A tray material conveyability recognition, processing device and method

Abstract

The application discloses a tray material conveyability identification and processing device and method. The device comprises a receiving device, a tray profile detection device and a data analysis device. The tray profile detection device is arranged on the receiving device. The data analysis device is arranged on one side of the tray profile detection device. A tray distribution device is arranged on one side of the receiving device. The tray profile detection device comprises a camera for collecting a tray material bottom image and receiving device overhead image information. The data analysis device comprises an image recognition algorithm module for identifying whether the tray material bottom image can be conveyed on the receiving device. When the image recognition algorithm module determines that the tray material cannot be conveyed on the receiving device, the tray distribution device conveys an auxiliary carrier to the receiving device. The auxiliary carrier is arranged below the tray material to isolate the tray material and the receiving device. The adaptability of the roller conveyor device to the tray material conveying is solved, and the tray clamping and material clamping problems are avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of logistics, in particular to the field of roller conveyor of goods station. BACKGROUND

[0002] In the existing goods station logistics, the types of transported goods are various, and the proportion of large goods is high, so the required conveying equipment is also relatively complex. Generally, in order to better integrate discrete goods or to protect the goods from being damaged during transportation, such goods are transported on pallets. Among many transportation equipment, the belt conveyor in the goods station logistics may be severely worn due to the presence of large goods. Relatively speaking, the application of a roller conveyor device in this scenario is more suitable. However, due to the variety of pallets, the structure of the bottom of the pallets is not suitable for roller conveying, and the supporting wood strips at the lower end of the wooden boxes loaded with goods are parallel to the axial direction of the roller, which causes the bottom of the pallet or the bottom of the wooden box to be stuck in the gap between the rollers, greatly affecting the transportation efficiency, and in severe cases, the goods may be congested. Secondly, the pallets suitable for roller conveyors may have a large weight of the goods carried, and the load points between the bottom of the pallet and the roller are too few, which may cause the bottom of the pallet to be deformed and damaged, resulting in increased costs. SUMMARY

[0003] The present application aims to solve the above problems, and provides a pallet material conveyability identification and processing device and method, which solves the adaptability problem of the roller conveying device to the pallet material conveying, avoids the situation of pallet jamming, material jamming and pallet damage.

[0004] The technical solution of the present application is as follows:

[0005] A pallet material conveyability identification and processing device, comprising a receiving device, a pallet profile detection device and a data analysis device, the pallet profile detection device being arranged on the receiving device; the data analysis device being arranged on one side of the pallet profile detection device and being signal connected with the pallet profile detection device; one side of the receiving device being provided with a pallet distribution device; the pallet profile detection device comprising a camera for collecting image information of the bottom of the pallet material and the image information above the receiving device; the data analysis device comprising an image recognition algorithm module for identifying whether the image of the bottom of the pallet material can be conveyed on the receiving device; when the image recognition algorithm module determines that the pallet material cannot be conveyed on the receiving device, the pallet distribution device conveys an auxiliary carrier to the receiving device, the auxiliary carrier being placed below the pallet material to isolate the pallet material and the receiving device.

[0006] Through the above structure, the image recognition algorithm module judges whether the tray material can be conveyed on the roller of the receiving device. When it cannot be conveyed, the tray dispensing device conveys the auxiliary carrier to the receiving device, so that the tray material can be conveyed on the roller without tray jamming, material jamming, and preventing tray damage.

[0007] Further, the image recognition algorithm module identifying whether the tray material bottom image can be conveyed on the receiving device specifically includes:

[0008] The image recognition algorithm module calculates the size of the tray material bottom protruding structure and the length in the vertical conveying direction of the tray material, compares the size of the tray material bottom protruding structure with the gap distance between the rollers of the receiving device, and then determines the weight of the tray material evenly distributed by the contact points of the tray and the roller and the minimum load of the plastic deformation of the tray.

[0009] If the size of the tray material bottom protruding structure is greater than the gap distance between the rollers, the length in the vertical conveying direction of the tray material is compared with the width of the conveying surface of the receiving device. If the length in the vertical conveying direction of the tray material is less than the width of the conveying surface of the receiving device, it is determined that the tray material bottom structure and profile size are suitable for conveying on the receiving device.

