Sealing and locking device and method based on AI vision

Abstract

The invention provides a sealing and locking device and method based on AI vision. The sealing and locking device based on the AI vision comprises a posture adjusting section, a sealing and locking section, a camera and a processing unit. The posture adjusting section comprises a first conveying device, a supporting cross beam and a pair of clamping arm assemblies, the supporting cross beam is arranged above the first conveying device, each clamping arm assembly comprises a movable clamping arm and a side belt conveyor, and the camera is located above the first conveying device and used for obtaining a luggage image; and the processing unit is used for carrying out real-time deflection angle analysis on the luggage image, and in the luggage clamping process of the clamping arm assembly, the transmission differential speed of the two side belt conveyors is controlled according to the luggage deflection angle to adjust the luggage. According to the sealing and locking device and method based on the AI vision, real-time deflection angle analysis is conducted on the luggage image, the transmission differential speed of the two side belt conveyors is controlled according to the luggage deflection angle to adjust the luggage deflection angle, and the sealing and locking quality is improved.

Description

Technical Field

[0001] This application belongs to the technical field of luggage sealing and locking, and more specifically, relates to a sealing and locking device and method based on AI vision. Background Art

[0002] A sealing lock is a device for supervising risky luggage. For example, the utility model patent with the publication number CN218974925U discloses that the sealing lock is provided with devices such as a Bluetooth main control chip, a Bluetooth board-mounted antenna, an acceleration sensor, an unlocking motor, an NFC induction module, a gesture sensor, etc., which are used for luggage tracking, status detection, anti-tampering detection, etc.

[0003] To improve the efficiency of sealing and locking, in the prior art, an automated sealing and locking mechanism is used to apply a sealing lock to risky luggage. Before the luggage is sealed and locked, the sealing and locking mechanism uses structures such as swing arms to mechanically correct the direction of the luggage. However, due to the uncertain attitude and position of the luggage during the transmission process, such as the cases where the luggage is not centered during transmission, has a large-angle deviation, is placed horizontally, or is facing upwards, using mechanical actions to correct the luggage may result in incomplete correction, with a large error in the correction result, and it is impossible to achieve multi-dimensional standardization, which affects the quality of sealing and locking. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a sealing and locking device and method based on AI vision to solve the technical problem of insufficient quality existing in the prior art during the process of sealing luggage.

[0005] To achieve the above purpose, the technical solution adopted in this application is: to provide a sealing and locking device based on AI vision, including: an attitude adjustment section, a sealing and locking section, a camera, and a processing unit; The attitude adjustment section includes a first conveying device, a support crossbeam, and a pair of clamping arm assemblies. The support crossbeam is arranged above the first conveying device. The clamping arm assembly includes a moving clamping arm and a side belt conveyor. A pair of the moving clamping arms are movably arranged on the support crossbeam, and the side belt conveyor is arranged on the corresponding moving clamping arm. The pair of side belt conveyors are parallel to each other and perpendicular to the first conveying device; Wherein, the camera is located above the first conveying device and is used to acquire luggage images. The processing unit is used to perform real-time deflection angle analysis on the luggage images, and during the process of the clamping arm assembly clamping the luggage, control the transmission differential speed of the two side belt conveyors to adjust the luggage according to the luggage deflection angle; The sealing and locking section includes a second conveying device and a sealing and locking mechanism. The second conveying device is arranged in parallel with the first conveying device, and the sealing and locking mechanism is located on the second conveying device and is used to seal and lock the luggage after the deflection angle is adjusted.

[0006] In a preferred embodiment, an elastic guiding mechanism and a photoelectric induction unit are provided on the movable clamping arm, a detection piece is provided on the side belt conveyor, the side belt conveyor is slidably connected to the elastic guiding mechanism, and the detection piece is arranged corresponding to the photoelectric induction unit.

[0007] In a preferred embodiment, a ball screw linear module and a power unit are provided on the support cross beam, the power unit is connected to the ball screw linear module, and a pair of clamping arm assemblies are connected to the ball screw linear module.

