Grid determination method and system, sorting method and sorting equipment

Abstract

The invention discloses a lattice determination method and system, a sorting method and sorting device.According to the lattice determination method, when the extension length of the image collection range of an image detection device in the length direction is determined, the lattice determination method is designed according to the minimum distance of goods output by a single-piece separation device; therefore, the length of the image acquisition range can be designed to be short, and on the basis, the triggering times and the triggering time of the image detection device are determined according to the length of each cargo when the cargo is detected, so that pictures of small cargoes and large cargoes can be effectively acquired and detected, and the detection efficiency is improved. The problem that in the prior art, a plurality of adjacent small goods which are not overlapped are easily identified as overlapped goods under the conditions of small goods and small goods intervals due to the adoption of a long image acquisition range can be effectively avoided, the detection precision is improved, and the application range is effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of logistics sorting, and in particular to a method and system for determining a grid opening, a sorting method and a sorting device. Background Art

[0002] The visual single piece separation device is a device that enables batches of goods to be output one by one to the downstream. A six-code conveyor scanning mechanism can be connected downstream of the visual single piece separation device to read the code of each item output by the visual single piece separation device to determine the corresponding sorting grid of the goods.

[0003] However, when goods are transported to the visual single-piece separation device, the goods are often stacked. Therefore, the existing visual single-piece separation device will set a multi-stage climbing machine upstream of the matrix machine to achieve the removal of stacked goods, as shown in the Chinese utility model patent with authorization announcement number CN214298136U.

[0004] However, in this structure, there is still a situation where stacked goods cannot be completely eliminated. There is still a situation where stacked goods remain stacked after passing through the matrix machine. When the stacked goods are transported to the six-sided transport scanning mechanism, only one sorting grid may be obtained. At this time, the stacked goods may be sorted incorrectly.

[0005] Therefore, in order to avoid this situation, the prior art sets an image detection device at the conveyor line downstream of the six-sided conveyor scanning mechanism to detect whether there are stacked goods. The image detection device is used to detect a fixed area range of the conveyor line. The fixed area range needs to cover the maximum size of goods that can be sorted by the system. If two or more goods are detected in the fixed area range, it is determined that there is stacking and an abnormal signal is output. At this time, the goods determined to be abnormal will be sorted into the abnormal grid.

[0006] However, this method still has the possibility of misjudgment. For the sake of convenience, the conveying direction of the goods in the packaging process is defined as the length direction, and the direction perpendicular to the length direction and extending horizontally is defined as the width direction. When the extension distance of the largest goods in the length direction is 1400mm, the extension distance of the fixed area range of the image detection device in the length direction is 1400mm. At this time, for two goods with extension distances of 300mm and 200mm respectively in the length direction, if the visual single-piece separation device outputs the goods at a spacing of 350mm, then within the fixed area range of 1400, the two goods of 300mm and 200mm will be detected at the same time. At this time, even if they are not in a stacked state, they will be identified as stacked, resulting in misjudgment. Summary of the invention

[0007] The purpose of the present invention is to solve the above problems existing in the prior art and to provide a grid determination method, system, sorting method and sorting equipment.

[0008] The purpose of the present invention is achieved through the following technical solutions: The method for determining the grid opening comprises the following steps: S1, when receiving the signal output by the visual single-piece separation device that the goods trigger the tracking photoelectric sensor at the conveying scanning mechanism, start real-time timing and determine the distance that the goods extend in the length direction according to the signal of the tracking photoelectric sensor; S2, determining the number of times the image detection device downstream of the conveying and scanning mechanism needs to be triggered to complete the detection of the goods and the theoretical timing time corresponding to each trigger according to the distance the goods extend in the length direction, and the image acquisition range of the image detection device is 1-2 times the distance between the goods output by the visual single-piece separation device; S3, controlling the image detection device to trigger image acquisition according to the determined theoretical timing time and real-time timing time corresponding to each trigger; S4, determining whether the cargo is abnormal according to the image collected by the image detection device; S5, when it is determined that there is an abnormality, determining that the goods are sorted to the abnormal slot; S6, when it is determined that there is no abnormality, determine that the goods are sorted to the sorting grid determined when the goods pass through the conveying scanning mechanism.