[0010] If the size of the tray material bottom protruding structure is less than the gap distance between the rollers and the length in the vertical conveying direction of the tray material is less than the width of the conveying surface of the receiving device, it is determined that the tray material bottom structure and profile size are not suitable for conveying on the receiving device.

[0011] If the length in the vertical conveying direction of the tray material is greater than the width of the conveying surface of the receiving device, the direction of the tray is adjusted and the feeding is re-performed.

[0012] If it is preliminarily determined that the tray material bottom structure and profile size are suitable for conveying on the receiving device, secondary determination is required. The number of tray bottom protruding beams parallel to the conveying direction is calculated by image, and then the number of contact bearing points of the tray material bottom and the receiving device is calculated. Based on the weight of the tray material evenly distributed by the bearing points, if the bearing weight of each bearing point is less than the minimum load of the plastic deformation of the tray, it is determined that the tray material bottom structure and profile size are completely suitable for conveying on the receiving device. Otherwise, it is determined that the tray material bottom structure and profile size are not suitable for conveying on the receiving device.

[0013] Through the above structure, the image recognition algorithm module compares the size of the tray material bottom protruding structure with the gap distance between the rollers of the receiving device, the bearing points, and other factors to judge whether the tray material can be conveyed. The material that is not suitable for conveying on the receiving device is adapted to ensure the normal transportation of the tray material on the receiving device (e.g., roller conveyor).

[0014] Further, the tray profile detection device comprises a light shadow support arranged on the receiving device, the two side rods of the light shadow support are fixedly connected to the two side edges of the receiving device, a display and a camera mounting support I are arranged on the cross rod of the light shadow support, and a camera I is arranged on the camera mounting support I in a tilted manner to collect image information of the prompt area of the receiving device and the area above the device.

[0015] Further, the tray profile detection device further comprises a camera main mounting support arranged below the receiving device, the two side rods of the camera main mounting support are fixedly connected to the two side edges of the receiving device; a camera mounting support II is arranged on one side rod of the camera main mounting support, a camera II is arranged on the camera mounting support II to collect image information of the bottom of the tray material before the tray material is placed; and a camera III is arranged at the center of the cross rod of the camera main mounting support to collect image information of the bottom of the tray material and position information of the auxiliary carrier on the receiving device.

[0016] Through the above structure, the bottom image and other information of the tray material are collected, and the data analysis device analyzes whether the tray material can be transported, thereby avoiding the phenomenon of tray jamming and tray damage.

[0017] Further, a centering device is arranged directly below the prompt area of the receiving device, the centering device comprises 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 gap between the rollers of the receiving device; the push rod is adjusted to be located directly below the tray material by driving the push rod by the driving body.

[0018] Through the above structure, the centering device adjusts the auxiliary carrier to be directly below the tray material, thereby avoiding the situation that the material is turned over due to inclined placement. The tray material is normally transported on the roller, and the transportation efficiency is increased.

[0019] Further, a region display device is further connected to the cross rod of the light shadow support, and the region display device projects the prompt area where the tray material should be placed on the receiving device.

[0020] Further, the tray material is placed at the prompt area position of the receiving device by the transfer device; a pressure sensor is built in the support structure of the receiving device to detect the weight of the tray material; and a image recognition algorithm module reads the number information on the tray material and the outline volume of the tray material from the image obtained by the tray profile detection device.

[0021] Through the above structure, the outline volume, weight, number information of the tray material and the number information of the auxiliary carrier are bound and uploaded to the data analysis device, so as to facilitate the monitoring and tracking of the subsequent transportation of the tray material.

[0022] The application also includes a tray material transportability identification and processing method, comprising:

[0023] 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;

[0024] The image recognition algorithm module of the data analysis device calculates and determines whether the current tray material bottom structure can be transported on the receiving device;

[0025] When the determination result is that the current tray material bottom structure cannot be adapted for transportation on the receiving device:

[0026] The display displays information such as waiting for material placement and pattern warnings (including green patterns, yellow patterns, and red patterns), wherein when both the preliminary determination and the secondary determination are that the tray material bottom structure and the contour size are adapted for transportation on the receiving device, the display displays green pattern information indicating complete transportability; when the preliminary determination is that the tray material bottom structure and the contour size are adapted for transportation on the receiving device, and the secondary determination is that the tray material bottom structure and the contour size are not adapted for transportation on the receiving device, the display displays yellow pattern information warning about non-transportability; and when the preliminary determination is that the tray material bottom structure and the contour size are not adapted for transportation on the receiving device, the display displays red pattern information indicating non-transportability;

