Intelligent stacking system for sports equipment carrying

Abstract

The invention relates to the technical field of yoga brick stacking, and discloses a sports equipment carrying intelligent stacking system.The sports equipment carrying intelligent stacking system comprises the steps that firstly, a first height threshold value and a second height threshold value are set, the heights of yoga bricks on a conveying belt are obtained, and therefore the states of the yoga bricks are judged; determining the minimum wind power required for respectively changing the yoga bricks in the second state and the third state into the yoga bricks in the first state through a wind power test; then, the height of the yoga bricks on the conveying belt is adjusted to meet the set standard; according to a visual inspection strategy, whether the yoga bricks are qualified or not is judged, the qualified yoga bricks are stacked, and the unqualified yoga bricks are removed; in the stacking process, the length and the width of the yoga bricks are obtained, the stacking numerical value is calculated, a stacking area is divided into a plurality of sub-areas, and stacking is conducted according to a specific sequence; and after the stacking area is completely covered by the yoga bricks, the yoga bricks are integrally conveyed to a stacking platform, and final stacking is completed through platform rotation and height adjustment.

Description

Technical Field

[0001] This invention relates to the field of yoga brick stacking technology, specifically to an intelligent stacking system for handling sports equipment. Background Technology

[0002] With the development of automation technology, traditional manual palletizing methods are gradually being replaced by automated palletizing systems. However, existing automated palletizing systems often struggle to achieve efficient and accurate palletizing in complex situations. Current palletizing methods primarily rely on robotic arms and fixed-pattern program control. While this can improve palletizing efficiency to some extent, it still has many limitations. For example, when yoga bricks on the conveyor belt are at inconsistent heights, the robotic arm's operation is prone to errors, leading to unsatisfactory palletizing results. Simultaneously, most existing vision inspection systems can only simply determine the presence or absence of yoga bricks, failing to accurately measure their specific shape, thus affecting the accuracy and stability of palletizing. Furthermore, existing palletizing systems handle qualified but defective yoga bricks in a relatively simple way, typically simply rejecting them after detection, failing to effectively utilize them and resulting in resource waste. With increasing demands for environmental protection and resource utilization, how to rationally handle and utilize defective yoga bricks has become a problem that needs to be considered in the design of palletizing systems. Summary of the Invention

[0003] This invention provides an intelligent palletizing system for handling sports equipment, which helps to solve the problems mentioned in the background art.

[0004] This invention provides the following technical solution: an intelligent palletizing system for handling sports equipment, specifically comprising: Set the first height threshold; Set a second height threshold; Get the height of the yoga blocks on the conveyor belt; The yoga block is a cuboid structure with six faces. The two faces with the same area and the largest area are called the first face, the two faces with the same area and the smallest area are called the third face, and the remaining two faces are called the second face; Yoga blocks are classified into three types based on their height: first-state yoga block, second-state yoga block, and third-state yoga block. According to the first testing strategy, the minimum wind force required to change the second-state yoga brick to the first-state yoga brick is obtained. The minimum wind force required to change the second-state yoga brick to the first-state yoga brick is denoted as the first wind force. According to the second testing strategy, the minimum wind force required to change the third-state yoga brick back to the first-state yoga brick is obtained. The minimum wind force required to change the third-state yoga brick back to the first-state yoga brick is denoted as the second wind force. Adjust the height of the yoga blocks on the conveyor belt according to the adjustment strategy; Determine whether yoga blocks on the conveyor belt are up to standard based on a visual inspection strategy; If the yoga blocks on the conveyor belt are up to standard; Perform palletizing operations according to the palletizing strategy; If the yoga blocks on the conveyor belt are not up to standard; Remove any substandard yoga blocks.

[0005] Optionally, the strategy for determining the type of yoga block based on its height includes: Compare the height of the yoga blocks on the conveyor belt with the magnitudes of the first height threshold and the second height threshold; If the height of the yoga block on the conveyor belt is less than the first height threshold, then the yoga block on the conveyor belt whose height is less than the first height threshold is recorded as the first state yoga block. The first state yoga block refers to the yoga block whose first surface is in contact with the conveyor belt. If the height of the yoga brick on the conveyor belt is greater than the first height threshold and less than the second height threshold, then the yoga brick on the conveyor belt whose height is greater than the first height threshold and less than the second height threshold is recorded as the second state yoga brick. The second state yoga brick refers to the yoga brick whose second side is in contact with the conveyor belt. If the height of the yoga block on the conveyor belt is greater than the second height threshold, then the yoga block on the conveyor belt whose height is greater than the second height threshold is recorded as the third state yoga block. The third state yoga block refers to the yoga block whose third side is in contact with the conveyor belt.

