Double-channel stack separation system based on visual identification and dynamic control algorithm

Abstract

The invention provides a double-channel stack separation system based on visual identification and a dynamic control algorithm, and belongs to the technical field of logistics, and the system comprises a scattering distribution module which is used for monitoring a package stacking state and distributing the package stacking state into two rows of bulk part flows; the spatial separation module is used for wrapping longitudinal separation, and one side of the spatial separation module is connected with the scattering distribution module; the plane separation module is used for distributing packages of the spare part flow into two rows of single part flows, and the plane separation module is connected with the outlet end of the space separation module; the shunting removing module is used for removing abnormal parts and adjusting flow distribution, and the shunting removing module is connected with the outlet end of the plane separation module; the double-channel conveying module is used for forming double-channel single-piece flow output, and the double-channel conveying module is connected with the outlet end of the flow dividing and removing module; according to the parcel separating device, the independent double-channel structure is arranged, when the channel on one side breaks down, the parcels can be redistributed to the fault-free channel on the other side, and the problem that due to local faults of traditional parcel separating equipment, the equipment stops is solved.

Description

Technical Field

[0001] This invention belongs to the field of logistics technology, and more specifically, it relates to a dual-channel stacked component separation system and dynamic control algorithm based on visual recognition. Background Technology

[0002] With the continuous development of the logistics and express delivery industry, the volume of express parcels is also increasing. In order to cope with the sorting needs of massive parcels, large mail processing centers in various regions have generally introduced fully automatic sorting machines to sort parcels. The parcel loading method at the front end of the sorting machine is manual operation, or automatic equipment is used to separate stacked parcels into single-row single-item parcels.

[0003] Existing parcel separation equipment mainly separates parcels into single rows automatically. Its separation efficiency is relatively low, and the space utilization of the equipment is insufficient. Furthermore, when a partial failure occurs in one part, the entire separation process will stop, causing the downstream fully automatic sorting machine to slow down or even stop due to interruption of the supply. Therefore, a dual-channel stacked parcel separation system based on vision recognition and a dynamic control algorithm are needed. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a dual-channel stacked package separation system and dynamic control algorithm based on visual recognition. This addresses the technical issue in existing technologies where a partial failure in a certain link of a traditional package separation device can cause the entire separation process to stall, resulting in downstream fully automatic sorting machines slowing down or even stopping due to interrupted package supply.

[0005] The purpose and effectiveness of the visual recognition-based dual-channel stacked component separation system and dynamic control algorithm of this invention are achieved by the following specific technical means:

[0006] A vision-based dual-channel stacked component separation system includes components connected in sequence:

[0007] A sorting and distribution module is used to monitor the stacking status of packages and distribute them into two rows of loose packages.

[0008] A spatial separation module, used for longitudinal separation of packages, wherein the inlet end of the spatial separation module is connected to the outlet end of the dispersing and distributing module;

[0009] A planar separation module is used to divide the package of loose parts into two rows of single parts. The inlet of the planar separation module is connected to the outlet of the spatial separation module.

[0010] The diversion and rejection module is used to reject abnormal components and adjust the flow distribution. The inlet of the diversion and rejection module is connected to the outlet of the planar separation module.

[0011] A dual-channel conveying module is used to form a stable single-piece flow output in two channels. The inlet end of the dual-channel conveying module is connected to the outlet end of the diversion and rejection module.

[0012] According to a preferred embodiment, the spatial separation module includes a chute, two sets of first inclined belt conveyors, two sets of second inclined belt conveyors, two sets of first horizontal belt conveyors, and a second visual recognition system.

[0013] The two sets of first inclined belt conveyors are connected end-to-end to the two sets of second inclined belt conveyors respectively, with a drop. The outlet end of the dispersing and distribution module is connected to one end of the two sets of first inclined belt conveyors through the chute. The ends of the two sets of second inclined belt conveyors away from the first inclined belt conveyors are connected to the two sets of first horizontal belt conveyors respectively.

[0014] The second visual recognition system is located above the chute, the first inclined belt conveyor, the second inclined belt conveyor, and the two sets of first horizontal belt conveyors.

[0015] According to a preferred embodiment, the dispersing and distributing module includes a module belt and a first visual recognition system. The first visual recognition system is disposed on the top of the module belt, and the outlet end of the module belt is connected to the chute.