[0009] Preferably, the triggering times are determined according to the following formula: n=L / d, Wherein, n is the number of triggers, and its value is rounded up; L is the distance that the goods extend in the length direction; and d is the distance that the image acquisition range of the image detection device extends in the length direction.

[0010] Preferably, the image acquisition range of the image detection device extends over a distance of 500-700 mm in the length direction.

[0011] Preferably, the spacing between the goods separated and outputted by vision is between 250-350 mm.

[0012] Preferably, the theoretical timing time corresponding to the first triggering of the image detection device is determined according to the following formula: T1=(PLX) / V; X = (n × dL) / 2; Wherein, T1 is the theoretical timing time corresponding to the first triggering of the image detection device, P is the distance from the tracking photoelectric sensor to the lower edge of the image acquisition range of the image detection device; L is the length of the goods, X is the distance from the goods to the lower edge of the image acquisition range of the image detection device when the image detection device is triggered for the first time; V is the conveying speed of the goods; n is the number of times the image detection device is triggered, and d is the distance that the image acquisition range of the image detection device extends in the length direction.

[0013] Preferably, when the number of times the image detection device needs to be triggered is greater than 1, except for the first trigger, the theoretical timing time corresponding to the i-th trigger of the image detection device is determined according to the following formula: T i =(PLX) / V+(i-1)d / v; Among them, T i is the theoretical timing time corresponding to the i-th triggering of the image detection device, i represents the number of times the image detection device is triggered, and i is between 2 and n.

[0014] Preferably, after determining whether there is an abnormality with the goods and obtaining the identification result, the control device sends the barcode information corresponding to the goods and the identification result to the WCS system; when the identification result corresponds to no abnormality with the goods, the WCS system sends the sorting grid corresponding to the barcode information of the goods to the control device; when the identification result corresponds to an abnormality with the goods, the WCS system sends the abnormal grid to the control device.

[0015] The grid determination system includes: A position tracking unit, used to start tracking the position of the goods when receiving a signal output by the visual single-piece separation device from a tracking photoelectric sensor at the conveying scanning mechanism; A trigger parameter calculation unit, used to start real-time timing when it is determined that the goods stop triggering the tracking photoelectric sensor, determine the distance the goods extend in the length direction, and determine the number of times the image detection device downstream of the conveying scanning mechanism needs to be triggered to complete the detection of the goods and the theoretical timing time corresponding to each trigger according to the distance the goods extend in the length direction; A trigger detection unit, used to control the image detection device to trigger and perform image acquisition according to the determined theoretical timing time and real-time timing time corresponding to each trigger; An abnormality judgment unit, used to determine whether the goods have abnormalities according to the images collected by the image detection device; An abnormal slot binding unit is used to determine that the goods are sorted to the abnormal slot when an abnormality is determined; The normal grid binding unit is used to determine that the goods are sorted to the sorting grid determined when the goods pass through the conveying scanning mechanism when it is determined that there is no abnormality.

[0016] The sorting method includes any of the above-mentioned methods for determining the grid opening.

[0017] The sorting device comprises a processor and a memory, wherein the memory stores a program executable by the processor, and when the program is executed, any of the above-mentioned methods for determining a slot or the above-mentioned sorting method is implemented.

[0018] The advantages of the technical solution of the present invention are mainly reflected in: The method of the present invention is designed according to the minimum spacing of goods output by the single-piece separation device when determining the extension length of the image acquisition range of the image detection device in the length direction, so that the length of the image acquisition range can be designed to be shorter, and on this basis, the number of times and the triggering timing of the image detection device when detecting the goods are determined according to the length of each goods, so that both small goods and large goods can be effectively captured and detected, which can effectively avoid the problem in the prior art that a long image acquisition range is used to easily identify multiple adjacent non-overlapping small goods as overlapping goods in the case of small goods and small cargo spacing, thereby improving the detection accuracy and effectively improving the scope of application.

