Tray material transportability identification and processing device and method

Abstract

The invention discloses a tray material transportability identification and processing device and method, the device comprises a receiving device, a tray contour detection device and a data analysis device, the tray contour detection device is arranged on the receiving device; the data analysis device is arranged on one side of the tray contour detection device; a tray distribution device is arranged on one side of the receiving device; the tray contour detection device comprises a camera for collecting tray material bottom images and image information above the receiving device, and the data analysis device comprises an image recognition algorithm module for recognizing whether the tray material bottom images can be conveyed on the receiving device or not; and when the image recognition algorithm module judges that the tray material cannot be conveyed on the receiving device, the tray distribution device conveys the auxiliary carrier to the receiving device, and the auxiliary carrier is arranged below the tray material to isolate the tray material from the receiving device. The problem of adaptability of a roller way conveying device to tray material conveying is solved, and the situations of tray clamping and material clamping are avoided.

Description

Technical Field

[0001] The present invention relates to the field of logistics technology, and particularly to the field of roller conveyor of goods in a cargo station. Background Art

[0002] In the existing cargo station logistics, the types of goods transported are numerous, and the proportion of large-sized goods is relatively high, and the required transportation equipment is also relatively complex. Generally, in order to better integrate discrete goods or to protect the goods from damage during transportation, such goods are placed on pallets for transportation. Among many transportation equipment, the belt conveyor in the cargo station logistics may cause serious wear to the belt due to the presence of large-sized goods. Relatively speaking, the application of a roller conveyor device in this scenario is more suitable. However, due to the variety of pallets, the bottom structure of the pallet may not be suitable for roller conveyor, and the supporting wooden strips at the lower end of the wooden box loaded with goods are parallel to the axial direction of the roller, resulting in the bottom of the pallet or the bottom of the wooden box getting stuck in the gap between the rollers, greatly affecting the transportation efficiency, and in serious cases, goods congestion may occur; secondly, the pallets suitable for transportation on the roller conveyor may carry too heavy goods, and there are too few bearing points between the bottom of the pallet and the roller, resulting in a risk of compression deformation and damage to the bottom of the pallet, increasing the cost. Summary of the Invention

[0003] The purpose of the present invention is to provide a device and method for identifying and processing the transportability of pallet materials, aiming at the above problems existing currently, to solve the adaptability problem of the roller conveyor device for transporting pallet materials, and to avoid the situations of pallet jamming, material jamming and preventing pallet damage.

[0004] The technical solution of the present invention is as follows: A device for identifying and processing the transportability of pallet materials includes a receiving device, and further includes a pallet profile detection device and a data analysis device. The pallet profile detection device is arranged on the receiving device; the data analysis device is arranged on one side of the pallet profile detection device and is signal-connected to the pallet profile detection device; a pallet distribution device is arranged on one side of the receiving device; the pallet profile detection device includes a camera for collecting the bottom image of the pallet material and the image information above the receiving device, and the data analysis device includes an image recognition algorithm module for identifying whether the bottom image of the pallet material can be transported on the receiving device; when the image recognition algorithm module determines that the pallet material cannot be transported on the receiving device, the pallet distribution device transports an auxiliary carrier onto the receiving device, and the auxiliary carrier is placed under the pallet material to isolate the pallet material and the receiving device.

[0005] Through the above structure, the image recognition algorithm module determines whether the tray material can be conveyed on the rollers of the receiving device. When it cannot be conveyed, the tray distribution device conveys the auxiliary carrier to the receiving device, so that the tray material can be conveyed on the rollers without jamming the tray, jamming the material, and preventing the tray from being damaged.

[0006] Further, the image recognition algorithm module identifying whether the bottom image of the tray material can be conveyed on the receiving device specifically includes: The image recognition algorithm module calculates the size of the convex structure at the bottom of the tray material and the length size of the tray material in the vertical conveying direction through the image, and compares the size of the convex structure at the bottom of the tray material with the gap distance between the rollers of the receiving device. Secondly, the secondary determination content includes comparing the evenly distributed weight of the bearing points where the tray contacts the roller with the minimum bearing capacity for the tray to undergo plastic deformation; If the size of the protruding structure at the bottom of the tray material is greater than the gap distance between the rollers, then compare the length size of the tray material in the vertical conveying direction with the width of the conveying surface of the receiving device. If the length size of the tray material in the vertical conveying direction is less than the width of the conveying surface of the receiving device, it is determined that the bottom structure and contour size of the tray material are suitable for conveying on the receiving device; If the size of the protruding structure at the bottom of the tray material is less than the gap distance between the rollers and the length size of the tray material in the vertical conveying direction is less than the width of the conveying surface of the receiving device, it is determined that the bottom structure and contour size of the tray material are not suitable for conveying on the receiving device; If the length size of the tray material in the vertical conveying direction is greater than the width of the conveying surface of the receiving device, readjust the tray direction and reload; If it is initially determined that the bottom structure and contour size of the tray material are suitable for conveying on the receiving device, a secondary determination is required. Calculate the number of convex beams at the bottom of the tray parallel to the conveying direction through the image, and then calculate the number of contact bearing points between the bottom of the tray material and the receiving device. Based on the number of bearing points, evenly distribute the weight of the tray material. If the evenly distributed bearing weight of each bearing point is less than the minimum load weight for the tray to undergo plastic deformation, it is determined that the bottom structure and contour size of the tray material are completely suitable for conveying on the receiving device; otherwise, it is determined that the bottom structure and contour size of the tray material are not suitable for conveying on the receiving device.