[0008] In a preferred embodiment, the second conveying device includes a conveying device body, a turning shaft, a pedestal bearing and a turning power unit, the conveying device body is arranged on the turning shaft, the turning shaft is arranged in the pedestal bearing, and the turning power unit is connected to the turning shaft.

[0009] This application also provides a method for sealing and locking based on AI vision. Based on the above-mentioned sealing and locking device based on AI vision, it includes the steps: Obtain the luggage image in real time; Perform real-time analysis of the deflection angle α of the luggage image; Adjust the luggage by controlling the transmission differential speed of the two side belt conveyors according to the luggage deflection angle α; Seal and lock the luggage after adjusting the deflection angle.

[0010] In a preferred embodiment, the method for performing real-time analysis of the deflection angle of the luggage image includes the steps: Obtain the luggage target in real time based on the luggage image; Obtain the minimum circumscribed rectangle of the luggage target; Calculate the deflection angle α using the minimum rectangle.

[0011] In a preferred embodiment, the method for calculating the deflection angle α of the minimum circumscribed rectangle includes the steps: Take the luggage transmission direction as the reference direction; Detect the end features of the luggage target to determine the top and bottom of the luggage target; Determine the deflection angle α in the vector state of the minimum circumscribed rectangle according to the relative positions of the top and bottom.

[0012] In a preferred embodiment, the method for controlling the transmission differential speed of the two side belt conveyors to adjust the luggage according to the luggage deflection angle α includes the steps: Detect the front and back of the luggage target. When the front of the luggage is facing up, output A = 0. When the back of the luggage is facing up, output A = 1; Normalize the deflection angle α so that α ∈ (-π, π]; The angle of rotation β for the luggage by controlling the transmission differential speed of the two side belt conveyors is such that .

[0013] In a preferred embodiment, the minimum circumscribed rectangle of the luggage target is obtained, the width change of the minimum circumscribed rectangle is detected in real time, and the distance between a pair of side belt conveyors is dynamically adjusted so that the width of the minimum circumscribed rectangle and the distance between the pair of side belt conveyors change synchronously.

[0014] In a preferred embodiment, the real-time transmission speed V1 of the first conveying device is obtained, and a standard rated differential speed V2 and a compensation rated differential speed V3 are set; then the transmission speeds of the two side belt conveyors are speed1 and speed2 respectively, where .

[0015] In a preferred embodiment, if the output A = 1, after adjusting the angle of the luggage, the following steps are further included: When the luggage after angle adjustment is transferred to the second conveying device, the second conveying device performs a rotation operation of more than 90 degrees to turn over the luggage.

[0016] The beneficial effects of the seal locking device and method based on AI vision provided by this application are as follows: Compared with the prior art, the real-time deflection angle analysis of the luggage image is carried out, and the transmission differential speed of the two side belt conveyors is controlled according to the luggage deflection angle to adjust the luggage deflection angle, so that the luggage is corrected, which can not only protect the luggage but also improve the quality of seal locking. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 is a three-dimensional structural schematic diagram of the seal locking device based on AI vision provided by the embodiment of the present application; Figure 2 is Figure 1 a three-dimensional structural schematic diagram of the main body part of the attitude adjustment section in Figure 3 is Figure 2 a three-dimensional structural schematic diagram of the clamping arm assembly in Figure 4 is Figure 3 an enlarged view of area B in Figure 5It is a top view of the attitude adjustment section when the luggage just enters the first conveying device; Figure 6 It is a top view of the attitude adjustment section when a pair of side belt conveyors just come into contact with the luggage; Figure 7 It is a top view of the attitude adjustment section when the luggage is adjusted in place; Figure 8 It is a top view of the attitude adjustment section after a pair of side belt conveyors are reset; Figure 9 It is a three-dimensional structure schematic diagram of the second conveying device provided by the embodiment of the present application; Figure 10 It is a schematic diagram of the luggage rotation when A = 0 in the sealing and locking method based on AI vision provided by the embodiment of the present application; Figure 11 It is a schematic diagram of the luggage rotation when A = 1 in the sealing and locking method based on AI vision provided by the embodiment of the present application. Specific embodiments

[0019] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0020] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0021] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 a limitation to the present application.