[0016] According to a preferred embodiment, the planar separation module includes a narrow belt conveyor array and a third visual recognition system. The narrow belt conveyor array is connected to the outlet ends of two sets of the first horizontal belt conveyor, and the third visual recognition system is installed above the narrow belt conveyor array.

[0017] According to a preferred embodiment, the diversion and rejection module includes a second horizontal belt conveyor, two sets of swing wheel mechanisms and a fourth visual recognition system. One end of the second horizontal belt conveyor is connected to the outlet end of the narrow belt conveyor array, and the other end of the second horizontal belt conveyor is connected to one side of one set of swing wheel mechanisms. The other side of one set of swing wheel mechanisms is connected to one side of the other set of swing wheel mechanisms.

[0018] According to a preferred embodiment, the dual-channel conveying module includes two sets of channel devices, both of which are connected to the outlet end of the diversion and rejection module. The channel devices consist of a side-mounted machine connected end-to-end and a third horizontal belt conveyor.

[0019] A dynamic control algorithm for a vision-based dual-channel stacked component separation system, applied to the aforementioned vision-based dual-channel stacked component separation system, includes:

[0020] Stacked packages enter the unpacking and distribution module. The first vision recognition system monitors the stacking status and distribution density of the packages in real time, and combines the real-time flow data fed back from downstream equipment to unpack the stacked packages and distribute them into two rows of loose packages.

[0021] Two rows of loose packages enter the spatial separation module for anomaly identification, and the packages are separated longitudinally and then transported to the planar separation module;

[0022] The planar separation module, in conjunction with the third visual recognition system, uses the spacing adjustment and speed coordination of the narrowband array to transform the planarly distributed packages into two rows of single-item flows for transport to the diversion and rejection module; when the third visual recognition system detects stacked packages, the planar separation module separates the stacked packages.

[0023] The diversion and rejection module identifies packages based on the fourth vision recognition system, rejects abnormal items and controls package flow according to the package recognition results;

[0024] Qualified packages enter the dual-channel conveyor module, and after posture correction by the edge-aligning machine, they are output as either dual-channel single-piece flow or single-channel single-piece flow.

[0025] According to a preferred embodiment, the two rows of loose packages enter the spatial separation module for anomaly identification, and after longitudinal separation, the packages are transported to the planar separation module, including:

[0026] The second vision recognition module determines the stacking status of packages on the current belt. Based on the stacking status, the first and second inclined belt conveyors control the acceleration and deceleration of the belt. Using the inertia of the packages themselves and the angle of the belt, the packages stacked on top of each other are longitudinally separated and transported to the plane separation module.

[0027] When the second vision recognition module detects a fault in one of the first or second inclined conveyor belts in the spatial separation module, it controls the upstream dispersing and distribution module to distribute the packages to the other set of first or second inclined conveyor belts that are not faulty, based on the real-time package distribution status.

[0028] According to a preferred embodiment, the diversion and rejection module identifies packages based on a fourth visual recognition system, rejects abnormal items based on the package recognition results, and controls package flow, including:

[0029] Anomalies are identified using a fourth vision recognition system, and the balance wheel mechanism is controlled to remove the abnormal items based on the recognition results.

[0030] The fourth vision recognition system is used to identify the location of packages. Based on the package flow rate on the downstream dual-channel conveyor module, the flow rate is distributed in a secondary manner. The control wheel mechanism is used to adjust the package flow rate on each channel entering the downstream conveyor module to meet the supply-side flow ratio requirements of the downstream sorting equipment.

[0031] According to a preferred embodiment, the qualified package enters a dual-channel conveyor module, and after attitude correction based on the edge-aligning machine, it forms a dual-channel single-item flow or a single-channel single-item flow output package, including:

[0032] After the edge-aligning machine corrects the posture of qualified packages, the packages are output in a dual-channel single-piece flow through two sets of channel equipment.

