Packaging box conveying device and method for logistics circulation packaging

Abstract

The invention discloses a packaging box conveying device and method for logistics circulation packaging, and belongs to the technical field of conveying, and the method comprises the following steps that a box body stability evaluation coefficient is obtained based on the contact surface area of a packaging box and the contact surface flatness of the packaging box; obtaining a packaging box rollover evaluation coefficient based on the quality of the packaging box and the gravity center height of the packaging box; obtaining a turning state evaluation coefficient based on the turning radius and the slope angle under the packaging box stability evaluation coefficient and the packaging box rollover evaluation coefficient; constructing a turning basic speed determination model based on the turning state evaluation coefficient and the turning radius to output a turning basic speed; constructing a turning speed optimization model based on the basic turning speed and the current turning speed to output a target turning speed, and adjusting the current turning speed of the packaging box to the target turning speed; the turning stability and the conveying efficiency can be remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of conveying, and particularly relates to a packaging box conveying device and method for logistics circulating packaging. BACKGROUND

[0002] In the field of logistics circulating packaging, the conveying process of packaging boxes often causes side turning or collision due to the differences in box structure (such as uneven contact surface and high center of gravity). The existing conveying devices mostly use fixed speed threshold or manual adjustment, which cannot dynamically adapt to the stability requirements of different boxes. Especially for environmentally friendly packaging boxes that can be recycled, their irregular shape and high center of gravity characteristics increase the risk of conveying, and traditional methods are prone to cause damage to goods, low efficiency and equipment wear. Therefore, an intelligent solution is urgently needed that can evaluate the state of the box in real time and automatically optimize the conveying speed. SUMMARY

[0003] In view of the deficiencies of the prior art, the present application provides a packaging box conveying device and method for logistics circulating packaging, which solves the above problems.

[0004] To achieve the above purpose, the present application realizes the following technical solutions: a packaging box conveying method for logistics circulating packaging, comprising the following steps:

[0005] Obtaining a box stability evaluation coefficient based on the contact surface area of the packaging box and the contact surface flatness of the packaging box;

[0006] Obtaining a packaging box rollover evaluation coefficient based on the mass of the packaging box and the center of gravity height of the packaging box;

[0007] Obtaining a turning state evaluation coefficient based on the turning radius and the slope angle under the packaging box stability evaluation coefficient and the packaging box rollover evaluation coefficient;

[0008] Constructing a turning basic speed determination model based on the turning state evaluation coefficient and the turning radius to output a turning basic speed;

[0009] Constructing a turning speed optimization model based on the basic turning speed and the current turning speed to output a target turning speed and adjust the current turning speed of the packaging box to the target turning speed.

[0010] On the basis of the above technical solutions, the present application further provides the following optional technical solutions:

[0011] Further technical solutions: the step of obtaining a box stability evaluation coefficient based on the contact surface area and the contact surface flatness of the packaging box is:

[0012] Respectively processing the contact area and the contact surface flatness of the packaging box with the corresponding maximum allowable value to obtain a contact area factor and a flatness factor;

[0013] Based on the contact surface factor and flatness factor, a box stability model is constructed to output the box stability evaluation coefficient;

[0014] The box stability model is expressed as:

[0015]

[0016] in, It represents the box stability evaluation coefficient, represents the contact area factor, represents the flatness factor, is the weight coefficient and .

[0017] Further technical solution: The steps for obtaining the rollover evaluation coefficient of the packaging box based on the mass and center of gravity of the packaging box are as follows:

[0018] Ratio the mass and center of gravity height of the packaging box to the corresponding maximum allowable values, and then obtain the mass factor and center of gravity height factor;

[0019] Based on the mass factor and the center of gravity height factor, a packaging box rollover evaluation model is constructed to output the packaging box rollover evaluation coefficient;

[0020] The packaging box rollover evaluation model is expressed as:

[0021]

[0022] in, Indicates the rollover evaluation coefficient of the packaging box, represents the quality factor, represents the center of gravity height factor, Indicates the zero-proof constant.