[0007] Through the above structure, the image recognition algorithm module compares the size of the convex structure at the bottom of the tray material with the gap distance between the rollers of the receiving device, the bearing points, etc. to determine whether the tray material can be conveyed, and performs adaptation operations on the materials that are not suitable for conveying on the receiving device to ensure the normal transportation of the tray material on the receiving device (e.g., roller conveyor).

[0008] Further, the tray profile detection device includes a light and shadow support disposed on the receiving device. The two side rods of the light and shadow support are fixedly connected to the two sides of the receiving device. A display and a camera mounting bracket I are provided on the cross bar of the light and shadow support. A camera I for collecting the image information of the prompt area and the devices above the area of the receiving device is obliquely provided on the camera mounting bracket I.

[0009] Further, the tray profile detection device further includes a main camera mounting bracket disposed below the receiving device. The two side rods of the main camera mounting bracket are fixedly connected to the two sides of the receiving device; a camera mounting bracket II is provided on one side rod of the main camera mounting bracket. A camera II for collecting the bottom image information of the tray material before feeding is provided on the camera mounting bracket II; a camera III for collecting the bottom image information of the tray material and the position information of the auxiliary carrier on the receiving device is provided at the center of the cross bar of the main camera mounting bracket.

[0010] Through the above structure, information such as the bottom image of the tray material is collected, and the data analysis device analyzes whether the tray material can be conveyed, thereby avoiding the occurrence of tray jamming and tray damage.

[0011] Further, a centering device is provided directly below the prompt area of the receiving device. The centering device includes a driving body and a push rod. The driving body is in transmission connection with the push rod, and the driving body drives the push rod to extend or retract; the height of the push rod is greater than the height of the roller of the receiving device, and the width of the push rod is less than the roller gap of the receiving device; by driving the driving body to drive the push rod, the auxiliary carrier is adjusted to be directly below the tray material.

[0012] Through the above structure, the centering device adjusts the auxiliary carrier to be directly below the tray material, avoiding the situation of material tipping due to inclined placement. The tray material is normally conveyed on the roller, increasing the conveying efficiency.

[0013] Further, a region display device is further connected to the cross bar of the light and shadow support. The region display device projects a prompt area on the receiving device where the tray material should be placed.

[0014] Further, the tray material is placed at the position of the prompt area of the receiving device by the transfer device; a pressure sensor for detecting the weight of the tray material is built in the support structure of the receiving device; the image recognition algorithm module reads the number information and the contour volume of the tray material from the image obtained by the tray profile detection device.

[0015] Through the above structure, the device can bind and upload the contour volume, weight, number information of the tray material and the number information of the auxiliary carrier to the data analysis device, facilitating the monitoring and tracking of the subsequent conveying of the tray material.

