time and calculate the stability index of the item stacking. The stability index can comprehensively consider factors such as the height, center of gravity, and support area of ​​the item stacking to reflect the overall anti-overturning ability of the stacking. When the stability index is lower than the preset safety value, the system will trigger the preset item stacking shaping operation to make appropriate adjustments and optimizations to the stacking.

[0140] Specifically, the system can obtain the three-dimensional spatial scanning data of the stack of items through the three-dimensional visual sensor in the discharge port, and build a three-dimensional model of the stack based on the scanning data. By analyzing the three-dimensional model, the system can calculate the center of gravity position and support area distribution of the stack, and determine the optimal shaping plan accordingly. The shaping plan may include operations such as pushing and rotating the items on the surface of the stack, with the aim of making the center of gravity position more centered and the support area more uniform, thereby improving the overall stability of the stack. The system can control the sorting execution device to perform precise operations on the items along the preset trajectory to ensure that the shaping process is safe and reliable. Through the shaping of the stack of items, the system can continue to maintain the orderliness and stability of the stacking of items in the discharge port while the items are continuously put into the warehouse, creating favorable conditions for subsequent efficient outbound delivery.

[0141] In the above embodiment, the optimal speed control curve is automatically planned according to the real-time position and movement parameters of the items, so that a smooth transition of the items can be achieved. The system first reserves a buffer space at the discharge port that is not less than the height of the items to ensure that there is enough stacking space after the items are transferred and no new stacking anomalies are caused. Based on the spatial coordinates of the current position of the item and the discharge port, the shortest path distance between the two is calculated. Combined with the weight parameters of the items, the system can estimate the minimum distance required for the items to decelerate and brake on the conveyor belt, and determine the starting and end points of the speed control accordingly. When the item moves to the starting point of the speed change interval, the system begins to reduce the conveyor belt speed according to the preset deceleration curve until the item reaches the end of the speed change interval smoothly, reducing the impact force on the items during the transfer process and improving the warehousing efficiency.

[0142] The following describes the system in the embodiment of the present invention from the perspective of hardware processing. Figure 3 , which is a schematic diagram of the physical device structure of an intelligent sorting system applied to a conveyor belt provided in an embodiment of the present application.

[0143] It should be noted that Figure 3 The structure of the system shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0144] like Figure 3 As shown, the system includes a central processing unit (CPU) 301, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 302 or the program loaded from the storage part 308 to the random access memory (RAM) 303, such as executing the method in the above embodiment. In RAM 303, various programs and data required for system operation are also stored. CPU 301, ROM 302 and RAM 303 are connected to each other through a bus 304. Input / output (I / O) interface 305 is also connected to bus 304.

[0145] The following components are connected to the I / O interface 305: an input section 306 including a camera, an infrared sensor, etc.; an output section 307 including a liquid crystal display (LCD) and a speaker, etc.; a storage section 308 including a hard disk, etc.; and a communication section 309 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to the I / O interface 305 as needed. A removable medium 311, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 310 as needed so that a computer program read therefrom is installed into the storage section 308 as needed.

[0146] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 309, and / or installed from a removable medium 311. When the computer program is executed by the central processing unit (CPU) 301, various functions defined in the present invention are performed.

[0147] It should be noted that the computer-readable medium shown in the embodiment of the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. Such a propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.

[0148] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. Among them, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0149] As another aspect, the present invention further provides a computer-readable storage medium, which may be included in the system described in the above embodiment; or may exist independently without being assembled into the system. The above storage medium carries one or more computer programs, and when the above one or more computer programs are executed by a processor of a system, the system implements the method provided in the above embodiment.

[0150] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0151] As used in the above embodiments, the term "when..." may be interpreted to mean "if..." or "after..." or "in response to determining..." or "in response to detecting...", depending on the context. Similarly, the phrases "upon determining..." or "if (the stated condition or event) is detected" may be interpreted to mean "if determining..." or "in response to determining..." or "upon detecting (the stated condition or event)" or "in response to detecting (the stated condition or event)", depending on the context.

[0152] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk), etc.

[0153] Those skilled in the art can understand that to implement all or part of the processes in the above-mentioned embodiments, the processes can be completed by computer programs to instruct related hardware, and the programs can be stored in computer-readable storage media. When the programs are executed, they can include the processes of the above-mentioned method embodiments. The aforementioned storage media include: ROM or random access memory RAM, magnetic disk or optical disk and other media that can store program codes.