[0023] Further technical solution: The steps for obtaining the turning state evaluation coefficient based on the turning radius and slope angle under the stability evaluation coefficient and rollover evaluation coefficient of the packaging box are as follows:

[0024] The turning radius factor is obtained by performing a ratio process on the minimum allowable turning radius and the turning radius;

[0025] Based on the current packaging box stability evaluation coefficient and the slope angle factor and turning radius factor under the packaging box rollover evaluation coefficient, a turning state evaluation model is constructed to output the turning state evaluation coefficient;

[0026] The turning state evaluation model is expressed as:

[0027]

[0028] in, represents the turning state evaluation coefficient, Indicates the stability evaluation coefficient of the packaging box, Indicates the rollover evaluation coefficient of the packaging box, represents the turning radius factor, Slope angle, is the weight coefficient and .

[0029] Further technical solution: The turning basic speed model is expressed as:

[0030]

[0031] in, represents the basic turning speed, represents the turning state evaluation coefficient, represents the friction coefficient, Represents the acceleration due to gravity.

[0032] Further technical solution: The target turning speed is expressed as:

[0033]

[0034] in, represents the target speed, Indicates the current speed. Indicates the adjustment scale factor, Indicates the base speed of the turn.

[0035] A packaging box conveying device for logistics circulation packaging adopts the above-mentioned packaging box conveying method for logistics circulation packaging.

[0036] The present invention provides a packaging box conveying device and method for logistics recycling packaging, which has the following beneficial effects compared with the prior art:

[0037] 1. The present invention quantifies the physical properties of the packaging box through the box stability evaluation coefficient and the rollover evaluation coefficient. Combined with the turning radius factor and the slope angle, it accurately generates the turning state evaluation coefficient, realizing real-time adaptive adjustment of the conveying speed. At the same time, based on the turning basic speed model and the target speed optimization model, it reduces unnecessary speed reduction while ensuring turning stability, thereby improving conveying efficiency.

[0038] 2. The present invention targets the fragile nature of recyclable packaging boxes and can predict the risk of tipping in advance through the rollover coefficient, effectively reducing collisions and wear and extending the service life of the packaging boxes. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0041] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0042] In existing technologies, the transport of reusable packaging boxes in logistics often leads to rollovers, collisions, and low efficiency due to structural variations within the boxes. Traditional methods employ fixed speed thresholds or manual adjustments, which are unable to dynamically adapt to variations in the contact surface conditions, center of gravity heights, and cornering conditions of the boxes. This is particularly true for reusable, irregular-shaped boxes, whose uneven contact surfaces and shifted centers of gravity exacerbate transport risks. Fixed speeds can easily lead to cargo damage due to inertial loss of control in corners, while frequent starts and stops can lead to increased wear and tear on equipment.

[0043] See also Figure 1 , provided in one embodiment of the present invention, is a method for conveying packaging boxes for logistics recycling packaging, comprising the following steps:

[0044] Obtaining a box stability evaluation coefficient based on the contact surface area and flatness of the box;

[0045] Obtaining a rollover evaluation coefficient of the packaging box based on the mass of the packaging box and the height of the center of gravity of the packaging box;

[0046] Obtaining a turning state evaluation coefficient based on the turning radius and slope angle under the packaging box stability evaluation coefficient and the packaging box rollover evaluation coefficient;

[0047] The turning base speed is constructed based on the turning state evaluation coefficient and the turning radius to determine the model output turning base speed;

[0048] Based on the basic turning speed and the current turning speed, a turning speed optimization model is constructed to output the target turning speed and adjust the current turning speed of the packaging box to the target turning speed.