[0033] When a fault is detected in one of the channel devices, the control plane separation module switches the operating mode, transforms the flat packages into a single-item flow, and controls the swing wheel mechanism in the diversion and rejection module to redirect all packages to the other set of fault-free channel devices, forming a single-channel single-item flow of packages.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. By setting the drop between two sets of first and second inclined belt conveyors and combining it with real-time monitoring by the second vision recognition system, when a partial fault is detected on one side of the first or second inclined belt conveyor, the upstream dispersing and distribution module will be controlled to adjust the package distribution direction. Packages that were originally flowing to the side of the faulty first or second inclined belt conveyor will be redistributed to the side of the fault-free first or second inclined belt conveyor. At the same time, the drop between the first and second inclined belt conveyors is used to control the acceleration and deceleration of the belt. By utilizing the inertia of the package itself and the angle of the belt, the fault-free side can still complete the longitudinal separation of the package normally, ensuring that the spatial separation process will not be completely stopped due to the failure of a single component, and maintaining the continuity of the separation process.

[0036] 2. By using two independent channels and a dynamic control algorithm for mode switching, the output mode can be quickly adjusted when one channel fails. When the system detects a failure in one channel, it will simultaneously trigger the coordinated action of the planar separation module and the diversion and rejection module. The planar separation module switches the two rows of single-item flow mode to a single row of single-item flow mode. By adjusting the spacing and speed of the narrow-band machine array, the packages are integrated into a single row of conveyors. The diversion and rejection module can adjust the swing wheel sorting strategy in real time based on the downstream equipment status and package flow demand to control the package distribution path. It controls the swing wheel mechanism to turn all packages to the fault-free channel, thereby adjusting the package flow ratio on the downstream dual-channel conveyor line. After the fault-free channel completes the posture correction through the side-mounted machine, it continues to output in single-channel single-item flow, flexibly responding to the needs of the on-site sorting equipment and avoiding interruption of the downstream fully automatic sorting machine's supply due to a single channel failure. The supply efficiency is maintained simply by adjusting the number of output channels.

[0037] 3. The initial unpacking and even distribution of stacked packages is achieved through the unpacking and distribution module. Combined with real-time package distribution data from downstream equipment, dynamic flow allocation is implemented. Even in the event of a local failure, package flow can still be adjusted to match the needs of downstream sorting machines. When the spatial separation module or a single channel fails, resulting in a decrease in the supply capacity, the first vision recognition system will dynamically adjust the package unpacking and distribution rate based on real-time flow data from downstream fault-free modules. This prevents packages from piling up in front of the faulty module, improving the package utilization rate and overall separation efficiency of the separation equipment. The spatial separation module further flattens the stacked packages, reducing the number of stacked items. In the planar separation module, the narrow-band machine matrix is ​​used to adjust the flow again, forming two rows of single-item flows. At the same time, stacked items can be separated again, further reducing the stacking rate and improving the actual effective package separation success rate. This constructs a three-level processing architecture of "spatial separation - planar discretization - dynamic diversion," achieving three-dimensional decoupling of stacked items.

[0038] 4. The fourth vision recognition system identifies the location and quantity of packages and controls the balance wheel mechanism to perform secondary distribution of traffic. This ensures that the package traffic in the fault-free channel is within a reasonable range. At the same time, the diversion and rejection module will also reject abnormal items to prevent abnormal packages from increasing the burden on the fault module or affecting the stable output of the fault-free channel. Overall, this achieves a balance between the supply traffic and sorting demand in the fault state, reducing the impact on sorting efficiency. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the structure of a dual-channel stacked component separation system based on visual recognition according to the present invention;

[0040] Figure 2 This is a top view of a dual-channel stacked component separation system based on visual recognition according to the present invention;

[0041] Figure 3This is a flowchart of the steps of a dynamic control algorithm for a dual-channel stacked component separation system based on visual recognition, according to the present invention.

[0042] In the diagram, the correspondence between component names and drawing numbers is as follows:

[0043] 1. Dispersing and distribution module; 2. Spatial separation module; 3. Planar separation module; 4. Diversion and rejection module; 5. Dual-channel conveyor module; 11. Module belt; 12. First vision recognition system; 21. Slide chute; 22. First inclined belt conveyor; 23. Second inclined belt conveyor; 24. First horizontal belt conveyor; 25. Second vision recognition system; 31. Narrow belt machine array; 32. Third vision recognition system; 41. Second horizontal belt conveyor; 42. Swing wheel mechanism; 43. Fourth vision recognition system; 51. Edge-aligning machine; 52. Third horizontal belt conveyor. Detailed Implementation

[0044] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the technical solutions of the present invention, but should not be used to limit the scope of protection of the present invention.