[0027] The tray distribution device transports the auxiliary carrier to the conveying surface of the prompt area of the receiving device;

[0028] Camera I and camera II collect position information of the auxiliary carrier on the conveying surface of the receiving device and upload it to the data analysis device;

[0029] After data analysis, the data analysis device controls the centering device to work, the push rod to retract, and the auxiliary carrier to be pushed to the middle position of the conveying surface of the receiving device;

[0030] Camera I collects image information of the auxiliary carrier and uploads it to the data analysis device, and the data analysis device matches the weight information of the corresponding auxiliary carrier;

[0031] The area display device projects the prompt area where the tray material should be placed on the auxiliary carrier;

[0032] Camera I collects image information of the auxiliary carrier and the prompt area on the auxiliary carrier and then displays it on the display;

[0033] The transfer device places the tray material in the correct position of the auxiliary carrier according to the image on the display and the prompt area;

[0034] Camera I, Camera II, and Camera III collect the image information of the tray materials and upload it to the data analysis device. The data analysis device uses an image recognition algorithm to determine whether the material placement is completed. After the material placement is completed, the data analysis device uses the image recognition algorithm to obtain the contour volume of the tray materials and the serial number information of the tray materials. Then, the pressure sensor built inside the receiving device measures the total weight of the tray materials and the auxiliary carrier and uploads it to the data analysis device.

[0035] The data analysis device calculates and deducts the weight of the auxiliary carrier to obtain the weight of the tray materials. The data analysis device integrates and binds the previously obtained serial number information of the tray materials, the contour volume of the tray materials, the weight, and the serial number information of the auxiliary carrier for subsequent monitoring of the detailed materials. Finally, the receiving device transports the tray materials and the auxiliary carrier to the backend.

[0036] Furthermore, the image recognition algorithm module calculates the protrusion size X1 at the bottom of the tray and the length size Y1 in the vertical conveying direction of the tray through the bottom image of the tray, 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:

[0037] If Y1≥Y2, notify the transfer device to readjust the tray direction and reload.

[0038] If Y1<Y2 and X1<X3, it is determined that the bottom structure of the current tray materials cannot adapt to transportation on the receiving device.

[0039] If Y1<Y2 and X1≥X3, it is determined that the bottom structure of the current tray materials is suitable for transportation on the receiving device.

[0040] Furthermore, for the result that it is determined that the bottom structure of the current tray materials is suitable for transportation on the receiving device, a data comparison for secondary determination is performed:

[0041] Calculation of the number of bearing points: n=m(X2 / X3-(X2-2*X1) / X3-1) (taking the four-corner "square" tray as an example), where m is the number of raised beams at the bottom of the tray parallel to the conveying direction. Taking the four-corner "square" tray as an example, m = 4;

[0042] n=m(X2 / X3-1) (taking the "cross" tray as an example), where m is the number of raised beams at the bottom of the tray parallel to the conveying direction. Taking the "cross" tray as an example, m = 3;

[0043] Calculation of the bearing capacity of each bearing point: Wgn=Wg / n, where Wg is the total weight of the tray materials;

[0044] Verification and comparison of the bearing capacity:

[0045] If Wgn is greater than or equal to W, W is the minimum load weight of the tray plastic deformation, it is determined that the current tray material bottom structure cannot adapt to the transportation on the receiving device, at this time the receiving device returns the tray material, the transfer device receives the returned tray material at the return end, and then the auxiliary carrier is transported to the conveying surface of the receiving device prompt area by the tray distribution device, and the transfer device re-feeds the tray material;

[0046] If Wgn is less than W, it is determined that the current tray material bottom structure can adapt to the transportation on the receiving device.

[0047] Further, the following steps are further included:

[0048] When the judgment result is that the current tray material bottom structure can adapt to the transportation on the receiving device:

[0049] The display displays information that the feeding can be directly performed;

[0050] The area display device projects a prompt area where the tray material should be placed on the receiving device;

[0051] The transfer device places the tray material on the prompt area on the receiving device;

[0052] The camera I, the camera II and the camera III collect tray material image information and upload to the data analysis device, and the data analysis device judges whether the feeding is completed through image recognition algorithm; after the feeding 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 weight of the tray material is measured by the pressure sensor built in the receiving device and uploaded to the data analysis device;

[0053] The data analysis device integrates and binds the previously obtained tray material number information, tray material contour volume and weight information, so as to facilitate detailed material subsequent monitoring; finally, the receiving device transports the tray material and the auxiliary carrier to the rear end.