[0016] The present application also includes a method for identifying and processing the transportability of tray materials, including: During the process of the transfer device placing the tray material directly above the prompt area of the receiving device, Camera II and Camera III collect image information of the bottom of the tray material and upload the collected image information to the data analysis device; The image recognition algorithm module of the data analysis device calculates and determines whether the bottom structure of the current tray material can be transported on the receiving device; When the judgment result is that the bottom structure of the current tray material cannot be adapted to be transported on the receiving device: The display shows information of waiting for material placement and pattern warnings (including: green pattern, yellow pattern, red pattern). Among them, when both the preliminary determination and the secondary determination are that the bottom structure and contour dimensions of the tray material are adapted to be transported on the receiving device, the display shows the green pattern information of completely transportable; when the preliminary determination is that the bottom structure and contour dimensions of the tray material are adapted to be transported on the receiving device, and the secondary determination is that the bottom structure and contour dimensions of the tray material are not adapted to be transported on the receiving device, the display shows the yellow pattern information of warning non - transportable; when the preliminary determination is that the bottom structure and contour dimensions of the tray material are not adapted to be transported on the receiving device, the display shows the red pattern information of non - transportable; The tray distribution device transports the auxiliary carrier to the transport surface of the prompt area of the receiving device; Camera I and Camera II collect the position information of the auxiliary carrier on the transport surface of the receiving device and upload it to the data analysis device; After data analysis by the data analysis device, it controls the centering device to work, the push rod contracts, and pushes the auxiliary carrier to the middle position of the transport surface of the receiving device; Camera I collects the image information on the auxiliary carrier and uploads it to the data analysis device, and the data analysis device matches the corresponding weight information of the auxiliary carrier; The area display device projects the prompt area where the tray material should be placed on the auxiliary carrier; Camera I collects the image information of the auxiliary carrier and the prompt area on the auxiliary carrier, and then displays it on the display; The transfer device places the tray material at the correct position on the auxiliary carrier according to the image and the prompt area on the display; Camera I, Camera II and Camera III collect the image information of the tray material, upload it to the data analysis device, and the data analysis device judges whether the material placement is completed through the image recognition algorithm; after the material placement is completed, the data analysis device obtains the contour volume and the number information of the tray material through the image recognition algorithm, and then the total weight of the tray material and the auxiliary carrier is measured by the pressure sensor built inside the receiving device and uploaded to the data analysis device; The data analysis device calculates and deducts the weight of the auxiliary carrier to obtain the weight of the pallet material; the data analysis device integrates and binds the previously acquired pallet material number information, pallet material outline volume, weight, and auxiliary carrier number information to facilitate subsequent monitoring of detailed materials; finally, the receiving device transports the pallet material and the auxiliary carrier to the back end.

[0017] Furthermore, the image recognition algorithm module calculates the protrusion size X1 of the bottom of the pallet and the length size Y1 of the pallet in the vertical conveying direction through the image of the bottom of the pallet, and compares X1 and Y1 with the gap distance X3 between the rollers of the receiving device and the width size Y2 of the conveying surface of the receiving device respectively: If Y1≥Y2, notify the transfer device to readjust the direction of the pallet and reload the material; If Y1<Y2, and X1<X3, it is determined that the bottom structure of the current pallet material cannot be adapted to transportation on the receiving device; If Y1<Y2, and X1≥X3, it is determined that the bottom structure of the current pallet material is suitable for transportation on the receiving device.

[0018] Furthermore, for the result that the bottom structure of the current pallet material is determined to be suitable for transportation on the receiving device, a secondary determination data comparison is performed: Calculation of the number of load-bearing points: n=m(X2 / X3-(X2-2*X1) / X3-1) (taking a four-corner “U”-shaped pallet as an example), where m is the number of raised beams on the bottom of the pallet parallel to the conveying direction. Taking a four-corner “U”-shaped pallet as an example, m=4; n=m(X2 / X3-1) (taking the “田” type pallet as an example), m is the number of raised beams on the bottom of the pallet parallel to the conveying direction. Taking the “田” type pallet as an example, m=3; Load point weight calculation: Wgn=Wg / n, Wg is the total weight of the pallet material; Load capacity verification comparison: If Wgn≥W, where W is the minimum load of the plastic deformation of the pallet, it is determined that the bottom structure of the current pallet material cannot adapt to transportation on the receiving device. At this time, the receiving device returns the pallet material, and the transfer device receives the returned pallet material at the return end. Then, the pallet distribution device transports the auxiliary carrier to the conveying surface of the prompt area of ​​the receiving device, and the transfer device reloads the pallet material. If Wgn<W, it is determined that the bottom structure of the current pallet material is suitable for transportation on the receiving device.

[0019] Furthermore, the method further comprises the following steps: When the judgment result is that the bottom structure of the current pallet material can be adapted for transportation on the receiving device: The display shows information that can be directly discharged; The area display device projects the prompt area where the tray material should be placed on the receiving device; The transfer device places the tray material on the prompt area of the receiving device; Camera I, Camera II, and Camera III collect the image information of the tray material and upload it to the data analysis device. The data analysis device determines whether the material placement is completed through an image recognition algorithm; after the material placement is completed, the data analysis device obtains the contour volume of the tray material and the number information of the tray material through the image recognition algorithm, and then the pressure sensor built inside the receiving device measures the weight of the tray material and uploads it to the data analysis device; The data analysis device uniformly integrates and binds the previously obtained tray material number information, tray material contour volume, and weight information for subsequent monitoring of the detailed materials; finally, the receiving device transports the tray material and the auxiliary carrier to the rear end.

[0020] Compared with the existing technology, the beneficial effects of the present invention are: For some tray materials that are not suitable for transportation by the receiving device (such as roller conveyors), adopting the technical solution of the present invention can make them suitable for transportation by the receiving device, greatly increasing the transportation efficiency and automation degree of the tray materials. Description of the Drawings

[0021] Figure 1 It is a schematic diagram of the device structure of this application.