[0049] Contact surface area refers to the actual projected area of ​​contact between the bottom of the package and the conveyor. This can be achieved through laser profiling or pressure sensor array detection. It quantifies the effective contact between the package and the conveyor surface and mitigates the risk of slippage caused by insufficient contact area. Contact surface flatness is a quantitative indicator of the degree of surface roughness in the contact area. It can be obtained through 3D topography scanning or vibration spectrum analysis. It assesses the uniform distribution of friction on the contact surface and eliminates the tendency for misalignment caused by localized stress concentration. Mass refers to the total weight of the package and can be measured in real time using a load cell to calculate the critical moment required for rollover. Center of gravity height refers to the vertical distance between the center of mass of the package and the conveyor surface. This can be dynamically estimated using an inertial measurement unit (IMU) in conjunction with an inclination sensor to characterize the tendency of the package to roll under centrifugal force. Turning radius refers to the radius of curvature of a conveyor path curve. This can be obtained through encoders linked to the path planning system and used to calculate the centrifugal force generated during the turn. Slope angle refers to the angle between the inclined surface of the conveyor path and the horizontal. This can be monitored in real time using a gyroscope to correct for the effect of gravity on the rollover threshold.

[0050] Specifically, before the conveyor enters a turn, sensors capture the contact area and flatness data of the packaging box. The contact area factor and flatness factor are weighted to calculate the box stability evaluation coefficient, reflecting the static stability of the box relative to the conveying surface. Mass and center of gravity height data are also collected. A rollover evaluation coefficient is constructed based on the mass and center of gravity height factors, inversely characterizing the box's dynamic rollover resistance. Then, combined with the real-time turning radius and slope angle, the stability coefficient and rollover coefficient are coupled using the cosine function and the inverse curvature to generate a turning state evaluation coefficient, which comprehensively reflects the safety threshold under the current operating conditions. Based on this coefficient and the turning radius, a basic speed model is established using the physical constraints of the friction coefficient and gravitational acceleration to output a theoretical safe speed value. Finally, the difference between the basic speed and the current speed is input into a proportional regulator, generating a progressive speed adjustment command to ensure a smooth transition to the target speed of the conveyor, avoiding box displacement caused by sudden acceleration or deceleration.

[0051] Compared to existing technologies, traditional methods only set a fixed speed based on preset path parameters, failing to consider the dynamic impact of differences in the box's physical properties on safe speed. This solution constructs a multi-dimensional evaluation system using real-time data such as contact surface status, mass distribution, and center of gravity position. This system converts static physical parameters into dynamic safety thresholds, enabling the speed control strategy to adapt to the structural characteristics of different packaging boxes. Furthermore, a closed-loop adjustment mechanism between the current speed and the theoretical speed is introduced, overcoming the inertial shock caused by speed step changes in traditional open-loop control.

[0052] Through the above technical solution, this application can adjust the turning speed in real time based on the actual physical state of the packaging box, effectively reducing the risk of slippage caused by uneven contact surfaces and suppressing the tendency of high-center-of-gravity boxes to tip over under centrifugal force. Through a dynamic evaluation model that integrates multiple parameters, conveyor stability is maintained under complex turning conditions, reducing the frequency of manual intervention, while also avoiding mechanical shock to equipment caused by sudden speed changes and extending the service life of the conveyor.

[0053] Preferably, the steps of obtaining the box body stability evaluation coefficient based on the contact surface area and the contact surface flatness of the packaging box are:

[0054] Ratio the contact area and flatness of the packaging box to the corresponding maximum allowable values ​​to obtain the contact area factor and flatness factor;

[0055] Based on the contact surface factor and flatness factor, a box stability model is constructed to output the box stability evaluation coefficient;

[0056] The box stability model is expressed as:

[0057]

[0058] in, It represents the box stability evaluation coefficient, represents the contact area factor, represents the flatness factor, is the weight coefficient and .