[0054] Compared with the existing technology, the beneficial effects of the present application are:

[0055] For part of the tray materials that are not suitable for transportation by the receiving device (for example, a roller conveyor), the technical solution of the present application can make them suitable for transportation by the receiving device, greatly increasing the conveying efficiency and automation degree of the tray materials. BRIEF DESCRIPTION OF DRAWINGS

[0056] Figure 1 It is a device structure schematic diagram of the present application.

[0057] Figure 2 It is a device forward structure schematic diagram of the present application.

[0058] Figure 3The schematic diagram of the overall structure of the device of the present application.

[0059] Figure 4 The schematic diagram of the tray profile detection part of the device of the present application.

[0060] Figure 5 The schematic diagram of the centering device of the device of the present application.

[0061] Figure 6 The flow chart of the method of the present application.

[0062] Figure 7 The flow chart of the image recognition algorithm of the present application.

[0063] Reference signs: 1-transport device, 2-receiving device, 3-tray profile detection device, 31-light shadow support, 32-display, 33-camera mounting support I, 34-camera I, 35-camera II, 36-camera mounting support II, 37-camera mounting main support, 38-camera III, 4-data analysis device, 5-tray distribution device, 6-assistant carrier, 7-area display device, 8-centering device, 81-driving main body, 82-push rod. DETAILED DESCRIPTION

[0064] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0065] The features and properties of the present application will be further described with reference to the following examples.

[0066] Please refer to Figures 1-5 A tray material deliverability identification and processing device, such as Figure 1 and Figure 2As shown, it comprises a receiving device 2, a tray profile detection device 3 arranged on the receiving device 2, and a data analysis device 4 arranged on one side of the tray profile detection device 3 and in signal connection with the tray profile detection device 3; one side of the receiving device 2 is provided with a tray distribution device 5; the tray profile detection device 3 comprises a camera for collecting tray material bottom image and receiving device 2 overhead image information; the data analysis device 4 comprises an image recognition algorithm module for identifying whether the tray material bottom image 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 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.

[0067] For some tray materials that are not suitable for transportation by the receiving device (for example: roller conveyor), the present application can make them suitable for transportation by the receiving device, greatly increasing the transportation efficiency and automation degree of the tray materials.

[0068] The image recognition algorithm module identifying whether the tray material bottom image can be transported on the receiving device 2 specifically comprises:

[0069] The image recognition algorithm module compares the size of the protruding structure at the bottom of the tray material with the gap distance between the rollers of the receiving device 2 by image calculation, and then determines whether the weight of the load points of the tray in contact with the rollers is evenly distributed and whether the minimum load of the plastic deformation of the tray is compared.

[0070] If the size of the protruding structure at the bottom of the tray material is greater than the gap distance between the rollers, the length dimension of the vertical transportation direction of the tray material is compared with the width of the conveying surface of the receiving device 2; if the length dimension of the vertical transportation direction of the tray material 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 transportation on the receiving device.

[0071] 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 dimension of the vertical transportation direction of the tray material 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 transportation on the receiving device.

[0072] If the length dimension of the vertical transportation direction of the tray material is greater than the width of the conveying surface of the receiving device, the direction of the tray is adjusted again, and the feeding is performed again.

[0073] If the weight of the load points of the tray in contact with the rollers is evenly distributed and is greater than or equal to the minimum load of the plastic deformation of the tray, it is determined that the bottom structure and profile size of the material are not suitable for transportation on the receiving device.

[0074] If the weight distributed evenly at the contact points between the pallet and the roller is less than the minimum load-bearing capacity required for the pallet to undergo plastic deformation, then the bottom structure and overall dimensions of the material are deemed suitable for conveying on the receiving device.