[0022] Figure 2 It is a schematic diagram of the front structure of the device of this application.

[0023] Figure 3 It is a schematic diagram of the overall structure of the device of this application.

[0024] Figure 4 It is a partial schematic diagram of the tray contour detection of the device of this application.

[0025] Figure 5 It is a schematic diagram of the centering device of the device of this application.

[0026] Figure 6 It is a flowchart of the method of this application.

[0027] Figure 7 It is a flowchart of the image recognition algorithm of this application.

[0028] Reference numerals: 1 - transfer device, 2 - receiving device, 3 - tray profile detection device, 31 - light and shadow support, 32 - display, 33 - camera mounting bracket I, 34 - camera I, 35 - camera II, 36 - camera mounting bracket II, 37 - main camera mounting bracket, 38 - camera III, 4 - data analysis device, 5 - tray distribution device, 6 - auxiliary carrier, 7 - area display device, 8 - centering device, 81 - driving body, 82 - push rod. Detailed implementation mode

[0029] It should be noted that relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0030] The features and performance of the present invention will be further described in detail below in conjunction with the embodiments.

[0031] Please refer to Figures 1-5 , a tray material transportability identification and processing device, as Figure 1 and Figure 2 shown, including a receiving device 2, a tray profile detection device 3 and a data analysis device 4. The tray profile detection device 3 is arranged on the receiving device 2; the data analysis device 4 is arranged on one side of the tray profile detection device 3 and is in signal connection with the tray profile detection device 3; a tray distribution device 5 is arranged on one side of the receiving device 2; the tray profile detection device 3 includes a camera for collecting the bottom image of the tray material and the image information above the receiving device 2, and the data analysis device 4 includes an image recognition algorithm module for identifying whether the bottom image of the tray material can be transported on the receiving device 2; when the image recognition algorithm module determines that the tray material cannot be transported on the receiving device 2, the tray distribution device 5 transports an auxiliary carrier 6 onto the receiving device 2, and the auxiliary carrier 6 is placed under the tray material to isolate the tray material and the receiving device 2.

[0032] For some tray materials that are not suitable for transportation by a receiving device (for example: roller conveyor), it can be made suitable for transportation by the receiving device, greatly increasing the transportation efficiency and automation level of the tray materials.

[0033] The image recognition algorithm module determines whether the bottom image of the pallet material can be conveyed on the receiving device 2, which specifically includes: The image recognition algorithm module calculates the size of the raised structure at the bottom of the pallet material and the length dimension of the pallet material in the vertical conveying direction through the image, and compares the size of the raised structure at the bottom of the pallet material with the gap distance between the rollers of the receiving device 2. Secondly, the secondary determination content includes comparing the evenly distributed weight of the bearing points where the pallet contacts the rollers with the minimum bearing capacity for the pallet to undergo plastic deformation; If the size of the raised structure at the bottom of the pallet material is greater than the gap distance between the rollers, then compare the length dimension of the pallet material in the vertical conveying direction with the width of the conveying surface of the receiving device 2. If the length dimension of the pallet material in the vertical conveying direction is less than the width of the conveying surface of the receiving device 2, it is determined that the bottom structure and contour dimensions of the pallet material are suitable for conveying on the receiving device; If the size of the raised structure at the bottom of the pallet material is less than the gap distance between the rollers and the length dimension of the pallet material in the vertical conveying direction is less than the width of the conveying surface of the receiving device 2, it is determined that the bottom structure and contour dimensions of the pallet material are not suitable for conveying on the receiving device; If the length dimension of the pallet material in the vertical conveying direction is greater than the width of the conveying surface of the receiving device, readjust the direction of the pallet and reload; If the evenly distributed weight of the bearing points where the pallet contacts the rollers is greater than or equal to the minimum bearing capacity for the pallet to undergo plastic deformation, it is determined that the bottom structure and contour dimensions of the material are not suitable for conveying on the receiving device; If the evenly distributed weight of the bearing points where the pallet contacts the rollers is less than the minimum bearing capacity for the pallet to undergo plastic deformation, it is determined that the bottom structure and contour dimensions of the material are suitable for conveying on the receiving device Such as Figure 3 And Figure 4As shown, the pallet contour detection device 3 includes a light and shadow bracket 31 arranged on the receiving device 2, and the two side rods of the light and shadow bracket 31 are fixedly connected to the two side edges of the receiving device 2. A display 32 and a camera mounting bracket Ⅰ33 are arranged on the crossbar of the light and shadow bracket 31. A camera Ⅰ34 for collecting image information of the light and shadow projected in the prompt area of ​​the receiving device 2 and the auxiliary carrier 6, materials, and regional display device 7 thereon is obliquely arranged on the camera mounting bracket Ⅰ33. The pallet contour detection device 3 also includes a camera main mounting bracket 37 arranged below the receiving device 2, and the two side rods of the camera main mounting bracket 37 are fixedly connected to the two side edges of the receiving device 2; a camera mounting bracket Ⅱ36 is arranged on one side rod of the camera main mounting bracket 37, and a camera Ⅱ35 for collecting the bottom image information of the pallet material before the material is discharged is arranged on the camera mounting bracket Ⅱ36; a camera Ⅲ38 for collecting the bottom image information of the pallet material and the position information of the auxiliary carrier 6 on the receiving device 2 is arranged at the center of the crossbar of the camera main mounting bracket 37. The crossbar of the light and shadow bracket 31 is also connected to a region display device 7, which projects the prompt area where the pallet material should be placed on the receiving device 2. The projection guidance controls the material placement error within 5 cm, which is 3 times more efficient than the traditional visual positioning.