[0045] Example:

[0046] As attached Figures 1 to 2 As shown:

[0047] This invention provides a vision-based dual-channel stacked component separation system, comprising sequentially connected components:

[0048] Dispersing and allocating module 1 is used to monitor the stacking status of packages and allocate them into two rows of loose packages.

[0049] Space separation module 2 is used for longitudinal separation of packages. The inlet end of space separation module 2 is connected to the outlet end of dispersing and distributing module 1.

[0050] Planar separation module 3 is used to divide the package of scattered items into two rows of single items. The inlet end of the planar separation module 3 is connected to the outlet end of the spatial separation module 2.

[0051] The diversion and rejection module 4 is used to reject abnormal components and adjust the flow distribution. The inlet end of the diversion and rejection module 4 is connected to the outlet end of the plane separation module 3.

[0052] The dual-channel conveying module 5 is used to form a stable single-piece flow output in two channels. The inlet end of the dual-channel conveying module 5 is connected to the outlet end of the diversion and rejection module 4.

[0053] Please see as follows Figure 2As shown, the space separation module 2 includes a chute 21, two sets of continuous first inclined belt conveyors 22 and second inclined belt conveyors 23 with height difference, two sets of first horizontal belt conveyors 24 and a second vision recognition system 25.

[0054] The system comprises eight conveyor belts: the first inclined conveyor belt 22, the second inclined conveyor belt 23, and the first horizontal conveyor belt 24. The first two continuous sections of the first inclined conveyor belt 22 are at different elevations from the following four continuous sections of the second inclined conveyor belt 23. The following four continuous sections of the second inclined conveyor belt 23 are also connected to the following two continuous sections of the first horizontal conveyor belt 24 at a certain angle. The second visual recognition system 25 is used to monitor the package conveying status within the entire module. During use, the two rows of loose packages output from the dispersing and distribution module 1 flow through the chute 21 and enter the inclined conveyor belt sections respectively, according to the second... The visual recognition system 25 feeds back the pack stacking status and adjusts the running speed of each section of the conveyor belt. It uses the gravity difference generated by the drop difference between the first two sections of the first inclined conveyor belt 22 and the last four sections of the second inclined conveyor belt 23 and the time difference of the pack falling, combined with speed control, to separate the stacked packs from each other and achieve longitudinal separation. The separated packs are then transported downstream by the first horizontal conveyor belt 24, which is connected at an angle to the last four sections of the second inclined conveyor belt 23. Its function is to specifically solve the problem of longitudinal pack stacking and ensure that the packs entering the plane separation stage do not overlap vertically.

[0055] Furthermore, when the second visual recognition system 25 detects a malfunction in either the first inclined conveyor belt 22 or the second inclined conveyor belt 23 on one side, the packages originally planned to be delivered to the malfunctioning first inclined conveyor belt 22 can be guided to the non-malfunctioning first inclined conveyor belt 22 via the unpacking and distribution module 1. The non-malfunctioning first inclined conveyor belt 22 and the second inclined conveyor belt 23 continue to operate normally, continue to receive packages and complete longitudinal separation. The separated packages are then delivered to the planar separation module 3 via the corresponding first horizontal conveyor belt 24, ensuring that the spatial separation process will not be completely halted due to a single component failure.

[0056] The dispersing and distribution module 1 includes a module belt 11 and a first visual recognition system 12. The first visual recognition system 12 is installed on the top of the module belt 11, and the outlet end of the module belt 11 is connected to the chute 21.

[0057] The disassembly and distribution module 1 includes a module belt 11 and a first vision recognition system 12. The inlet section of the module belt 11 is a single-channel area controlled by a single motor, used to receive stacked packages conveyed from upstream. The outlet section is a dual-channel area controlled by two sets of dual motors. The first vision recognition system 12 can identify the turning action area and the package entry and exit areas on the module belt 11. In use, the stacked packages first enter the single-channel area of ​​the module belt 11. The first vision recognition system 12 continuously captures and identifies the number of stacked layers, distribution density, and entry and exit status of the packages in the identification area. The system adjusts the speed of the dual motors in the dual-channel area of ​​the outlet section according to the package status. Through the speed difference, the randomly stacked packages are gradually guided and diverted into two rows of non-overlapping loose packages. Its function is to break the initial stacking state of the packages and provide a regular pre-processing basis for subsequent longitudinal separation, avoiding the impact of excessive package stacking on separation efficiency.