[0075] like Figure 3 and Figure 4 As shown, the pallet contour detection device 3 includes a light and shadow bracket 31 mounted on the receiving device 2. The two side rods of the light and shadow bracket 31 are fixedly connected to the two sides of the receiving device 2. A display 32 and a camera mounting bracket I 33 are mounted on the crossbar of the light and shadow bracket 31. A camera I 34 is obliquely mounted on the camera mounting bracket I 33 to collect image information of the light and shadow projected by the receiving device 2's prompt area, the auxiliary carrier 6, the material, and the area display device 7 in the prompt area. The pallet contour detection device 3 also includes a main camera mounting bracket 37 mounted below the receiving device 2. The two side rods of the main camera mounting bracket 37 are fixedly connected to the two sides of the receiving device 2. A camera mounting bracket II 36 is mounted on one side rod of the main camera mounting bracket 37. A camera II 35 is mounted on the camera mounting bracket II 36 to collect bottom image information of the pallet material before it is placed on the pallet. A camera III 38 is mounted at the center of the crossbar of the main camera mounting bracket 37 to collect bottom image information of the pallet material and the position information of the auxiliary carrier 6 on the receiving device 2. A region display device 7 is also connected to the crossbar of the light and shadow bracket 31. The region display device 7 projects a prompt area on the receiving device 2 indicating where the tray material should be placed. Projection guidance controls the material placement error to within 5cm, improving efficiency by 3 times compared to traditional visual positioning.

[0076] Intelligent measurement of the bottom structure (X1) and conveying direction dimension (Y1) of the pallet is achieved through multi-camera collaborative acquisition and image algorithm analysis.

[0077] like Figure 5 As shown, a centering device 8 is positioned directly below the indication area of ​​the receiving device 2. A pallet dispensing device 5 is located on one side of the indication area of ​​the receiving device 2, and the pallet dispensing device 5 is at the same height as the receiving device 2. The centering device 8 includes a drive body 81 and a push rod 82. The drive body 81 and the push rod 82 are connected by a transmission mechanism. The drive 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 rollers of the receiving device 2, and the width of the push rod 82 is less than the gap between the rollers of the receiving device 2. By driving the push rod 82 through the drive body 81, the auxiliary carrier 6 is adjusted to be positioned directly below the pallet material. The push rod-type centering device achieves a positioning accuracy of ±2mm, ensuring precise alignment between the carrier and the conveying axis.

[0078] The pallet material is placed by the transfer device 1 into the indicated area of ​​the receiving device 2; the receiving device 2 has a built-in pressure sensor in its support structure to detect the weight of the pallet material; the image recognition algorithm module reads the number information on the pallet material and the outline volume of the pallet material from the image obtained by the pallet contour detection device 3.

[0079] This application also includes a method for identifying and handling palletized materials based on their transportability, such as... Figure 6 and Figure 7 As shown, it includes:

[0080] During the process of the transfer device 1 (e.g., forklift) placing the pallet material directly above the receiving device 2 (e.g., roller conveyor) prompting area (material placement area), camera II 35 and 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;

[0081] 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 pallet bottom protrusion size X1 and the pallet length Y1 in the vertical conveying direction from the pallet bottom image, and compares X1 and Y1 with the gap distance X3 between the rollers of the receiving device and the width Y2 of the conveying surface of the receiving device, respectively:

[0082] If Y1≥Y2, then notify transfer device 1 to readjust the pallet orientation and reload the material;

[0083] If Y1 < Y2 and X1 < X3, it is determined that the bottom structure of the current pallet material is not suitable for transportation on the receiving device 2;

[0084] If Y1 < Y2 and X1 ≥ X3, then it is determined that the bottom structure of the current pallet material is suitable for transportation on the receiving device 2;

[0085] The image recognition algorithm module calculates the number m of the pallet bottom protrusions parallel to the conveying direction by the image of the bottom of the pallet. Then, it calculates the number of bearing points n and the bearing point load Wgn. It compares the bearing point load Wgn 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 be adapted to transportation on the receiving device 2.