[0034] Through multi-camera collaborative acquisition and image algorithm analysis, intelligent measurement of the pallet bottom structure (X1) and conveying direction dimension (Y1) can be achieved.

[0035] like Figure 5 As shown, a centering device 8 is arranged directly below the prompt area of ​​the receiving device 2, and the tray dispensing device 5 is arranged on one side of the prompt area of ​​the receiving device 2, and the tray dispensing device 5 is at the same height as the receiving device 2; the centering device 8 includes a driving body 81 and a push rod 82, the driving body 81 is in transmission connection with the push rod 82, and the driving body 81 drives the push rod 82 to extend or retract; the height of the push rod 82 is greater than the roller height of the receiving device 2, and the width of the push rod 82 is less than the roller gap of the receiving device 2; the driving body 81 drives the push rod 82 to adjust the auxiliary carrier 6 to be located directly below the tray material. The push rod type centering device achieves a positioning accuracy of ±2mm, ensuring that the carrier is accurately aligned with the conveying axis.

[0036] The pallet material is placed in the prompt area of ​​the receiving device 2 by the transfer device 1; a pressure sensor is built into the support structure of the receiving device 2 to detect the weight of the pallet material; the image recognition algorithm module reads the number information on the pallet material and the contour volume of the pallet material from the image obtained by the pallet contour detection device 3.

[0037] The present application also includes a method for identifying and processing the transportability of pallet materials, such as Figure 6 and Figure 7 As shown, including: During the process of the transfer device 1 (e.g., forklift) placing the pallet material directly above the prompt area (material placement area) of the receiving device 2 (e.g., roller conveyor), the camera II 35 and the camera III 38 collect the image information of the bottom of the pallet material and upload the collected image information to the data analysis device 4; The image recognition algorithm module of the data analysis device 4 calculates and determines whether the bottom structure of the current pallet material can be transported on the receiving device 2; the image recognition algorithm module calculates the protrusion size X1 of the bottom of the pallet and the length size Y1 in the vertical conveying direction of the pallet through the bottom image of the pallet, and compares X1 and Y1 with the gap distance X3 between the rollers of the receiving device and the conveying surface width size Y2 of the receiving device respectively: If Y1≥Y2, the transfer device 1 is notified to readjust the pallet direction and reload; If Y1<Y2 and X1<X3, it is determined that the bottom structure of the current pallet material cannot adapt to transportation on the receiving device 2; If Y1<Y2 and X1≥X3, it is determined that the bottom structure of the current pallet material is suitable for transportation on the receiving device 2; The image recognition algorithm module calculates the number m of the protruding beams at the bottom of the pallet parallel to the conveying direction through the bottom image of the pallet, and then calculates the number n of the bearing points and the load Wgn of the bearing points. By comparing the load Wgn of the bearing points with the minimum load W at which the pallet undergoes plastic deformation, if Wgn≥W, it is determined that the bottom structure of the current pallet material cannot adapt to transportation on the receiving device 2; If Wgn<W, it is determined that the bottom structure of the current pallet material is suitable for transportation on the receiving device 2. When the preliminary judgment result is that the bottom structure of the current pallet material cannot adapt to transportation on the receiving device 2: The display 32 displays the information waiting for material placement and a red warning pattern; The pallet distribution device 5 transports the auxiliary carrier 6 to the conveying surface of the prompt area of the receiving device 2; The camera I 34 and the camera II 35 collect the position information of the auxiliary carrier 6 on the conveying surface of the receiving device 2 and upload it to the data analysis device 4; After data analysis by the data analysis device 4, the centering device 8 is controlled to work, and the push rod 82 contracts to push the auxiliary carrier 6 to the middle position of the conveying surface of the receiving device 2; The camera I 34 collects the image information (e.g., two-dimensional code or bar code) on the auxiliary carrier 6 and uploads it to the data analysis device 4, and the data analysis device 4 matches the corresponding weight information of the auxiliary carrier 6; The area display device 7 projects the prompt area where the pallet material should be placed on the auxiliary carrier 6; The camera I 34 collects the image information of the auxiliary carrier 6 and the prompt area on the auxiliary carrier 6 and then displays it on the display 32; The transfer device 1 places the pallet materials at the correct position of the auxiliary carrier 6 according to the image on the display 32 and the prompt area; The camera I 34, camera II 35 and camera III 38 collect the image information of the pallet materials and upload it to the data analysis device 4. The data analysis device 4 determines whether the material placement is completed through an image recognition algorithm; after the material placement is completed, the data analysis device 4 obtains the contour volume of the pallet materials and the number information of the pallet materials through the image recognition algorithm, and then the pressure sensor built inside the receiving device 2 measures the total weight of the pallet materials and the auxiliary carrier 6 and uploads it to the data analysis device 4; The data analysis device 4 calculates and deducts the weight of the auxiliary carrier 6 to obtain the weight of the pallet materials; the data analysis device 4 integrates and binds the previously obtained number information of the pallet materials, the contour volume of the pallet materials, the weight, and the number information of the auxiliary carrier 6 for subsequent monitoring of the detailed materials; finally, the receiving device 2 transports the pallet materials and the auxiliary carrier 6 to the rear end.