[0059] Specifically, the contact area factor and flatness factor quantify the stability conditions of the box from the two dimensions of support area and surface morphology, respectively, and convert the physical parameters into dimensionless indicators through ratio processing. When the contact area factor increases, it indicates that the support base is more stable, and when the flatness factor increases, it indicates that the contact surface fits better and the risk of sliding is reduced. The weight coefficient dynamically adjusts the importance of the two factors according to the box type or transportation environment. For example, the weight of the flatness factor can be increased for boxes with a high center of gravity. The linear combination model integrates multidimensional parameters into a single stability evaluation coefficient, providing a unified quantitative basis for speed optimization and avoiding subjective errors in manual experience judgment.

[0060] Compared with existing technologies, traditional methods rely on fixed thresholds to determine stability and fail to distinguish the dynamic effects of contact area and flatness, resulting in deviations between assessment results and actual risk. This solution establishes a multi-factor synergistic model that quantifies and dynamically weights contact support conditions and surface morphological features, enabling precise assessment of the stability of different enclosures and addressing the issue of inaccurate assessments due to differences in contact surfaces.

[0061] Through the above technical solution, the present application can dynamically generate stability evaluation indicators based on the actual measurement data of contact area and flatness, accurately reflect the anti-overturning ability of the box during transportation, provide reliable input parameters for the subsequent speed optimization model, and effectively avoid adjustment lag or excessive deceleration caused by empirical threshold deviation, reduce the risk of rollover and improve transportation efficiency.

[0062] Preferably, the step of obtaining the rollover evaluation coefficient of the packaging box based on the mass and center of gravity of the packaging box is:

[0063] Ratio the mass and center of gravity height of the packaging box to the corresponding maximum allowable values, and then obtain the mass factor and center of gravity height factor;

[0064] Based on the mass factor and the center of gravity height factor, a packaging box rollover evaluation model is constructed to output the packaging box rollover evaluation coefficient;

[0065] The packaging box rollover evaluation model is expressed as:

[0066]

[0067] in, Indicates the rollover evaluation coefficient of the packaging box, represents the quality factor, represents the center of gravity height factor, Indicates the zero-proof constant (usually 0.01).

[0068] The mass factor is the ratio of the box's mass to the preset maximum allowable mass. This can be achieved by measuring the box's mass in real time using a mass sensor and dividing it by the maximum allowable mass stored in a database. Its purpose is to convert mass differences between different box sizes into a normalized parameter, preventing bias in the assessment results caused by absolute value calculations. The center of gravity height factor is the ratio of the box's center of gravity height to the preset maximum allowable center of gravity height. This can be achieved by measuring the center of gravity position using a three-dimensional center of gravity detection device and dividing it by a preset threshold. This factor is used to quantify the impact of a high center of gravity on rollover risk. The rollover assessment model is a mathematical relationship constructed based on the inverse of the product of the mass factor and the center of gravity height factor. This model transforms the coupled effect of mass distribution and center of gravity height into a negatively correlated indicator of rollover risk. The anti-zero constant is an extremely small value introduced to prevent the denominator from reaching zero. Its purpose is to prevent model calculation failure when the mass or center of gravity height approaches zero, while maintaining a minimum threshold for the denominator.

[0069] Specifically, the mass factor and the center of gravity height factor are converted into dimensionless indexes by ratio processing of the physical parameters of packaging boxes of different specifications, so that the model can adapt to various boxes with large mass difference and wide range of center of gravity height. In the rollover evaluation model, the product term of the mass factor and the center of gravity height factor represents the combined effect of mass distribution and center of gravity height, and the larger the product is, the higher the rollover risk is. The product term is converted into a negative correlation parameter of the rollover evaluation coefficient by taking the reciprocal, thereby establishing a risk quantization relationship. The introduction of the zero constant prevents the model from outputting invalid values in extreme cases, for example, when the mass of the packaging box is extremely light or the center of gravity is extremely low, avoiding abnormal increase of the calculation result due to denominator approaching zero.