[0086] If Wgn < W, then it is determined that the bottom structure of the current pallet material is suitable for transportation on receiving device 2. If the preliminary judgment is that the bottom structure of the current pallet material is not suitable for transportation on receiving device 2:

[0087] The display 32 shows a message indicating that the material is waiting to be unloaded, and also displays a red warning symbol;

[0088] The tray distribution device 5 transports the auxiliary carrier 6 to the conveying surface of the receiving device 2 prompt area;

[0089] 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 to the data analysis device 4;

[0090] The data analysis device 4 analyzes the data and controls the centering device 8 to work, and the push rod 82 is retracted to push the auxiliary carrier 6 to the middle position of the conveying surface of the receiving device 2;

[0091] The camera I 34 collects the image information (such as two-dimensional code or bar code) on the auxiliary carrier 6 and uploads it to the data analysis device 4, which matches the weight information of the corresponding auxiliary carrier 6;

[0092] The area display device 7 projects the prompt area where the tray material should be placed on the auxiliary carrier 6;

[0093] 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;

[0094] The transfer device 1 places the tray material at the correct position of the auxiliary carrier 6 according to the image on the display 32 and the prompt area;

[0095] The camera I 34, the camera II 35 and the camera III 38 collect the image information of the tray material, upload it to the data analysis device 4, and determine whether the material is placed by the image recognition algorithm of the data analysis device 4; After the material is placed, 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 measures the total weight of the tray material and the auxiliary carrier 6 by the pressure sensor built in the receiving device 2 and uploads it to the data analysis device 4;

[0096] The data analysis device 4 calculates the weight of the tray material by deducting the weight of the auxiliary carrier 6; The data analysis device 4 integrates and binds the previously obtained tray material number information, tray material contour volume, weight, auxiliary carrier 6 number information, which is convenient for detailed material subsequent monitoring; Finally, the receiving device 2 transports the tray material and the auxiliary carrier 6 to the back end.

[0097] When the preliminary judgment result is that the bottom structure of the current tray material can adapt to transportation on the receiving device 2:

[0098] The display 32 displays the information that the material can be placed directly, and displays a green warning pattern;

[0099] The area display device 7 projects the prompt area where the tray material should be placed on the receiving device 2;

[0100] The transport device 1 places the pallet material to the prompt area on the receiving device 2;

[0101] The camera I 34, the camera II 35 and the camera III 38 collect the pallet material image information and upload to the data analysis device 4, and the data analysis device 4 judges whether the feeding is completed through the image recognition algorithm; After the feeding is completed, the data analysis device 4 obtains the contour volume of the pallet material and the number information of the pallet material through the image recognition algorithm, and then the weight of the pallet material is measured by the pressure sensor built in the receiving device 2 and uploaded to the data analysis device 4;

[0102] For the result of the preliminary judgment that the bottom structure of the current pallet material is suitable for transportation on the receiving device 2, the data comparison of secondary determination is carried out:

[0103] The number of bearing points is calculated: n=m(X2 / X3-(X2-2*X1) / X3-1) (for example, a four-corner "mouth-shaped" pallet), and m is the number of convex beams on the bottom of the pallet parallel to the conveying direction, for example, a four-corner "mouth-shaped" pallet, m=4;

[0104] n=m(X2 / X3-1) (for example, a "field-shaped" pallet), and m is the number of convex beams on the bottom of the pallet parallel to the conveying direction, for example, a "field-shaped" pallet, m=3;

[0105] The load of the bearing point is calculated: Wgn=Wg / n, Wg is the total weight of the pallet material;

[0106] Load checking comparison:

[0107] If Wgn≥W, 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 the transportation on the receiving device 2, at this time the receiving device 2 returns the pallet material, the transport device 1 receives the returned pallet material at the return end, then the auxiliary carrier 6 is transported to the conveying surface of the prompt area of the receiving device 2 by the pallet distribution device 5, and the transport device 1 re-feeds the pallet material;

[0108] The display 32 displays the information waiting for feeding and displays the yellow warning pattern changed from green;

[0109] If Wgn<W, it is determined that the bottom structure of the current pallet material is suitable for transportation on the receiving device 2, and the subsequent process is continued. The data analysis device 4 integrates and binds the previously obtained pallet material number information, pallet material contour volume and weight information, which is convenient for detailed material subsequent monitoring; finally, the receiving device 2 transports the pallet material and the auxiliary carrier 6 to the rear end.

[0110] The above embodiments only express the specific implementation of the present application, which is described in more detail and specifically, but cannot be understood as a limitation to the protection scope of the present application. It should be noted that for those skilled in the art, without departing from the technical concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application.