[0038] When the preliminary judgment result is that the bottom structure of the current pallet materials can adapt to transportation on the receiving device 2: The display 32 displays the information that direct material placement is possible and shows a green warning pattern; The area display device 7 projects the prompt area where the pallet materials should be placed on the receiving device 2; The transfer device 1 places the pallet materials in the prompt area on the receiving device 2; The camera I 34, camera II 35 and camera III 38 collect the image information of the pallet materials and upload it to the data analysis device 4. The data analysis device 4 determines whether the material placement is completed through an image recognition algorithm; after the material placement is completed, the data analysis device 4 obtains the contour volume of the pallet materials and the number information of the pallet materials through the image recognition algorithm, and then the pressure sensor built inside the receiving device 2 measures the weight of the pallet materials and uploads it to the data analysis device 4; For the result of the preliminary judgment that the bottom structure of the current pallet materials is suitable for transportation on the receiving device 2, a data comparison for secondary determination is carried out: Calculation of the number of bearing points: n = m(X2 / X3 - (X2 - 2*X1) / X3 - 1) (taking the four-corner "square" type pallet as an example), m is the number of raised beams at the bottom of the pallet parallel to the conveying direction. Taking the four-corner "square" type pallet as an example, m = 4; n = m(X2 / X3 - 1) (taking the "field" type pallet as an example), m is the number of raised beams at the bottom of the pallet parallel to the conveying direction. Taking the "field" type pallet as an example, m = 3; Calculation of the load capacity of the bearing points: Wgn = Wg / n, where Wg is the total weight of the pallet materials; Load capacity verification and comparison: If Wgn ≥ W, where W is the minimum load weight for the plastic deformation of the tray, it is determined that the bottom structure of the current tray material cannot adapt to transportation on the receiving device 2. At this time, the receiving device 2 returns the tray material, and the transfer device 1 receives the returned tray material at the return end. Then, the tray distribution device 5 transports the auxiliary carrier 6 to the conveying surface of the prompting area of the receiving device 2, and the transfer device 1 reloads the tray material; The display 32 displays the information waiting for material placement and shows a warning pattern that changes from green to yellow; If Wgn < W, it is determined that the bottom structure of the current tray material can adapt to transportation on the receiving device 2, and the subsequent process is continued. The data analysis device 4 uniformly integrates and binds the previously obtained tray material number information, tray material profile volume, and weight information for subsequent monitoring of detailed materials; finally, the receiving device 2 transports the tray material and the auxiliary carrier 6 to the rear end.

[0039] The above embodiments only represent the specific implementation manners of the present application, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation to the protection scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the technical solution of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application.

Claims

1. A tray material transportability identification and processing device, including a receiving device (2), characterized in that, It further includes a tray profile detection device (3) and a data analysis device (4). The tray profile detection device (3) is arranged on the receiving device (2); the data analysis device (4) is arranged on one side of the tray profile detection device (3) and is signal-connected to the tray profile detection device (3); a tray distribution device (5) is arranged on one side of the receiving device (2); the tray profile detection device (3) includes a camera for collecting the image of the bottom of the tray material and the image information above the receiving device (2), and the data analysis device (4) includes an image recognition algorithm module for identifying whether the image of the bottom of the tray material can be conveyed on the receiving device (2); when the image recognition algorithm module determines that the tray material cannot be conveyed on the receiving device (2), the tray distribution device (5) conveys an auxiliary carrier (6) to the receiving device (2), and the auxiliary carrier (6) is placed under the tray material to isolate the tray material and the receiving device (2).