[0022] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0023] Please refer to together Figures 1 to 4, the sealing and locking device 100 based on AI vision provided by the embodiments of the present application will be described below. The sealing and locking device 100 based on AI vision includes: an attitude adjustment section 10, a sealing and locking section 20, a camera 30, and a processing unit (not shown in the figure).

[0024] Specifically, the attitude adjustment section 10 includes a first conveying device 11, a support crossbeam 12, and a pair of clamping arm assemblies 13. The support crossbeam 12 is disposed above the first conveying device 11. The clamping arm assembly 13 includes a movable clamping arm 131 and a side belt conveyor 132. A pair of the movable clamping arms 131 are movably disposed on the support crossbeam 12, and the side belt conveyor 132 is disposed on the corresponding movable clamping arm 131. The pair of side belt conveyors 132 are parallel to each other and perpendicular to the first conveying device 11.

[0025] Wherein, the camera 30 is located above the first conveying device 11 and is used to acquire luggage images. The processing unit is used to perform real-time deflection angle analysis on the luggage images, and during the process of the clamping arm assembly 13 clamping the luggage, the transmission differential speed of the two side belt conveyors 132 is controlled according to the luggage deflection angle to adjust the luggage.

[0026] Specifically, the sealing and locking section 20 includes a second conveying device 21 and a sealing and locking mechanism 22. The second conveying device 21 is arranged in parallel with the first conveying device 11, and the sealing and locking mechanism 22 is located on the second conveying device 21 and is used to seal and lock the luggage after the deflection angle is adjusted.

[0027] It can be understood that the first conveying device 11 and the second conveying device 21 can be a conveying belt, a rod conveying device, or a universal wheel conveying device, aiming to stably convey the luggage. The two ends of the support crossbeam 12 can be fixed above the first conveying device 11 through vertical support columns.

[0028] In one embodiment, a plurality of infrared sensors 211 are provided on both the second conveying device 21 and the first conveying device 11 to detect the transmission position or speed of the luggage through the infrared sensors 211.

[0029] In one embodiment, the processing unit is a central processing unit or can also be a remotely connected background server, aiming to be able to process and analyze the luggage images and send control commands.

[0030] In one embodiment, the sealing and locking device 100 based on AI vision further includes a buffer section 40. The buffer section 40 is connected to the second conveying device 21 and is used to buffer the luggage after sealing and locking.

[0031] The luggage image can be a standard top-down view image of the luggage or a relative top-down view image with a certain offset relative to the standard top-down view image, aiming to reflect the overall deflection angle α of the luggage through the luggage image. For the rotation process, please refer to Figures 5 to 8 as shown.

[0032] In this way, the beneficial effects of the sealing and locking device 100 based on AI vision provided by the present application are as follows: Compared with the prior art, when the luggage stops moving after entering the first conveying device 11, the transmission differential speed of the two side belt conveyors 132 is controlled according to the luggage deflection angle to adjust the luggage deflection angle, so that the luggage is corrected. Specifically, the two side belt conveyors 132 can be controlled to rotate in opposite directions to form a large speed difference, and two frictional forces in opposite directions are applied to both sides of the luggage, and the luggage can be protected from being squeezed during the correction process. During the sealing and locking process, the quality of sealing and locking is improved.

[0033] In one embodiment, please refer to Figure 4 and Figure 5 , an elastic guiding mechanism 133 and a photoelectric induction unit 134 are provided on the moving clamping arm 131, a detection piece 135 is provided on the side belt conveyor 132, the side belt conveyor 132 is slidably connected to the elastic guiding mechanism 133, and the detection piece 135 is correspondingly arranged with the photoelectric induction unit 134.

[0034] It can be understood that the elastic guiding mechanism 133 can be a mechanism composed of a guide rail and a spring, or a mechanism composed of a guide rod and a spring leaf, aiming to enable the side belt conveyor 132 to move backward under the guiding action of the elastic guiding mechanism 133 when the side belt conveyor 132 clamps the luggage. When the pressure reaches a certain level, the detection piece 135 triggers the photoelectric induction unit 134, so that the pair of clamping arm assemblies 13 stop approaching each other, which is beneficial to keeping a relatively constant pressure on the luggage by the pair of side belt conveyors 132.