Claims

1. A pallet material conveyability recognition, handling device, comprising a receiving device (2), characterized in that, Also include tray profile detection device (3) and data analysis device (4), the tray profile detection device (3) is arranged on the receiving device (2); Data analysis device (4) is arranged on one side of tray profile detection device (3), and is connected with tray profile detection device (3) signal; One side of receiving device (2) is provided with tray distribution device (5); Tray profile detection device (3) includes the camera of collecting tray material bottom image and receiving device (2) upper image information, and data analysis device (4) includes image recognition algorithm module, and the tray material bottom image can be identified whether it can be transported on receiving device (2); When the image recognition algorithm module judges that the tray material cannot be transported on receiving device (2), the tray distribution device (5) transports auxiliary carrier (6) to receiving device (2), and the auxiliary carrier (6) is placed under the tray material, and the tray material and receiving device (2) are isolated; The image recognition algorithm module identifies whether the tray material bottom image can be transported on the receiving device (2) specifically includes: The image recognition algorithm module compares the size of the protruding structure at the bottom of the tray material with the gap distance between the rollers of the receiving device (2) by image calculation, and then the secondary determination includes comparing the weight of the load point of the tray in contact with the roller with the minimum load capacity of the plastic deformation of the tray; If the size of the protruding structure at the bottom of the tray material is greater than the gap distance between the rollers, then the length dimension of the vertical conveying direction of the tray material is compared with the conveying surface width of the receiving device (2), if the length dimension of the vertical conveying direction of the tray material is less than the conveying surface width of the receiving device (2), then it is determined that the bottom structure and the 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 dimension of the vertical conveying direction of the tray material is less than the conveying surface width of the receiving device (2), then it is determined that the bottom structure and the contour size of the tray material are not suitable for conveying on the receiving device; If the length dimension of the vertical conveying direction of the tray material is greater than the conveying surface width of the receiving device (2), then the direction of the tray is adjusted, and the feeding is reperformed; If the weight of the load point of the tray in contact with the roller is greater than or equal to the minimum load capacity of the plastic deformation of the tray, then it is determined that the bottom structure and the contour size of the material are not suitable for conveying on the receiving device; If the weight of the load point of the tray in contact with the roller is less than the minimum load capacity of the plastic deformation of the tray, then it is determined that the bottom structure and the contour size of the material are suitable for conveying on the receiving device.

2. A pallet material conveyability recognition and processing apparatus according to claim 1, characterized by, The tray contour detection device (3) comprises 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 side edges of the receiving device (2), a display (32) and a camera mounting support I (33) are arranged on the cross rod of the light and shadow support (31), and a region display device (7) is further connected to the cross rod of the light and shadow support (31), the region display device (7) projects a prompt region where the tray material should be placed on the receiving device (2), and a camera I (34) is arranged on the camera mounting support I (33) and is inclined to collect image information of the prompt region and the region above the prompt region of the receiving device (2).

3. A pallet material conveyability identification, handling apparatus according to claim 2, wherein, The tray contour detection device (3) further comprises a camera main mounting support (37) arranged below the receiving device (2), the two side rods of the camera main mounting support (37) are fixedly connected to the two side edges of the receiving device (2); a camera mounting support II (36) is arranged on one side rod of the camera main mounting support (37), and a camera II (35) is arranged on the camera mounting support II (36) and is used for collecting image information of the bottom of the tray material before the tray material is placed; and a camera III (38) is arranged at the center of the cross rod of the camera main mounting support (37) and is used for collecting image information of the bottom of the tray material and position information of the auxiliary carrier (6) on the receiving device (2).

4. A pallet material conveyability identification, handling apparatus according to claim 3, wherein, A centering device (8) is arranged directly below the prompt region of the receiving device (2), the centering device (8) comprises a driving main body (81) and a push rod (82), the driving main body (81) is in transmission connection with the push rod (82), the driving main 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 gap between the rollers of the receiving device (2); the push rod (82) is driven by the driving main body (81), so that the auxiliary carrier (6) is adjusted to be located directly below the tray material.

5. A pallet material conveyability identification, handling apparatus according to claim 4, wherein, The tray material is placed in the prompt region of the receiving device (2) by the transfer device (1); a pressure sensor is arranged in the support structure of the receiving device (2) and is used for detecting the weight of the tray material; and a image recognition algorithm module reads the number information on the tray material and the contour volume of the tray material from the image obtained by the tray contour detection device (3).