[0019] The method of the present invention has a simple calculation process, is easy to implement, has high accuracy, good stability, and is easy to promote and apply. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a partial top view of the sorting device of the present invention, in which the arrows indicate the conveying direction of the goods; Figure 2 It is a process schematic diagram of the method for determining the grid opening of the present invention; Figure 3 It is a partial schematic diagram of the sorting device of the present invention. DETAILED DESCRIPTION

[0021] The purpose, advantages and features of the present invention will be illustrated and explained by the non-limiting description of the following preferred embodiments. These embodiments are only typical examples of the application of the technical solution of the present invention, and any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of protection claimed by the present invention.

[0022] In the description of the scheme, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0023] The following is an explanation of the method for determining the slot disclosed by the present invention in conjunction with the accompanying drawings. The method for determining the slot is based on known sorting equipment, such as the attached drawings. Figure 1 As shown, it includes a first conveyor line 100, a visual single-piece separation device 200, a conveying and scanning code mechanism 300, a detection conveyor line 400, a bag conveyor line 500 and a sorting machine 600 connected in sequence. A multi-stage climbing machine (not shown in the figure) can be set upstream of the first conveyor line 100. Of course, the climbing machine can also be set between the first conveyor line and the visual single-piece separation device 200. The visual single-piece separation device 200 outputs goods at a fixed spacing. Preferably, the spacing of the goods output by the visual single-piece separation is between 250-350mm. The conveying and scanning code mechanism 300 is a known six-sided scanning device, and its specific structure is a known technology and is not repeated here. The conveying and scanning code mechanism 300 is provided with a tracking photoelectric sensor 700 located upstream of the code reader. An image detection device 800 is provided above the detection conveyor line. The image detection device 800 is a feasible device such as a camera, a camera head, etc., and its lens faces the top surface of the detection conveyor line and has a fixed image acquisition range 810. The distance that the image acquisition range 810 extends in the length direction does not exceed twice the spacing of the goods output by the visual single-piece separation setting, and the distance that the image acquisition range extends in the length direction is not less than the spacing of the goods output by the visual single-piece separation device 200. Preferably, the image acquisition range of the image detection device extends in the length direction between 500-700mm. The length of the image acquisition range extending in the width direction covers the width of the conveying surface of the detection conveyor line, that is, an image captured by the image detection device 800 covers the local area from one side to the other side of the conveying surface of the detection conveyor line. The minimum value of the distance that the goods that the sorting equipment can sort extend in the length direction is 200mm.

[0024] Correspondingly, as attached Figure 2 As shown, the grid determination method includes the following steps: A large number of goods are placed into the upstream conveyor for transportation manually or through automated equipment. The goods are transported to the first conveyor line 100 after at least passing through the climbing machine. The first conveyor line 100 transports the goods to the visual single-piece separation device 200. The visual single-piece separation device 200 outputs the goods one by one according to a predetermined program and keeps an equal distance between the output goods. The goods output by the visual single-piece separation device 200 continue to be transported to the conveying code reading mechanism and trigger the tracking photoelectric sensor 700 at the conveying code reading mechanism. For each of the goods output by the visual single-piece separation device 200, its corresponding sorting grid is determined according to the following process.

[0025] S1, when the control device receives the signal output by the visual single-piece separation device 200 from the tracking photoelectric sensor 700 at the conveying scanning mechanism 300 that triggers the goods, it starts tracking the position of the goods.

[0026] S2, when it is determined that the goods no longer trigger the tracking photoelectric sensor 700, the control device controls the code reader at the conveying and scanning mechanism 300 to trigger code reading to obtain the barcode information corresponding to the goods. At the same time, the control device starts real-time timing and determines the distance that the goods extend in the length direction; here, the distance that the goods extend in the length direction can be determined based on the length of time the tracking photoelectric sensor is triggered by the goods and the conveying speed of the goods. The corresponding calculation method is a known technology and is not described here. After determining the distance that the goods extend in the length direction, the control device also determines the number of triggers required for the image detection device 800 downstream of the conveying and scanning mechanism 300 to complete the detection of the goods and the theoretical timing time corresponding to each trigger according to the distance that the goods extend in the length direction; The trigger times are determined according to the following formula: n=L / d, Wherein, n is the number of triggers, and its value is rounded up; L is the distance that the goods extend in the length direction; and d is the distance that the image acquisition range of the image detection device 800 extends in the length direction.