[0035] In one embodiment, please refer to Figure 2 , a ball screw linear module 121 and a power unit 122 are provided on the support cross beam 12, the power unit 122 is connected to the ball screw linear module 121, and a pair of clamping arm assemblies 13 are connected to the ball screw linear module 121.

[0036] It can be understood that the power unit 122 includes a servo motor or a stepper motor, and of course, it can also include a speed reducer connected to the motor. The ball screw linear module 121 is bidirectionally driven, that is, the pair of clamping arm assemblies 13 can be simultaneously controlled to approach or move away from each other by the power unit 122, and how to achieve coordinated cooperation.

[0037] In one embodiment, please refer toFigure 9 The second conveying device 21 includes a conveying device body 212, a turning shaft 213, a pedestal bearing 214, and a turning power unit (not shown in the figure). The conveying device body 212 is disposed on the turning shaft 213. The turning shaft 213 is disposed within the pedestal bearing 214. The turning power unit is connected to the turning shaft 213.

[0038] It can be understood that the turning power unit can drive the conveying device body 212 to turn towards the side close to the first conveying device 11, so that it is convenient for maintenance when the sealing and locking mechanism is damaged. The turning power unit can be a servo motor or a stepper motor.

[0039] The present application also provides a sealing and locking method based on AI vision. Based on the above-mentioned sealing and locking device 100 based on AI vision, the sealing and locking method based on AI vision includes the steps of: Obtaining a luggage image in real time; Performing real-time analysis of the deflection angle α of the luggage image; Adjusting the luggage according to the transmission differential speed of the two side belt conveyors 132 based on the luggage deflection angle α; Sealing and locking the luggage after the deflection angle is adjusted.

[0040] It can be understood that the luggage image can be a standard top-down view image of the luggage, or a relative top-down view image with a certain offset relative to the standard top-down view image, aiming to reflect the overall deflection angle α of the luggage through the luggage image.

[0041] In one embodiment, when the luggage stops moving after entering the first conveying device 11, the transmission differential speed of the two side belt conveyors 132 is controlled according to the luggage deflection angle α to adjust the luggage deflection angle α so that the luggage is corrected. Specifically, the two side belt conveyors 132 can be controlled to rotate in opposite directions to form a large speed difference, and two opposite-direction frictional forces are applied to both sides of the luggage.

[0042] In another embodiment of the present application, the method for performing real-time analysis of the deflection angle of the luggage image includes the steps of: Obtaining a luggage target in real time based on the luggage image; Obtaining the minimum bounding rectangle of the luggage target; Calculating the deflection angle α using the minimum rectangle.

[0043] It can be understood that the obtaining of the luggage target can be based on a deep learning target detection model, or detected by image difference method. When obtaining the minimum bounding rectangle of the luggage target, the direction of the luggage target can be adapted, and then the deflection angle α is calculated by converting it into a geometric problem.

[0044] In another embodiment of the present application, a method for calculating the deflection angle α of the minimum bounding rectangle includes the steps of: Taking the luggage transmission direction as the reference direction; Detecting the end features of the luggage target to determine the top and bottom ends of the luggage target; Determining the deflection angle α in the vector state of the minimum circumscribed rectangle according to the relative positions of the top and bottom ends.

[0045] It can be understood that the end features should be understood as the bottom features and top features of the luggage. For example, the bottom features include wheels, and the top features include handles and pull rods, etc. In this way, the top and bottom ends of the luggage target can be determined by using deep learning object detection. Thus, after obtaining the minimum circumscribed rectangle, the direction of the luggage can also be determined to obtain the deflection angle α in the vector state.

[0046] Further, please refer to Figure 9 and Figure 10 A method for controlling the transmission differential speed of two side belt conveyors 132 to adjust the luggage according to the luggage deflection angle α includes the steps of: Detecting the front and back sides of the luggage target. When the front side of the luggage is facing up, output A = 0; when the back side of the luggage is facing up, output A = 1; Normalizing the deflection angle α so that α ∈ (-π, π]; The angle of rotation of the luggage by controlling the transmission differential speed of two side belt conveyors 132 is β, where .