[0070] Compared with the prior art, the traditional method usually uses a fixed mass threshold or a single center of gravity height threshold to judge the rollover risk, which cannot reflect the dynamic coupling effect of mass distribution and center of gravity height. The present scheme realizes the quantitative evaluation of the nonlinear relationship between mass and center of gravity height by constructing a reciprocal model of the product of the two factors, which is especially suitable for recyclable packaging boxes with uneven mass distribution and variable center of gravity position. Compared with the static threshold method, the model can dynamically adapt to the physical property differences of different boxes, avoiding misjudgment or omission caused by isolated parameter judgment.

[0071] Through the above technical scheme, the present application can quantitatively evaluate the rollover risk of packaging boxes caused by uneven mass distribution and high center of gravity in the conveying process, solving the problem of inaccurate evaluation of complex mass-center of gravity coupling effect by traditional methods. Through dynamic ratio processing and model calculation, adaptive evaluation of the rollover risk of boxes of different specifications is realized, avoiding the efficiency loss caused by manual speed adjustment. At the same time, the zero prevention mechanism ensures the calculation stability in extreme conditions, reduces the abnormal control command caused by sensor measurement error, and improves the safety and reliability of the conveying process.

[0072] Preferably, the step of obtaining the turning state evaluation coefficient based on the turning radius and the slope angle under the stability evaluation coefficient and the rollover evaluation coefficient of the packaging box is:

[0073] The turning radius factor is obtained by ratio processing of the minimum allowable turning radius and the turning radius.

[0074] A turning state evaluation model is constructed based on the slope angle factor and the turning radius factor under the current stability evaluation coefficient and the rollover evaluation coefficient of the packaging box to output the turning state evaluation coefficient.

[0075] The turning state evaluation model is represented as:

[0076]

[0077] wherein, the turning state evaluation coefficient, Indicates the stability evaluation coefficient of the packaging box, Indicates the rollover evaluation coefficient of the packaging box, represents the turning radius factor, Slope angle, is the weight coefficient and .

[0078] Specifically, when the conveyor enters a curve, the current turning radius and slope angle data are collected in real time. The measured turning radius is compared with the preset minimum allowable value. The slope angle is measured by an inclinometer, and its cosine value is used to offset the lateral force component caused by the increased slope. The product of the box stability coefficient and the rollover coefficient constitutes the basic safety factor, ensuring that a high overall score is achieved only when the box contact surface is stable and the center of gravity is reasonably distributed. The weighting coefficient can be preset and configured according to the characteristics of the warehouse environment. For example, the slope weighting can be increased in scenarios with frequent slope changes.

[0079] Compared with existing technologies, traditional methods only set speed thresholds based on a fixed turning radius and are unable to cope with the dynamic changes in slopes and container shapes. This solution establishes a multi-parameter coupling model to simultaneously sense the container's stability, the curvature of the conveying path, and the slope angle during the turning process. This composite safety evaluation index enables speed control to respond in real time to risk fluctuations in complex working conditions.

[0080] Through the above technical solution, this application effectively solves the problem of dynamic instability of packaging boxes under complex road conditions. By integrating the inherent characteristics of the box with path environment parameters, the turning state evaluation model accurately calculates the critical speed threshold when the conveyor device traverses ramps and curves, avoiding rollovers or collisions caused by exceeding a single parameter. This model can adapt to the combined changes in slope and turning radius in different warehousing scenarios, providing a reliable safety baseline for subsequent speed optimization modules.

[0081] Preferably, the turning base speed model is expressed as:

[0082]

[0083] in, represents the basic turning speed, represents the turning state evaluation coefficient, represents the friction coefficient, represents the acceleration due to gravity, Indicates the turning radius.

[0084] Among them, the friction coefficient It refers to the friction characteristic parameters between the contact surface of the conveying device and the packaging box. It can be achieved by matching a material surface roughness tester or a preset empirical data table, and is used to constrain the physical limit of the theoretical safety speed.

[0085] Among them, the turning radius It refers to the curvature radius parameter of the turning section in the conveying path. It can be achieved by real-time measurement using a laser ranging sensor or preset parameters in the path planning system. It is used to quantify the limitation of the curvature of the turning path on speed control.