[0027] When the distance that a piece of goods extends in the length direction is less than the distance that the image acquisition range of the image detection device 800 extends in the length direction, the detection of the goods is completed, and the image detection device 800 only needs to be triggered once. When the distance that a piece of goods extends in the length direction is greater than the distance that the image acquisition range of the image detection device 800 extends in the length direction, the detection of the goods is completed, and the image detection device 800 only needs to be triggered multiple times.

[0028] For example, the image acquisition range of the image detection device 800 extends by 600 mm in the length direction. When it is determined that a cargo extends by 400 mm in the length direction, the stacking recognition of the cargo only needs to trigger the image detection device 800 once; when it is determined that a cargo extends by 750 mm in the length direction, the stacking recognition of the cargo needs to trigger the image detection device 800 twice.

[0029] Regardless of whether the image detection device needs to be triggered once or multiple times, the theoretical timing time corresponding to the first triggering of the image detection device when performing the cargo detection is determined according to the following formula: T1=(PLX) / V; X = (n × dL) / 2; Wherein, T1 is the theoretical timing time corresponding to the first triggering of the image detection device, and P is the distance from the tracking photoelectric sensor 700 to the lower edge of the image acquisition range of the image detection device 800 (the image acquisition range is located on the downstream side). Figure 3 As shown in the figure; L is the length of the goods, X is the distance from the goods to the lower edge of the image acquisition range of the image detection device 800 when the image detection device is triggered for the first time; V is the conveying speed of the goods, and the conveying speed of the goods from the output of the visual single piece separation device to the movement to the sorting machine remains fixed; n is the number of times the image detection device is triggered, and d is the distance that the image acquisition range of the image detection device 800 extends in the length direction, as shown in the figure. Figure 3 shown.

[0030] When the number of times the image detection device 800 needs to be triggered is greater than 1, except for the first trigger, the theoretical timing time corresponding to the i-th trigger of the image detection device 800 is determined according to the following formula: Ti = (PLX) / V + (i-1)d / v; Wherein, Ti is the theoretical timing time corresponding to the i-th triggering of the image detection device 800, i represents the number of times the image detection device is triggered, and i is between 2 and n. That is, the theoretical timing time corresponding to the second triggering of the image detection device 800 is equal to the theoretical timing time corresponding to the first triggering of the image detection device 800 plus d / v, the theoretical timing time corresponding to the third triggering of the image detection device 800 is equal to the theoretical timing time corresponding to the first triggering of the image detection device 800 plus 2d / v, the theoretical timing time corresponding to the fourth triggering of the image detection device 800 is equal to the theoretical timing time corresponding to the first triggering of the image detection device 800 plus 3d / v, and so on to obtain the theoretical timing time corresponding to the n-th triggering of the image detection device 800.

[0031] S3, according to the determined theoretical timing time and real-time timing time corresponding to each trigger, the image detection device 800 is controlled to trigger and perform image acquisition; that is, if the detection of a cargo only requires the image detection device 800 to be triggered once, then when the real-time timing time from when the cargo stops triggering the tracking photoelectric sensor reaches the theoretical timing time corresponding to this trigger, the image detection device 800 is triggered to perform an image acquisition, at which time, the cargo is located in the middle of the image acquisition range of the image detection device 800, so that the image acquired by the image detection device 800 can effectively cover the entire cargo, and the spacing between the cargo and the upper and lower edges of the image acquisition range is less than the spacing between adjacent cargoes, and no triggering will occur at this time. If the detection of a cargo requires the image detection device 800 to be triggered multiple times, then when the real-time timing time from when the cargo stops triggering the tracking photoelectric sensor reaches the theoretical timing time corresponding to each trigger, the image detection device 800 is triggered for the corresponding number of times.