[0058] The planar separation module 3 includes a narrow belt machine array 31 and a third vision recognition system 32. The narrow belt machine array 31 is connected to the outlet end of two sets of first horizontal belt conveyors 24, and the third vision recognition system 32 is installed above the narrow belt machine array 31.

[0059] Specifically, the narrow-band machine array 31 consists of 6×10 small narrow-band machines, which are connected to the two sets of first horizontal belt conveyors 24 of the space separation module 2. In use, the two rows of loose packages after longitudinal separation enter the area of ​​the narrow-band machine array 31. The third vision recognition system 32 captures the planar distribution of the packages on the narrow-band machine array 31 in real time, identifies whether there are situations where they are closely packed together or side by side, and adjusts the independent running speed of each small narrow-band machine in the narrow-band machine array 31 according to the recognition results. Through the coordination of some narrow-band machines accelerating and some decelerating, the packages are gradually spaced apart, and finally two rows of single-package flows without overlap are formed. Its function is to eliminate the messy distribution of packages in the planar dimension and provide an orderly package flow for subsequent anomaly rejection and flow distribution.

[0060] The diversion and rejection module 4 includes a second horizontal belt conveyor 41, two sets of swing wheel mechanisms 42 and a fourth visual recognition system 43. The two sets of swing wheel mechanisms 42 can operate independently. One end of the second horizontal belt conveyor 41 is connected to the outlet end of the narrow belt conveyor array 31, and the other end of the second horizontal belt conveyor 41 is connected to one side of one set of swing wheel mechanisms 42. The other side of one set of swing wheel mechanisms 42 is connected to one side of the other set of swing wheel mechanisms 42.

[0061] In use, the fourth vision recognition system 43 photographs the packages being transported and identifies whether they are abnormal items such as damaged, out-of-specification, or missing barcodes. If an item is abnormal, one of the set of swing wheel mechanisms 42 rotates to move it to the rejection channel. For qualified items, based on the real-time flow data of the two channels fed back by the downstream dual-channel conveying module 5, the swing wheel mechanism 42 is controlled to independently adjust its direction of rotation, evenly distributing the qualified items to the corresponding conveying paths of the two channels. Its function is to ensure that all packages entering the downstream are qualified, while avoiding overloading or vacancy of packages in a single channel, thus balancing the transport capacity.

[0062] The dual-channel conveying module 5 includes two sets of channel equipment. Both sets of channel equipment are connected to the outlet end of the diversion and rejection module 4. The channel equipment consists of a side-mounting machine 51 connected end to end and a third horizontal belt conveyor 52. The edge side of the side-mounting machine 51 extends outward from the edge side of the swing wheel mechanism 42 in the diversion and rejection module 4.

[0063] In use, qualified packages allocated by the diversion and rejection module 4 enter two sets of edge-aligning machines 51. The edge-aligning machine 51 uses outward-extending edge guide plates to gradually correct the packages to a uniform posture on the side of the channel, preventing the packages from being crooked and affecting the downstream sorting and scanning. The corrected packages enter the corresponding third horizontal belt conveyor 52 and are continuously output to the downstream fully automatic sorting machine at a stable speed. Its function is to provide regular and continuous supply to the downstream sorting machine, ensuring a smooth sorting process.

[0064] Furthermore, when one set of channel equipment fails, single-row single-item flow can be carried out through the plane separation module 3, and then all packages can be turned to another set of channel equipment without failure through the swing wheel mechanism 42. The packages can then be transported through the side-mounting machine 51 and the third horizontal belt conveyor 52, thus avoiding the problem of interruption of the supply of downstream fully automatic sorting machine due to the failure of a single channel equipment.