[0086] Specifically, this technical solution couples the dynamic evaluation parameters with the mechanical constraints through a physical model. It reflects the stability of the packaging box and the state of the turning environment in real time. Its value change directly affects the baseline value of the basic speed. Acceleration due to gravity The product of the theoretical safety speed constitutes the physical constraint boundary, the turning radius This provides a quantitative input of the path curvature. The value is combined with the formula of classical mechanics, so that the basic speed not only meets the constraints of physical laws, but also can be dynamically adjusted according to the real-time status of the packaging box and the path parameters, forming an adaptive speed benchmark that takes into account both safety and efficiency.

[0087] Compared to existing technologies, traditional methods rely on fixed speed thresholds or manual adjustments based on experience, and are unable to respond in real time to changes in box stability and variations in path parameters. This solution, by establishing a dynamic calculation model based on multi-dimensional parameters, automatically adjusts the base speed to the friction coefficient, turning radius, and real-time evaluation coefficients, thus avoiding the risk of rollover caused by speed mismatches due to parameter changes.

[0088] Through the above technical solution, the present application can dynamically generate the optimal basic speed according to the real-time physical characteristics of the packaging box and the turning path conditions, effectively reducing the risk of rollover caused by excessive speed or efficiency loss caused by too low speed during turning, while reducing the need for manual intervention and improving the degree of automation of the conveying process.

[0089] Preferably, the target turning speed is expressed as:

[0090]

[0091] in, represents the target speed, Indicates the current speed. Indicates the adjustment scale factor, Indicates the base speed of the turn.

[0092] Among them, the current turning speed refers to the movement speed of the packaging box collected in real time by the conveying device. It can be measured by a speed sensor or encoder and is used to reflect the actual operating status of the current system. The basic turning speed refers to the theoretical safe speed calculated based on the stability parameters of the packaging box. It can be obtained by taking the square root of the product of the turning state evaluation coefficient, the friction coefficient, and the turning radius. It is used to provide a benchmark reference for speed adjustment. The adjustment proportional coefficient refers to the parameter used to control the rate at which the current speed converges to the basic speed. For example, it can be a constant between 0.2 and 0.8 or a dynamic variable set according to the response characteristics of the equipment, which is used to balance the adjustment amplitude and system stability.

[0093] Specifically, during the turning process, the difference between the current turning speed and the base speed is obtained in real time, and the difference is multiplied by the adjustment proportional coefficient to generate a speed increment that is superimposed on the current speed, so that the target turning speed gradually approaches the base speed. For example, when the base speed is higher than the current speed, the target speed increases linearly to avoid inertial impact of the packaging box due to a step change in speed; when the base speed is lower than the current speed, the target speed decreases linearly to prevent sudden deceleration from causing the box to slide. The introduction of the adjustment proportional coefficient allows the speed adjustment process to be dynamically adapted according to the packaging box material and the mechanical characteristics of the equipment. For example, for fragile packaging boxes, a smaller adjustment proportional coefficient is used to reduce acceleration impact.

[0094] Compared to existing technologies, traditional methods rely on fixed speed thresholds or manual adjustments based on experience, failing to dynamically optimize speed based on the container's real-time stability parameters. For example, maintaining the original speed when the center of gravity changes suddenly or the contact surface is uneven can lead to rollover risks. This solution, by establishing a speed increment feedback mechanism, converts stability parameters into speed adjustments, enabling the conveyor to automatically adapt to the container's real-time state. For example, it can reduce the target speed when a rising center of gravity is detected, or decelerate in advance when the turning radius decreases.

[0095] Through the above technical solution, this application solves the mismatch between cornering speed and box stability caused by fixed speeds or manual adjustments. For example, this prevents high-center-of-gravity boxes from tipping over due to excessive speed during cornering, or reduces the efficiency of low-friction boxes due to low speed. Through linear incremental adjustment, while ensuring smooth speed transitions, this reduces mechanical shock to the equipment caused by sudden speed changes, thereby extending the life of key components.