[0032] S4, determining whether the goods are abnormal based on the images captured by the image detection device 800; whether the goods are abnormal here means whether there are overlapping parts. When the detection of a piece of goods requires the image detection device 800 to be triggered multiple times, it is determined based on the analysis of the images captured multiple times whether the goods are overlapping. The corresponding image analysis and recognition method is a known technology, which is not the focus of the present invention and will not be described here.

[0033] S5, when it is determined that there is an abnormality, determining that the goods are sorted to the abnormal slot; S6, when it is determined that there is no abnormality, determine that the goods are sorted to the sorting grid determined when the goods pass through the conveying and scanning mechanism 300.

[0034] Specifically, when the goods pass through the conveying and scanning mechanism 300, when the barcode reader reads the barcode of the goods, after subsequently identifying the goods according to the picture collected by the image detection device and obtaining the identification result, the control device sends the barcode information corresponding to the goods and the identification result of whether the goods are abnormal to the WCS system. The WCS system determines whether to send the sorting grid corresponding to the barcode information or the abnormal grid to the control device according to the identification result corresponding to the goods, that is, when the identification result corresponds to the goods without abnormality, the WCS system sends the sorting grid corresponding to the barcode information of the goods to the control device, so that the control device determines that the goods are sorted to the sorting grid corresponding to its barcode information; when the identification result corresponds to the goods being abnormal, the WCS system sends the abnormal grid to the control device, so that the control device determines that the goods are sorted to the abnormal grid.

[0035] Example 2 This embodiment discloses a grid determination system, including: A position tracking unit, used to start tracking the position of the goods when receiving a signal from the tracking photoelectric sensor 700 at the goods-triggered conveying code scanning mechanism 300 output by the visual single-piece separation device 200; A trigger parameter calculation unit is used to start real-time timing when it is determined that the goods stop triggering the tracking photoelectric sensor 700, determine the distance the goods extend in the length direction, and determine the number of times the image detection device 800 downstream of the conveying and scanning mechanism 300 needs to be triggered to complete the detection of the goods and the theoretical timing time corresponding to each trigger according to the distance the goods extend in the length direction; A trigger detection unit, used to control the image detection device 800 to trigger and perform image acquisition according to the determined theoretical timing time and real-time timing time corresponding to each trigger; An abnormality judgment unit, used to determine whether the goods have abnormalities according to the images collected by the image detection device 800; An abnormal slot binding unit is used to determine that the goods are sorted to the abnormal slot when an abnormality is determined; The normal grid binding unit is used to determine the sorting grid determined when the goods are sorted to the sorting grid determined when the goods pass through the conveying scanning mechanism 300 when it is determined that there is no abnormality.

[0036] Example 3 This embodiment discloses a sorting method, including the above-mentioned slot determination method. After the sorting slot of each cargo is determined according to the above-mentioned slot determination method, the cargo is transported to the sorting machine 600 through the upper package conveyor line 500, and the control device controls the sorting machine 600 to sort according to cargo tracking data and the determined sorting slot. The sorting machine 600 can be a cross-belt sorting machine, a swing wheel sorting machine, or other feasible equipment. The sorting machine 600 is preferably a linear narrow-belt sorting machine, and its specific structure is a known technology and is not described here.

[0037] Example 4 This embodiment discloses a sorting device, including a processor and a memory, wherein the memory stores a program executable by the processor, and when the program is executed, the above-mentioned grid determination method or the above-mentioned sorting method is implemented.

[0038] There are many implementation methods of the present invention, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A method for determining a grid opening, characterized in that: The steps include: S1, when receiving the signal of the tracking photoelectric sensor at the conveying scanning mechanism output by the visual single-piece separation device, the tracking of the cargo position begins; S2, after determining that the goods stop triggering the tracking photoelectric sensor, start real-time timing, determine the distance the goods extend in the length direction, and determine the number of times the image detection device downstream of the conveying and scanning mechanism needs to be triggered to complete the detection of the goods and the theoretical timing time corresponding to each trigger according to the distance the goods extend in the length direction. The image acquisition range of the image detection device is 1-2 times the distance between the goods output by the visual single-piece separation device; S3, controlling the image detection device to trigger image acquisition according to the determined theoretical timing time and real-time timing time corresponding to each trigger; S4, determining whether the cargo is abnormal according to the image collected by the image detection device; S5, when it is determined that there is an abnormality, determining that the goods are sorted to the abnormal slot; S6, when it is determined that there is no abnormality, determine that the goods are sorted to the sorting grid determined when the goods pass through the conveying scanning mechanism.