[0065] Please see as follows Figure 3 As shown, the present invention also provides a dynamic control algorithm for a visual recognition-based dual-channel stacked component separation system, applied to the aforementioned visual recognition-based dual-channel stacked component separation system, comprising:

[0066] Stacked packages are fed into the module belt 11 of the unpacking and distribution module 1 by the upstream conveyor line. The first vision recognition system 12 captures images in real time of the turning action area and the package entry and exit areas on the module belt 11, and analyzes the number of stacked layers, planar distribution density and the frequency of package entry and exit from the module belt 11. At the same time, the system data link receives the belt conveyor operation status data of the downstream spatial separation module 2, the load data of the narrow belt machine array 31 of the planar separation module 3, and the two channels flow data of the dual-channel conveyor module 5. Based on the flow data, the dual motor speed of the dual channel area of ​​the module belt 11 exit section is adjusted. The stacked packages are gradually unpacked and guided into two rows of loose packages by the speed difference.

[0067] Specifically, when a set of ramp conveyors in the space separation module 2 jams, resulting in a decrease in the supply capacity, or when a set of channel equipment in the dual-channel conveyor module 5 stops, resulting in a decrease in the downstream receiving capacity, the first vision recognition system 12 will combine the real-time flow data fed back from the downstream to control the motor in the single-channel area of ​​the module belt 11 to reduce the speed and slow down the rate at which packages enter. At the same time, it will adjust the speed difference between the motors in the dual-channel area of ​​the outlet section to reduce the amount of packages allocated to the faulty module side and prevent packages from accumulating on the chute 21 or belt conveyor at the front end of the faulty module.

[0068] Two rows of loose items flow through the chute 21 and enter the space separation module 2 respectively. After anomaly identification, the packages are separated longitudinally and transported to the plane separation module 3.

[0069] Specifically, based on the second visual recognition system 25, the current stacking status of packages on the belt is determined. If stacked packages are detected, an acceleration command is sent to the first inclined belt conveyor 22 of the corresponding group and a deceleration command is sent to the second inclined belt conveyor 23 according to the number of stacked layers. The gravity difference generated by the height difference between the two belt conveyors, the inertia of the packages moving with the belt, and the tilt angle of the inclined belt cause the upper layer of packages to fall ahead due to inertia and the lower layer of packages to move behind with the deceleration belt, thereby realizing the longitudinal separation of the stacked packages. The separated packages are then transported to the planar separation module 3 via the first horizontal belt conveyor 24 connected at an angle to the second inclined belt conveyor 23.

[0070] Furthermore, when the second visual recognition system 25 detects a fault such as belt slippage or motor stoppage in one of the first or second inclined belt conveyors 22 or 23 in the space separation module 2, it controls the upstream dispersing and distribution module 1 to adjust the guiding mechanism of the exit section of the module belt 11 according to the real-time package distribution status, so as to guide all the packages originally allocated to the faulty side to the other set of first or second inclined belt conveyors 22 or 23 without faults, ensuring the continuous operation of the space separation link.

[0071] The planar separation module 3, in conjunction with the third vision recognition system 32, determines the distribution status of the packages. Based on the spacing adjustment of the narrowband machine array 31 and the speed coordination of each small narrowband machine, the planar distributed packages are transformed into two rows of single-item flows and transported to the diversion and rejection module 4.

[0072] Specifically, when the third vision recognition system 32 detects, by capturing images on the narrowband machine array 31, that there are packages that are closely packed together, side by side, or still stacked packages that are not completely separated, it adjusts the running speed of the small narrowband machines at the corresponding positions. For packages that are closely packed together, it instructs the narrowband machine on the front to accelerate and the narrowband machine on the back to decelerate to increase the spacing. For packages that are side by side, it instructs one narrowband machine to pause for 0.2 seconds and then resume operation. For the remaining stacked packages, it uses the difference in speed between adjacent sets of narrowband machines to form a lateral pulling force to separate the stacked packages, ultimately forming two rows of neat single-item flows.

[0073] The diversion and rejection module 4 identifies the status of packages based on the fourth vision recognition system 43, and rejects abnormal items and controls the package flow according to the package recognition results.