Claims

1. An intelligent sorting method applied to a conveyor belt, characterized in that: include: The stacking density of the items is calculated based on the stacking height of the items at each discharge port and the pressure value of the items on the bottom layer, and the ratio of the stacking density of the items to the preset reference density is determined as the compression rate of the items; The discharge port corresponding to the compression rate of the object being greater than the dynamic warning threshold is determined as an abnormal discharge port; Read the electronic tag information of the items to be sorted on the conveyor belt to obtain the weight parameters, volume parameters and target discharge port of the items to be sorted; Marking the to-be-sorted items corresponding to the abnormal discharge port as to-be-adjusted items, and calculating the density value of the to-be-adjusted items based on the weight parameters and volume parameters of the to-be-adjusted items; Calculating the straight-line distance between the object to be adjusted and the other outlets according to the physical space coordinates of the other outlets except the target outlet, and generating an initial spare outlet ranking table according to the straight-line distance, wherein the other outlets in the initial spare outlet ranking table are sorted according to the corresponding straight-line distances; Calculate the corresponding remaining capacity and remaining bearing capacity according to the maximum stacking height parameters and maximum bearing pressure parameters of the other discharge ports; The weight parameter and volume parameter of the object to be adjusted are matched and calculated with the remaining capacity and remaining load-bearing capacity of the other discharge ports to obtain a matching coefficient; Re-arrange the initial spare material outlet ranking table based on the matching coefficient to obtain a final spare material outlet ranking table; The discharge port ranked first in the final standby discharge port ranking table is used as a temporary target discharge port; Controlling the sorting execution device to transfer the items to be adjusted to the temporary target discharge port; Calculate a buffer space that is not less than the height parameter of the object to be adjusted according to the current object stacking height value of the temporary target discharge port; Calculating the shortest path distance based on the current position of the object to be adjusted and the spatial coordinates of the temporary target discharge port; Determining the starting position and the ending position of the speed change interval according to the shortest path distance and the weight parameter of the object to be adjusted specifically includes: Obtaining real-time moving speed and acceleration parameters of the object to be adjusted; Establishing a dynamic friction model based on the weight parameter of the object to be adjusted; Calculating the minimum braking distance of the object to be adjusted according to the dynamic friction model; Dividing the shortest path distance into an acceleration interval, a uniform speed interval, and a deceleration interval; In the deceleration interval, based on the real-time moving speed, acceleration parameter and minimum braking distance of the object to be adjusted, determining the starting position of the speed change interval; Determining the end position of the speed change interval according to the buffer space of the temporary target discharge port and the height parameter of the object to be adjusted; When the object to be adjusted enters the starting position of the speed change interval, the conveyor belt speed is reduced according to a preset deceleration curve until the object to be adjusted reaches the ending position of the speed change interval.

2. The method according to claim 1, characterized in that The calculating of the stacking density of the items based on the stacking height of the items at each outlet and the pressure value of the items at the bottom layer specifically includes: Obtaining the stacking height values ​​of several groups of items at each discharge port and the pressure values ​​of the items on the bottom layer within a preset time period; Performing time-weighted averaging on the stacking height values ​​of the plurality of groups of items and the pressure values ​​of the bottom items to obtain an average stacking height value and an average pressure value; The average pressure value is divided by the product of the average stacking height value and the cross-sectional area of ​​the discharge port to obtain the stacking density of the objects.

3. The method according to claim 1, characterized in that The weight parameter and volume parameter of the object to be adjusted are matched and calculated with the remaining capacity and remaining load-bearing capacity of the other discharge ports to obtain a matching coefficient, specifically including: Calculating the ratio of the weight parameter of the object to be adjusted to the remaining load-bearing capacity of the other discharge ports to obtain a load-bearing matching degree; Calculating the ratio of the volume parameter of the object to be adjusted to the remaining capacity of the other discharge ports to obtain a capacity matching degree; Calculating the object stacking stability coefficient based on the current stacking state of the objects at the other outlets; The load-bearing matching degree, the capacity matching degree and the stacking stability coefficient are weightedly calculated to obtain a matching coefficient.

4. The method according to claim 1, characterized in that: After the conveyor belt speed is reduced according to the preset deceleration curve until the object to be adjusted reaches the end position of the speed change interval, the method further includes: Obtaining the actual landing position coordinates of the object to be adjusted at the temporary target discharge port; Calculating the deviation between the actual landing point position coordinates and the preset theoretical landing point position coordinates; When the deviation value is greater than a preset threshold, the preset deceleration curve is corrected based on the actual landing point position coordinates; Obtaining real-time accumulation state parameters of the objects in the temporary target discharge port; Calculating a stability index of the stack of objects based on the real-time stacking state parameter; When the stability index is lower than a preset safety value, a preset object stacking shaping operation is triggered.

5. The method according to claim 4, characterized in that The triggering of the preset object stacking shaping operation specifically includes: Acquire three-dimensional spatial scanning data of the temporary target discharge port, and construct a three-dimensional model of the stack of objects based on the three-dimensional spatial scanning data; Calculating the center of gravity position and support area distribution of the stack of objects, and determining an optimal shaping scheme according to the center of gravity position and the support area distribution; The sorting execution device is controlled to push the objects located on the surface layer of the object stack along a preset trajectory.

6. An intelligent sorting system applied to a conveyor belt, characterized in that: The system comprises: One or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to cause the system to execute the method as described in any one of claims 1-5.

7. A computer-readable storage medium comprising instructions, characterized in that: When the instructions are executed on a system, the system is caused to execute the method according to any one of claims 1 to 5.

8. A computer program product, characterized in that When the computer program product is run on a system, the system is caused to execute the method according to any one of claims 1 to 5.

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