6. A pallet material conveyability recognition, processing method, characterized by, In the tray material conveyability identification and processing device, the tray material is placed in the prompt region of the receiving device (2) by the transfer device (1); a pressure sensor is arranged in the support structure of the receiving device (2) and is used for detecting the weight of the tray material; and a image recognition algorithm module reads the number information on the tray material and the contour volume of the tray material from the image obtained by the tray contour detection device (3). During the process that the transfer device (1) places the tray material directly above the prompt region of the receiving device (2), the camera II (35) and the camera III (38) collect image information of the bottom of the tray 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 judges whether the current bottom structure of the tray material can be transported on the receiving device (2); When the judgment result is that the current bottom structure of the tray material cannot be transported on the receiving device (2): The display (32) displays information waiting for placing; The tray distribution device (5) conveys the auxiliary carrier (6) to the conveying surface of the prompt region of the receiving device (2); Camera I (34) and 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); The data analysis device (4) analyzes the data and controls the centering device (8) to work, and the push rod (82) is retracted to push the auxiliary carrier (6) to the middle position of the conveying surface of the receiving device (2); Camera I (34) collects image information of the auxiliary carrier (6) and uploads it to the data analysis device (4), which matches the weight information of the corresponding auxiliary carrier (6); The area display device (7) projects the prompt area where the tray material should be placed on the auxiliary carrier (6); Camera I (34) collects 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 tray material at the correct position of the auxiliary carrier (6) according to the image on the display (32) and the prompt area; Camera I (34), camera II (35) and camera III (38) collect tray material image information and upload it to the data analysis device (4), which judges whether the material is placed by image recognition algorithm; After the material is placed, the data analysis device (4) obtains the contour volume of the tray material and the number information of the tray material by image recognition algorithm, and then measures the total weight of the tray material and the auxiliary carrier (6) by the pressure sensor built-in the receiving device (2) and uploads it to the data analysis device (4); The data analysis device (4) calculates the weight of the tray material by deducting the weight of the auxiliary carrier (6); The data analysis device (4) integrates and binds the previously obtained tray material number information, tray material contour volume, weight, and auxiliary carrier (6) number information, which is convenient for detailed material subsequent monitoring; Finally, the receiving device (2) transports the tray material and the auxiliary carrier (6) to the rear end.

7. The method of claim 6, wherein the method further comprises: The image recognition algorithm module calculates the protruding structure size X1 of the tray material bottom and the length size Y1 perpendicular to the conveying direction of the tray material from the tray bottom image, and compares X1 and Y1 with the gap distance X3 between the receiving device rollers and the conveying surface width Y2 of the receiving device (2): If Y1≥Y2, notify the transfer device (1) to adjust the direction of the tray and re-feed the material; If Y1Y2 and X1X3, it is determined that the current tray material bottom structure cannot adapt to transportation on the receiving device (2); If Y1Y2 and X1X3, it is determined that the current tray material bottom structure cannot adapt to transportation on the receiving device (2); The image recognition algorithm module calculates the number m of protruding beams parallel to the conveying direction of the tray bottom from the tray bottom image, and then calculates the number n of bearing points and the bearing weight Wgn, and compares the bearing weight Wgn with the minimum load W of the tray plastic deformation, if Wgn≥W, it is determined that the current tray material bottom structure cannot adapt to transportation on the receiving device (2); If Wgn < W, it is determined that the current tray material bottom structure is suitable for transportation on the receiving device (2).

8. The method of claim 7, wherein the method further comprises: Further comprising the following steps: When the judgment result is that the current tray material bottom structure can be suitable for transportation on the receiving device (2): The display (32) displays information that can directly put the material; The area display device (7) projects the prompt area where the tray material should be placed on the receiving device (2); The transfer device (1) places the tray material on the prompt area on the receiving device (2); The camera I (34), the camera II (35) and the camera III (38) collect the image information of the tray material, upload to the data analysis device (4), and judge whether the material is completed by the image recognition algorithm of the data analysis device (4); After the material is completed, the data analysis device (4) obtains the contour volume of the tray material and the number information of the tray material by the image recognition algorithm, and then the weight of the tray material is measured by the pressure sensor built in the receiving device (2) and uploaded to the data analysis device (4); The data analysis device (4) integrates the previously obtained tray material number information, tray material contour volume and weight information, which is convenient for detailed material subsequent monitoring; Finally, the receiving device (2) transports the tray material and the auxiliary carrier (6) to the back end.

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