[0047] It can be understood that on the basis of obtaining the deflection angle α in the vector state, the front and back sides of the luggage target are also detected. In this way, two luggage attitude parameters, namely the deflection angle α and the front and back sides, can be obtained simultaneously. After normalizing the deflection angle α, the direct effect of using the above formula is that the angle can be adjusted for all possible luggage attitude situations, and it is ensured that the opening and closing side of the adjusted luggage is always on the same side with the minimum rotation angle.

[0048] Thus, the effect of combining the sealing and locking section 20 is as follows: when the adjusted luggage reaches the second conveying device 21, after the sealing and locking mechanism 22 of the sealing and locking section 20 seals and locks the adjusted luggage, it can ensure that the locked position is uniformly located on the opening and closing side of the luggage, improving the automation standard of the sealing and locking process, facilitating the implementation of automatic unlocking, identification, and detection. On the other hand, the anti-tampering detection mechanism of the sealing lock can be fully utilized. For example, in a customs sealing lock control system with the publication number CN218974925U, it is stated that when a passenger forcibly and illegally opens the luggage, the gesture sensor at the bottom of the sealing lock fails to sense an object, and the sensing information of the gesture sensor can be sent to the background through the Bluetooth on-board antenna to prompt the staff to stop the passenger's behavior in a timely manner.

[0049] It is worth supplementing that in this embodiment, the luggage transmission direction is used as the reference direction. When β > 0, it can be understood as clockwise rotation, and when β < 0, it can be understood as counterclockwise rotation.

[0050] In another embodiment of the present application, when |β| > 90°, the rotation angle of the luggage is relatively large. In order to complete the entire rotation process of the luggage using the pair of side belt conveyors 132, the pair of side belt conveyors 132 need to go through a process of first separating and then clamping, rather than a continuous clamping process. However, during the separation process, there are situations of idling and jamming of the side belt conveyors 132. The so-called idling means that the side belt conveyors 132 do not form effective contact with the luggage, without friction or forming sliding friction, and only the side belt conveyors 132 rotate while the luggage does not rotate. The so-called jamming means that the pressure between the side belt conveyors 132 and the luggage is too large, and the rotation space of the luggage is insufficient, forming sliding friction, causing wear and extrusion to the luggage.

[0051] Please refer to Figure 5 together. To solve the above problems, the minimum circumscribed rectangle of the luggage target is obtained, the width change of the minimum circumscribed rectangle is detected in real time, and the distance between the pair of side belt conveyors 132 is dynamically adjusted so that the width of the minimum circumscribed rectangle changes synchronously with the distance between the pair of side belt conveyors 132.

[0052] It can be understood that the minimum circumscribed rectangle should be understood in the usual sense of those skilled in the art. It is different from the above-mentioned minimum circumscribed rectangle. In this embodiment, that is, the minimum circumscribed rectangle does not rotate with the rotation of the luggage target. In this case, the width of the minimum circumscribed rectangle should be understood as the length perpendicular to the luggage transmission direction. After the pair of side belt conveyors 132 start to rotate the luggage, the width change of the minimum circumscribed rectangle is detected in real time, and the distance between the pair of side belt conveyors 132 is dynamically adjusted, so that the width of the minimum circumscribed rectangle can change synchronously with the distance between the pair of side belt conveyors 132.

[0053] In this way, during this process, the distance between a pair of side belt conveyors 132 can be changed in real time and dynamically to adapt to the attitude change of the luggage, providing just the right space for the rotation of the luggage, and at the same time, continuously providing the static friction required for the rotation of the luggage to protect the integrity of the luggage.

[0054] To further make the side belt conveyor 132 adapt to the attitude change of the luggage and improve the efficiency of sealing and locking, please refer to Figure 6 to obtain the real-time transmission speed V1 of the first conveying device 11, and set the standard rated differential speed V2 and the compensation rated differential speed V3; then the transmission speeds of the two side belt conveyors 132 are speed1 and speed2 respectively, where .