[0006] Optionally, the step of testing and obtaining the minimum wind force required to change the yoga block from its second state to its first state according to the first testing strategy specifically includes: Place the yoga block on the conveyor belt with any second side in contact with it, and call this yoga block the first test yoga block. Select any one of the first faces of the first test yoga block and denote it as the first test face; Obtain the geometric center of the first test surface and denote it as the first test point; The initial jet velocity of the pneumatic device is set to 0 meters per second. The pneumatic device is made to spray air at the first test point at a speed of 0 meters per second. If the yoga block in the first test is not changed to the yoga block in the first state, then increase the air jet speed of the pneumatic device by an amount of A meters per second; The pneumatic device is made to spray air at the first test point at a jet speed of A meters per second; If the first test yoga block is changed to the first state yoga block, then record the jet speed of the pneumatic device at this time, and record it as the first wind force; If the yoga block in the first test is not changed to the yoga block in the first state, then increase the air jet speed of the pneumatic device by an amount of A meters per second; Until the pneumatic device sprays air onto the first test point at the airflow speed before the increase in airflow speed, the first test yoga block does not change to the first state yoga block; when the pneumatic device sprays air onto the first test point at the airflow speed after the increase in airflow speed, the first test yoga block changes to the first state yoga block; the airflow speed after the increase in airflow speed is recorded as the first wind force.

[0007] Optionally, the step of obtaining the minimum wind force required to change the yoga block from the third state to the first state according to the second testing strategy specifically includes: Place the yoga block on the conveyor belt with any third side in contact with it, and call this yoga block the second test yoga block. Select any one of the first faces of the second test yoga block and denote it as the second test face; Obtain the geometric center of the second test surface, and denote it as the second test point; The initial jet velocity of the pneumatic device is set to 0 meters per second. The pneumatic device is made to spray air at the second test point at a speed of 0 meters per second. If the second test yoga block is not changed to the first state yoga block, then increase the air jet speed of the pneumatic device by an amount of A meters per second; The pneumatic device is made to spray air at the second test point at a jet speed of A meters per second; If the second test yoga block is changed to the first state yoga block, then record the jet speed of the pneumatic device at this time, and record it as the second wind force; If the second test yoga block is not changed to the first state yoga block, then increase the air jet speed of the pneumatic device by an amount of A meters per second; Until the pneumatic device sprays air onto the second test point at the airflow rate before the increase in airflow speed, the second test yoga block does not change to the first state yoga block; when the pneumatic device sprays air onto the second test point at the airflow rate after the increase in airflow speed, the second test yoga block changes to the first state yoga block; the airflow rate after the increase in airflow speed is recorded as the second wind force.

[0008] Optionally, adjusting the height of the yoga blocks on the conveyor belt according to the adjustment strategy specifically includes: Obtain the operating range of the pneumatic device; Get the position of the yoga block in the second state; If the second-state yoga block is within the working range of the pneumatic device, then the second-state yoga block within the working range of the pneumatic device is recorded as the first target yoga block. Rotate the first target yoga block so that its first face is parallel to the conveyor belt's direction of travel; Obtain the geometric center of the first face of the yoga block that is closest to the pneumatic device, and denote it as the first target point; The pneumatic device is made to spray air at the first target point at the jet speed of the first wind force.

[0009] Optionally, adjusting the height of the yoga blocks on the conveyor belt according to the adjustment strategy further includes; Find the position of the yoga block in the third state; If the position of the third-state yoga block is within the working range of the pneumatic device, then the third-state yoga block within the working range of the pneumatic device is recorded as the second target yoga block. Rotate the second target yoga block so that its first face is parallel to the conveyor belt's direction of travel. Obtain the geometric center of the first face of the yoga block that is closest to the pneumatic device, and denote it as the second target point; The pneumatic device is made to spray air at the second target point at the jet speed of the second wind force.

[0010] Optionally, the step of determining whether the yoga blocks on the conveyor belt are qualified based on the visual detection strategy specifically includes: Select any yoga block that is not broken and designate it as the standard yoga block; Collect the area of ​​any first surface of a standard yoga block and record it as the standard area; For each yoga block on the conveyor belt; Collect the area of ​​any first face of a yoga block; Set a qualified threshold N; If the area of ​​the yoga block / standard area < N, the yoga block is considered unqualified and recorded as an unqualified yoga block. The unqualified yoga block is then removed from the conveyor belt. If the area of ​​the yoga block / the standard area = 1, then the yoga block is considered qualified and is recorded as the first qualified yoga block. If N ≤ the area of ​​the yoga block / the standard area < 1, then the yoga block is considered qualified and is recorded as the second qualified yoga block. Perform palletizing operations according to the palletizing strategy.