[0074] Specifically, the fourth vision recognition system 43 captures images of single-item packages being transported on the second horizontal conveyor belt 41, identifying any abnormal packages such as damaged packaging, sizes exceeding preset ranges, or missing barcodes. When an abnormal package moves to the swing wheel mechanism 42, the mechanism rotates at a certain angle, pushing the abnormal item into the side rejection channel. The fourth vision recognition system 43 identifies the position coordinates of qualified packages on the second horizontal conveyor belt 41 in real time and obtains real-time flow data of two channels in the downstream dual-channel conveyor module 5 via a data link. When a channel is found to have excessively high package density, the swing wheel mechanism 42 rotates towards the channel with lower package density to perform secondary flow distribution, ensuring that the package flow on the fault-free channel is within a reasonable range. Simultaneously, the rotation adjustment of the swing wheel mechanism 42 ensures that the package flow entering each channel of the downstream conveyor module meets the supply-side flow ratio requirements of the downstream sorting equipment, achieving an overall balance between the supply flow and sorting requirements under fault conditions, reducing the impact on sorting efficiency.

[0075] Qualified packages enter the dual-channel conveyor module 5, and after posture correction based on the edge-aligning machine 51, they are output as either dual-channel single-piece flow or single-channel single-piece flow.

[0076] Specifically, based on the guide plate extending outward from the edge of the edge-adjusting machine 51, a lateral thrust is applied to the qualified packages entering the channel, gradually correcting the packages to a uniform posture on the side of the channel, avoiding package tilting that would cause downstream sorting and scanning failures. The corrected packages enter the third horizontal belt conveyor 52 of the corresponding group. The two groups of channel equipment operate simultaneously to form a stable dual-channel single-piece flow output. When the system detects a fault in one of the channel equipment through the sensor below the third horizontal belt conveyor 52, the control plane separation module 3 switches the operating mode, causing the row of small narrow belt machines on the faulty channel side of the narrow belt machine array 31 to stop operating, and only the other row of narrow belt machines transports packages, transforming the two rows of flat packages into a single-piece flow. At the same time, the control wheel mechanism 42 in the diversion and rejection module 4 rotates to the side of the fault-free channel equipment, turning all qualified packages to be transported to the fault-free channel, and forming a single-channel single-piece flow output package through its edge-adjusting machine 51 and the third horizontal belt conveyor 52.

[0077] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A dual-channel stacked component separation system based on visual recognition, characterized in that, Including those connected sequentially: A sorting and distribution module is used to monitor the stacking status of packages and distribute them into two rows of loose packages. A spatial separation module, used for longitudinal separation of packages, wherein the inlet end of the spatial separation module is connected to the outlet end of the dispersing and distributing module; A planar separation module is used to divide the package of scattered items into two rows of single items. The inlet of the planar separation module is connected to the outlet of the spatial separation module. The diversion and rejection module is used to reject abnormal components and adjust the flow distribution. The inlet of the diversion and rejection module is connected to the outlet of the planar separation module. A dual-channel conveying module is used to form a stable single-piece flow output in two channels. The inlet end of the dual-channel conveying module is connected to the outlet end of the diversion and rejection module.

2. The dual-channel stacked component separation system based on visual recognition according to claim 1, characterized in that: The spatial separation module includes a chute, two sets of first inclined belt conveyors, two sets of second inclined belt conveyors, two sets of first horizontal belt conveyors, and a second vision recognition system. The two sets of first inclined belt conveyors are connected end-to-end to the two sets of second inclined belt conveyors respectively, with a drop. The outlet end of the dispersing and distribution module is connected to one end of the two sets of first inclined belt conveyors through the chute. The ends of the two sets of second inclined belt conveyors away from the first inclined belt conveyors are connected to the two sets of first horizontal belt conveyors respectively. The second visual recognition system is located above the chute, the first inclined belt conveyor, the second inclined belt conveyor, and the two sets of first horizontal belt conveyors.

3. The dual-channel stacked component separation system based on visual recognition according to claim 2, characterized in that: The dispersing and distribution module includes a module belt and a first visual recognition system. The first visual recognition system is installed on the top of the module belt, and the outlet end of the module belt is connected to the chute.

4. The dual-channel stacked component separation system based on visual recognition according to claim 2, characterized in that: The planar separation module includes a narrow belt conveyor array and a third vision recognition system. The narrow belt conveyor array is connected to the outlet ends of two sets of the first horizontal belt conveyor, and the third vision recognition system is installed above the narrow belt conveyor array.