[0096] A packaging box conveying device for logistics circulation packaging adopts the above-mentioned packaging box conveying method for logistics circulation packaging.

[0097] It should be noted that, in this document, relational terms such as first and second, etc., are used only 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 "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0098] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A method for conveying packaging boxes for logistics recycling packaging, characterized in that: The following steps are involved: Obtaining a box stability evaluation coefficient based on the contact surface area and flatness of the box; Obtaining a rollover evaluation coefficient of the packaging box based on the mass of the packaging box and the height of the center of gravity of the packaging box; Obtaining a turning state evaluation coefficient based on the turning radius and slope angle under the packaging box stability evaluation coefficient and the packaging box rollover evaluation coefficient; The turning base speed is constructed based on the turning state evaluation coefficient and the turning radius to determine the model output turning base speed; Based on the basic turning speed and the current turning speed, a turning speed optimization model is constructed to output the target turning speed and adjust the current turning speed of the packaging box to the target turning speed.

2. The method for conveying packaging boxes for logistics recycling packaging according to claim 1, characterized in that: The steps to obtain the box stability evaluation coefficient based on the contact surface area and contact surface flatness of the packaging box are as follows: Ratio the contact area and flatness of the packaging box to the corresponding maximum allowable values ​​to obtain the contact area factor and flatness factor; Based on the contact surface factor and flatness factor, a box stability model is constructed to output the box stability evaluation coefficient; The box stability model is expressed as: in, It represents the box stability evaluation coefficient, represents the contact area factor, represents the flatness factor, is the weight coefficient and .

3. The method for conveying packaging boxes for logistics recycling packaging according to claim 2, characterized in that: The steps to obtain the rollover evaluation coefficient of the packaging box based on the mass and center of gravity of the packaging box are as follows: Ratio the mass and center of gravity height of the packaging box to the corresponding maximum allowable values, and then obtain the mass factor and center of gravity height factor; Based on the mass factor and the center of gravity height factor, a packaging box rollover evaluation model is constructed to output the packaging box rollover evaluation coefficient; The packaging box rollover evaluation model is expressed as: in, Indicates the rollover evaluation coefficient of the packaging box, represents the quality factor, represents the center of gravity height factor, Indicates the zero-proof constant.

4. The method for conveying packaging boxes for logistics recycling packaging according to claim 3, characterized in that: The steps for obtaining the turning state evaluation coefficient based on the turning radius and slope angle under the stability evaluation coefficient and rollover evaluation coefficient of the packaging box are as follows: The turning radius factor is obtained by performing a ratio process on the minimum allowable turning radius and the turning radius; Based on the current packaging box stability evaluation coefficient and the slope angle factor and turning radius factor under the packaging box rollover evaluation coefficient, a turning state evaluation model is constructed to output the turning state evaluation coefficient; The turning state evaluation model is expressed as: in, represents the turning state evaluation coefficient, Indicates the stability evaluation coefficient of the packaging box, Indicates the rollover evaluation coefficient of the packaging box, represents the turning radius factor, Slope angle, is the weight coefficient and .

5. The method for conveying packaging boxes for logistics recycling packaging according to claim 4, characterized in that: The turning base speed model is expressed as: in, represents the basic turning speed, represents the turning state evaluation coefficient, represents the friction coefficient, Represents the acceleration due to gravity.

6. The method for conveying packaging boxes for logistics recycling packaging according to claim 5, characterized in that: The target turning speed is expressed as: in, represents the target speed, Indicates the current speed. Indicates the adjustment scale factor, Indicates the base speed of the turn.

7. A packaging box conveying device for logistics circulation packaging, characterized in that: A method for conveying packaging boxes for logistics recycling packaging according to any one of claims 1 to 6 is adopted.

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