2. The pallet material transportability identification and processing device according to claim 1, wherein The specific process of the image recognition algorithm module for identifying whether the image of the bottom of the tray material can be conveyed on the receiving device (2) includes: The image recognition algorithm module calculates the size of the convex structure at the bottom of the tray material and the length size of the tray material in the vertical conveying direction through the image, and compares the size of the convex structure at the bottom of the tray material with the gap distance between the rollers of the receiving device (2). Secondly, the secondary determination content includes comparing the evenly distributed weight of the bearing points where the tray contacts the rollers with the minimum bearing capacity for the tray to undergo plastic deformation; If the size of the protruding structure at the bottom of the tray material is greater than the gap distance between the rollers, then compare the length size of the tray material in the vertical conveying direction with the width of the conveying surface of the receiving device (2). If the length size of the tray material in the vertical conveying direction is less than the width of the conveying surface of the receiving device (2), it is determined that the bottom structure and profile size of the tray material are suitable for conveying on the receiving device; If the size of the protruding structure at the bottom of the tray material is less than the gap distance between the rollers and the length size of the tray material in the vertical conveying direction is less than the width of the conveying surface of the receiving device (2), it is determined that the bottom structure and profile size of the tray material are not suitable for conveying on the receiving device; If the length size of the tray material in the vertical conveying direction is greater than the width of the conveying surface of the receiving device, readjust the tray direction and reload; If the evenly distributed weight of the bearing points where the tray contacts the rollers is greater than or equal to the minimum bearing capacity for the tray to undergo plastic deformation, it is determined that the bottom structure and profile size of the material are not suitable for conveying on the receiving device; If the evenly distributed weight of the bearing points where the tray contacts the rollers is less than the minimum bearing capacity for the tray to undergo plastic deformation, it is determined that the bottom structure and profile size of the material are suitable for conveying on the receiving device.

3. The tray material transportability identification and processing device according to claim 1, characterized in that The tray profile detection device (3) includes a light and shadow support (31) arranged on the receiving device (2). The two side rods of the light and shadow support (31) are fixedly connected to the two sides of the receiving device (2). A display (32) and a camera mounting bracket I (33) are arranged on the cross bar of the light and shadow support (31). A camera I (34) for collecting the image information of the prompt area of the receiving device (2) and the device above the area is inclinedly arranged on the camera mounting bracket I (33).

4. The tray material conveyability identification and processing device according to claim 3, characterized in that The pallet contour detection device (3) further comprises a main camera mounting bracket (37) arranged below the receiving device (2), and two side rods of the main camera mounting bracket (37) are fixedly connected to two side edges of the receiving device (2); a camera mounting bracket II (36) is arranged on one side rod of the main camera mounting bracket (37), and a camera II (35) for collecting bottom image information of the pallet material before the material is discharged is arranged on the camera mounting bracket II (36); and a camera III (38) for collecting bottom image information of the pallet material and position information of the auxiliary carrier (6) on the receiving device (2) is arranged at the center of the crossbar of the main camera mounting bracket (37).

5. The tray material conveyability identification and processing device according to claim 1, characterized in that A centering device (8) is arranged directly below the prompting area of ​​the receiving device (2), and the centering device (8) comprises a driving body (81) and a push rod (82). The driving body (81) is connected to the push rod (82) by transmission, and the driving body (81) drives the push rod (82) to extend or retract; the height of the push rod (82) is greater than the height of the roller of the receiving device (2), and the width of the push rod (82) is less than the roller gap of the receiving device (2); the auxiliary carrier (6) is adjusted to be located directly below the material on the tray by driving the push rod (82) through the driving body (81).

6. A tray material transportability identification and processing device according to claim 3 or 4, characterized in that The crossbar of the light and shadow bracket (31) is also connected to an area display device (7), and the area display device (7) projects a prompt area where the pallet material should be placed on the receiving device (2).

7. The tray material transportability identification and processing device according to claim 1, characterized in that, The pallet material is placed by the transfer device (1) at the prompt area position of the receiving device (2); a pressure sensor is built into the support structure of the receiving device (2) to detect the weight of the pallet material; and the image recognition algorithm module reads the number information on the pallet material and the contour volume of the pallet material from the image obtained by the pallet contour detection device (3).