2. The method for determining a grid opening according to claim 1, wherein: The trigger times are determined according to the following formula: n=L / d, Wherein, n is the number of triggers, and its value is rounded up; L is the distance that the goods extend in the length direction; and d is the distance that the image acquisition range of the image detection device extends in the length direction.

3. The method for determining a grid opening according to claim 1, wherein: The image acquisition range of the image detection device extends over a distance of 500-700 mm in the length direction.

4. The method for determining a grid opening according to claim 1, wherein: The spacing between the goods output by visual single piece separation is between 250-350mm.

5. The method for determining a grid opening according to claim 1, wherein: The theoretical timing time corresponding to the first triggering of the image detection device is determined according to the following formula: T1=(PLX) / V; X = (n × dL) / 2; Wherein, T1 is the theoretical timing time corresponding to the first triggering of the image detection device, P is the distance from the tracking photoelectric sensor to the lower edge of the image acquisition range of the image detection device; L is the length of the goods, X is the distance from the goods to the lower edge of the image acquisition range of the image detection device when the image detection device is triggered for the first time; V is the conveying speed of the goods; n is the number of times the image detection device is triggered, and d is the distance that the image acquisition range of the image detection device extends in the length direction.

6. The method for determining a grid opening according to claim 5, characterized in that: When the number of times the image detection device needs to be triggered is greater than 1, except for the first trigger, the theoretical timing time corresponding to the i-th trigger of the image detection device is determined according to the following formula: T i =(P-L-X) / V+(i-1)d / v; Among them, T i is the theoretical timing time corresponding to the i-th triggering of the image detection device, i represents the number of times the image detection device is triggered, and i is between 2 and n.

7. The method for determining a cutout according to any one of claims 1 to 6, characterized in that: After determining whether there is any abnormality with the goods and obtaining the identification result, the control device sends the barcode information corresponding to the goods and the identification result to the WCS system. When the identification result corresponds to no abnormality with the goods, the WCS system sends the sorting grid corresponding to the barcode information of the goods to the control device; when the identification result corresponds to an abnormality with the goods, the WCS system sends the abnormal grid to the control device.

8. A grid determination system, characterized in that: include: A position tracking unit, used to start tracking the position of the goods when receiving a signal output by the visual single-piece separation device from a tracking photoelectric sensor at the conveying scanning mechanism; A trigger parameter calculation unit, used to start real-time timing when it is determined that the goods stop triggering the tracking photoelectric sensor, determine the distance the goods extend in the length direction, and determine the number of times the image detection device downstream of the conveying scanning mechanism needs to be triggered to complete the detection of the goods and the theoretical timing time corresponding to each trigger according to the distance the goods extend in the length direction; A trigger detection unit, used to control the image detection device to trigger and perform image acquisition according to the determined theoretical timing time and real-time timing time corresponding to each trigger; An abnormality judgment unit, used to determine whether the goods have abnormalities according to the images collected by the image detection device; An abnormal slot binding unit is used to determine that the goods are sorted to the abnormal slot when an abnormality is determined; The normal grid binding unit is used to determine that the goods are sorted to the sorting grid determined when the goods pass through the conveying scanning mechanism when it is determined that there is no abnormality.

9. A sorting method, characterized in that: It includes a grid determination method as described in any one of claims 1-7.

10. A sorting device, comprising a processor and a memory, wherein the memory stores a program executable by the processor, characterized in that: When the program is executed, the slot determination method according to any one of claims 1 to 7 or the sorting method according to claim 9 is implemented.

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