5. A dual-channel stacked component separation system based on visual recognition according to claim 4, characterized in that: The diversion and rejection module includes a second horizontal belt conveyor, two sets of swing wheel mechanisms and a fourth visual recognition system. One end of the second horizontal belt conveyor is connected to the outlet end of the narrow belt conveyor array, and the other end of the second horizontal belt conveyor is connected to one side of one set of swing wheel mechanisms. The other side of one set of swing wheel mechanisms is connected to one side of the other set of swing wheel mechanisms.

6. The dual-channel stacked component separation system based on visual recognition according to claim 1, characterized in that: The dual-channel conveying module includes two sets of channel equipment, both of which are connected to the outlet end of the diversion and rejection module. The channel equipment consists of a side-mounted machine connected end to end and a third horizontal belt conveyor.

7. A dynamic control algorithm for a visual recognition-based dual-channel stacked component separation system, applied to the visual recognition-based dual-channel stacked component separation system according to any one of claims 1 to 6, characterized in that, Including: Stacked packages enter the unpacking and distribution module. The first vision recognition system monitors the stacking status and distribution density of the packages in real time, and combines the real-time flow data fed back from downstream equipment to unpack the stacked packages and distribute them into two rows of loose packages. Two rows of loose packages enter the spatial separation module for anomaly identification, and after the packages are separated longitudinally, they are transported to the planar separation module; The planar separation module, in conjunction with the third visual recognition system, uses the spacing adjustment and speed coordination of the narrowband array to transform the planarly distributed packages into two rows of single-item flows for transport to the diversion and rejection module; when the third visual recognition system detects stacked packages, the planar separation module separates the stacked packages. The diversion and rejection module identifies packages based on the fourth vision recognition system, rejects abnormal items and controls package flow according to the package recognition results; Qualified packages enter the dual-channel conveyor module, and after posture correction by the edge-aligning machine, they are output as either dual-channel single-piece flow or single-channel single-piece flow.

8. The dynamic control algorithm for a dual-channel stacked component separation system based on visual recognition according to claim 7, characterized in that, The two rows of loose packages enter the spatial separation module for anomaly identification, and after longitudinal separation, the packages are transported to the planar separation module, including: The second vision recognition module determines the stacking status of packages on the current belt. Based on the stacking status, the first and second inclined belt conveyors control the acceleration and deceleration of the belt. Using the inertia of the packages themselves and the angle of the belt, the packages stacked on top of each other are longitudinally separated and transported to the plane separation module. When the second vision recognition module detects a fault in one of the first or second inclined conveyor belts in the spatial separation module, it controls the upstream dispersing and distribution module to distribute the packages to the other set of first or second inclined conveyor belts that are not faulty, based on the real-time package distribution status.

9. The dynamic control algorithm for a dual-channel stacked component separation system based on visual recognition according to claim 7, characterized in that, The diversion and rejection module identifies packages based on a fourth-vision recognition system, rejects abnormal items based on the package identification results, and controls package flow, including: Anomalies are identified using a fourth vision recognition system, and the balance wheel mechanism is controlled to remove the abnormal items based on the recognition results. The fourth vision recognition system is used to identify the location of packages. Based on the package flow rate on the downstream dual-channel conveyor module, the flow rate is distributed in a secondary manner. The control wheel mechanism is used to adjust the package flow rate on each channel entering the downstream conveyor module to meet the supply-side flow ratio requirements of the downstream sorting equipment.

10. The dynamic control algorithm for a dual-channel stacked component separation system based on visual recognition according to claim 7, characterized in that, The qualified packages enter the dual-channel conveyor module, and after attitude correction based on the edge-aligning machine, they are output as either dual-channel single-item flow or single-channel single-item flow packages, including: After the edge-aligning machine corrects the posture of qualified packages, the packages are output in a dual-channel single-piece flow through two sets of channel equipment. When a fault is detected in one of the channel devices, the control plane separation module switches the operating mode, transforms the flat packages into a single-item flow, and controls the swing wheel mechanism in the diversion and rejection module to redirect all packages to the other set of fault-free channel devices, forming a single-channel single-item flow of packages.

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