[0055] It can be understood that in this embodiment, the transmission speed of each side belt conveyor 132 is split into three dimensions for control. The actual transmission speed of each side belt conveyor 132 is affected by the speeds of 3 dimensions, and the influence relationships are different.

[0056] Regarding the first dimension, the real-time transmission speed V1 is determined by the first conveying device 11. That is, when the two side belt conveyors 132 move at the real-time transmission speed V1 respectively, there is pressure between the two side belt conveyors 132 and the luggage, but the friction force is zero.

[0057] Regarding the second dimension, assuming that when adjusting the attitude of the luggage, the first conveying device 11 stops moving and the pressure is regarded as constant, the two side belt conveyors 132 can keep the luggage rotating by the static friction force at the speeds of V2 and -V2 respectively. The standard rated differential speed V2 can be set according to the friction coefficient of the general luggage surface. In a preferred embodiment, by gradually increasing the speed difference between the two side belt conveyors 132 until the rotation speed of the luggage reaches the maximum speed (that is, the critical value when the static friction is converted into sliding friction), the speed at this time is used as the standard rated differential speed V2 to pursue the maximum efficiency and at the same time be able to adapt to luggage with different friction coefficients.

[0058] However, when fusing the real-time transmission speed V1 of the first dimension and the standard rated differential speed V2 of the second dimension in the test environment, since the luggage is usually rectangular, the width change rate of the minimum circumscribed positive rectangle frame fluctuates during the rotation process, and it is difficult to keep synchronous when using visual detection to control the moving speed of the clamping arm assembly 13. During the luggage adjustment process, the side belt conveyor 132 has the situation of idling and jamming, and the theoretically superposed effect cannot be achieved. To solve this combination obstacle, finally, the third dimension is introduced. The third dimension is that the speed difference can be compensated by using V3×︱sinβ︱, so that the width change rate of the minimum circumscribed positive rectangle frame remains relatively constant during the rotation process.

[0059] In this way, when a pair of side belt conveyors 132 move respectively at transmission speeds speed1 and speed2 after superimposing three dimensions, the following purposes can be achieved: while the luggage is in a conveying state, the pair of side belt conveyors 132 continuously apply two static frictions in opposite directions to the luggage to adjust the posture of the luggage. Finally, the beneficial effects of protecting the integrity of the luggage and improving the efficiency of sealing and locking are achieved.

[0060] Preferably, after the angle of the luggage is adjusted in place, let speed1 = speed2 = V1, and a pair of side belt conveyors remain stationary, and hold the luggage in a clamped state and convey it to the second conveying device to ensure that no deflection occurs during the process of entering the second conveying device.

[0061] In all the above embodiments, the rotation angle of the luggage is adjusted by the speed difference between the pair of side belt conveyors 132 of the clamping arm assembly 13, but the front and back of the luggage cannot be adjusted. In order to further standardize the posture of the luggage, in another embodiment of the present application, please refer to Figure 7 simultaneously. If the output A = 1, after adjusting the angle of the luggage, the following steps are further included: When the luggage after adjusting the angle is conveyed to the second conveying device 21, the second conveying device 21 performs a rotation operation of more than 90 degrees to turn the luggage over.

[0062] It can be understood that if the output A = 1, it means that the back of the luggage is facing up. When the luggage is conveyed to the second conveying device 21, the flipping function of the second conveying device 21 can also be used to turn the luggage over, so as to realize the simultaneous adjustment of the rotation angle and the front and back. In a preferred embodiment, the luggage after being turned over re-enters the first conveying device 11, and the posture adjustment section 10 re-adjusts the rotation of the luggage.

[0063] In this way, the automation standard degree of the sealing and locking process is further improved. For example, after each piece of luggage is sealed and locked, its sealing position, locking position, and sealing lock direction are also consistent, which is conducive to the implementation of subsequent processes such as automatic unlocking, identification, and detection.