8. A method for identifying and processing the conveyability of pallet materials, characterized in that, include: When the transfer device (1) places the pallet material directly above the prompt area of ​​the receiving device (2), the camera II (35) and the camera III (38) collect image information of the bottom of the pallet material and upload the collected image information to the data analysis device (4); The image recognition algorithm module of the data analysis device (4) calculates and determines whether the bottom structure of the current pallet material can be transported on the receiving device (2); When the result of the judgment is that the bottom structure of the current pallet material is not suitable for transportation on the receiving device (2): The display (32) displays information about waiting for material to be discharged; The tray distribution device (5) transports the auxiliary carrier (6) to a transport surface of a prompting area of ​​the receiving device (2); Camera I (34) and camera II (35) collect position information of the auxiliary carrier (6) on the conveying surface of the receiving device (2) and upload it to the data analysis device (4); After data analysis, the data analysis device (4) controls the centering device (8) to operate, and the push rod (82) contracts to push the auxiliary carrier (6) to the middle position of the conveying surface of the receiving device (2); The camera I (34) collects image information on the auxiliary carrier (6) and uploads it to the data analysis device (4), and the data analysis device (4) matches the corresponding weight information of the auxiliary carrier (6); The area display device (7) projects a prompt area on the auxiliary vehicle (6) where the tray material should be placed; The camera I (34) collects the image information of the auxiliary vehicle (6) and the prompt area on the auxiliary vehicle (6), and then displays it on the display (32); The transfer device (1) places the tray material at the correct position on the auxiliary vehicle (6) according to the image on the display (32) and the prompt area; The camera I (34), camera II (35) and camera III (38) collect the image information of the tray material and upload it to the data analysis device (4). The data analysis device (4) judges whether the feeding is completed through an image recognition algorithm; after the feeding is completed, the data analysis device (4) obtains the contour volume of the tray material and the number information of the tray material through the image recognition algorithm, and then the total weight of the tray material and the auxiliary vehicle (6) is measured by the pressure sensor built inside the receiving device (2) and uploaded to the data analysis device (4); The data analysis device (4) calculates and deducts the weight of the auxiliary vehicle (6) to obtain the weight of the tray material; the data analysis device (4) integrates and binds the previously obtained tray material number information, tray material contour volume, weight, and the number information of the auxiliary vehicle (6) for subsequent monitoring of detailed materials; finally, the receiving device (2) conveys the tray material and the auxiliary vehicle (6) to the rear end.

9. A method for identifying and processing the transportability of tray materials according to claim 8, characterized in that, The image recognition algorithm module calculates the protrusion size X1 of the tray bottom and the length size Y1 in the vertical conveying direction of the tray through the tray bottom image, and compares X1 and Y1 with the gap distance X3 between the rollers of the receiving device and the width size Y2 of the conveying surface of the receiving device respectively: If Y1≥Y2, notify the transfer device 1 to re-adjust the tray direction and re-load the material; If Y1<Y2 and X1<X3, it is determined that the bottom structure of the current tray material cannot adapt to transportation on the receiving device (2); If Y1<Y2 and X1≥X3, it is determined that the bottom structure of the current tray material is suitable for transportation on the receiving device (2); The image recognition algorithm module calculates the number m of the protruding beams at the bottom of the tray parallel to the conveying direction through the tray bottom image, and then calculates the number n of the bearing points and the load weight Wgn of the bearing points. By comparing the load weight Wgn of the bearing points with the minimum load weight W at which the tray undergoes plastic deformation, if Wgn≥W, it is determined that the bottom structure of the current tray material cannot adapt to transportation on the receiving device (2); If Wgn<W, it is determined that the bottom structure of the current tray material is suitable for transportation on the receiving device (2).

10. A method for identifying and processing the transportability of tray materials according to claim 9, characterized in that, It also includes the following steps: When the judgment result is that the bottom structure of the current tray material can adapt to transportation on the receiving device (2): The display (32) displays the information that direct feeding is possible; The area display device (7) projects a prompt area on the receiving device (2) where the tray material should be placed; The transfer device (1) places the tray material in the prompt area on the receiving device (2); Camera Ⅰ (34), Camera Ⅱ (35) and Camera Ⅲ (38) collect the image information of the tray materials and upload it to the data analysis device (4). The data analysis device (4) judges whether the material placement is completed through an image recognition algorithm; after the material placement is completed, the data analysis device (4) obtains the contour volume of the tray materials and the number information of the tray materials through the image recognition algorithm, and then the pressure sensor built inside the receiving device (2) measures the weight of the tray materials and uploads it to the data analysis device (4); The data analysis device (4) uniformly integrates and binds the previously obtained tray material number information, tray material contour volume, and weight information for subsequent monitoring of detailed materials; finally, the receiving device (2) conveys the tray materials and the auxiliary carrier (6) to the backend.

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