[0064] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An AI vision-based sealing and locking device, characterized in that, Comprising: An attitude adjustment section, a sealing and locking section, a camera, and a processing unit; The attitude adjustment section includes a first conveying device, a support cross beam, and a pair of clamping arm assemblies. The support cross beam is disposed above the first conveying device. The clamping arm assemblies include movable clamping arms and side belt conveyors. A pair of the movable clamping arms are movably disposed on the support cross beam. The side belt conveyors are disposed on the corresponding movable clamping arms. A pair of the side belt conveyors are parallel to each other and perpendicular to the first conveying device; Wherein, the camera is located above the first conveying device and is used to acquire a luggage image. The processing unit is used to perform real-time deflection angle analysis on the luggage image. During the process of the clamping arm assemblies clamping the luggage, the transmission differential speed of the two side belt conveyors is controlled according to the luggage deflection angle to adjust the luggage; The sealing and locking section includes a second conveying device and a sealing and locking mechanism. The second conveying device is arranged in parallel with the first conveying device. The sealing and locking mechanism is located on the second conveying device and is used to seal and lock the luggage after the deflection angle is adjusted.

2. The seal-locking device based on AI vision according to claim 1, characterized in that, An elastic guiding mechanism and a photoelectric induction unit are arranged on the movable clamping arm. A detection piece is arranged on the side belt conveyor. The side belt conveyor is slidably connected with the elastic guiding mechanism. The detection piece is correspondingly arranged with the photoelectric induction unit.

3. The seal-locking device based on AI vision according to claim 1, characterized in that, A ball screw linear module and a power unit are arranged on the support cross beam. The power unit is connected with the ball screw linear module. A pair of clamping arm assemblies are connected with the ball screw linear module.

4. The seal-locking device based on AI vision according to claim 1, characterized in that, The second conveying device includes a conveying device body, a turning shaft, a pedestal bearing, and a turning power unit. The conveying device body is arranged on the turning shaft. The turning shaft is arranged in the pedestal bearing. The turning power unit is connected with the turning shaft.

5. A method for sealing and locking based on AI vision, characterized in that, Based on the sealing and locking device based on AI vision as described in claim 1, it includes the steps of: Acquiring a luggage image in real time; Performing real-time deflection angle α analysis on the luggage image; Controlling the transmission differential speed of the two side belt conveyors according to the luggage deflection angle α to adjust the luggage; Sealing and locking the luggage after the deflection angle is adjusted.

6. The method for sealing and locking based on AI vision according to claim 5, wherein, A method for performing real-time deflection angle analysis on a luggage image, including the steps of: Acquiring a luggage target in real time based on the luggage image; Obtaining the minimum circumscribed rectangle of the luggage target; Calculating the deflection angle α by using the minimum rectangle.

7. The method for sealing and locking based on AI vision according to claim 6, wherein A method for calculating the deflection angle α of the minimum rectangle, including the steps of: Taking the luggage transmission direction as the reference direction; Detecting the end features of the luggage target to determine the top and bottom of the luggage target; Determining the deflection angle α in the vector state of the minimum circumscribed rectangle according to the relative positions of the top and the bottom.

8. The method for sealing and locking based on AI vision according to claim 7, characterized in that, A method for controlling the transmission differential speed of the two side belt conveyors according to the luggage deflection angle α to adjust the luggage, including the steps of: Detecting the front and back of the luggage target. When the front of the luggage is facing up, output A = 0. When the back of the luggage is facing up, output A = 1; Normalizing the deflection angle α so that α ∈ (-π, π]; The angle of rotation of the luggage by controlling the transmission differential speed of the two side belt conveyors is β, where 。 9. The method for sealing and locking based on AI vision according to claim 8, characterized in that, Obtain the minimum circumscribed rectangle of the luggage target, detect the width change of the minimum circumscribed rectangle in real time, and dynamically adjust the distance between a pair of side belt conveyors so that the width of the minimum circumscribed rectangle changes synchronously with the distance between the pair of side belt conveyors.

10. The method for sealing and locking based on AI vision according to claim 9, characterized in that, Obtain the real-time transmission speed V1 of the first conveying device, and set the standard rated differential speed V2 and the compensation rated differential speed V3; then the transmission speeds of the two side belt conveyors are speed1 and speed2 respectively, where 。

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