[0011] Optionally, performing the palletizing operation according to the palletizing strategy specifically includes: Obtain the length of the first side of the yoga block, denoted as U; Get the width of the first side of the yoga block, denoted as V; Calculate the least common multiple of the length and width of the first face of the yoga block, and record it as the stacking value. The side length of the palletizing area is set to the palletizing value. The palletizing area is a square area and is located at the end of the conveyor belt along the conveying direction. The first palletizing area boundary that appears along the direction of the conveyor belt and is perpendicular to the central axis of the conveyor belt is denoted as the first boundary. The second boundary of the stacking area that appears along the direction of the conveyor belt and is perpendicular to the central axis of the conveyor belt is called the second boundary. A straight line perpendicular to the central axis of the conveyor belt and including the first boundary is drawn and denoted as the first straight line; Draw a straight line perpendicular to the central axis of the conveyor belt and including the second boundary, and denote it as the second straight line; Starting from the first straight line, draw a straight line perpendicular to the central axis of the conveyor belt at intervals U between the first and second straight lines, dividing the palletizing area into V regions, which are named as the first sub-region, the second sub-region, ... the Vth sub-region in order of increasing distance from the second straight line; The stacking order is as follows: first sub-region, second sub-region...Vth sub-region; Stacking is performed in each sub-region in a left-to-right order; For all the yoga blocks on the conveyor belt; Find the longest edge of the yoga block; If the longest edge of the yoga block is parallel to the central axis of the conveyor belt, no action is taken. If the longest edge of the yoga block is not parallel to the central axis of the conveyor belt, rotate the yoga block until the longest edge of the yoga block is parallel to the central axis of the conveyor belt. Obtain the distances from all yoga bricks on the conveyor belt to the first boundary, and sort them in ascending order of distance to form a sequence; If multiple second-qualified yoga blocks are adjacent in the sequence; Adjacent second qualified yoga bricks form an adjacent set; Find the number of second-qualified yoga bricks in adjacent sets, denoted as S; Obtain the first qualified yoga blocks that appear in pairs in the sequence, and label them as the first target group, the second target group, ... the Xth target group according to the sequence order; Place the sequence position of the first qualified yoga brick in the adjacent set between two qualified yoga bricks in the first target group; place the sequence position of the second qualified yoga brick in the adjacent set between two qualified yoga bricks in the second target group; ... place the sequence position of the Sth qualified yoga brick in the adjacent set between two qualified yoga bricks in the Sth target group. Until no multiple second-qualified yoga blocks are adjacent; In addition, the positions from the first to the Vth position and from the (V-1)*U+1th position to the U*Vth position, as well as the 2nd Uth position, the 3rd Uth position, ... the (V-1)*Uth position and the U+1th position, the 2nd U+1th position, ... the (V-2)*Uth position, are obtained and recorded as special positions; If a second qualified yoga brick appears in a special location, obtain the number of second qualified yoga bricks appearing in the special location, denoted as P; Place the sequence position of the first qualified yoga brick in the special position between two qualified yoga bricks in the S+1 target group, place the sequence position of the second qualified yoga brick in the special position between two qualified yoga bricks in the S+2 target group, ... place the sequence position of the Pth qualified yoga brick in the adjacent set between two qualified yoga bricks in the S+P target group. No second qualified yoga block appeared in a specific location; A new sequence is formed, denoted as the palletizing sequence; The yoga bricks are conveyed to the stacking area in the order of the stacking sequence for stacking. When the stacking area is completely covered by yoga bricks, the yoga bricks in the stacking area are transferred to the stacking platform as a whole. The palletizing platform is located at the end of the conveyor belt, and its height is consistent with that of the conveyor belt. When the yoga bricks in the stacking area are completely transferred to the stacking platform; The palletizing platform rotates 90 degrees clockwise while its height decreases, making the upper surface of the yoga bricks on the palletizing platform flush with the conveyor belt.

[0012] The present invention has the following beneficial effects: 1. This intelligent palletizing system for handling sports equipment distinguishes yoga bricks in different states by setting a first height threshold and a second height threshold, thereby improving the accuracy of yoga brick detection. Visual inspection accurately acquires the height of yoga bricks on the conveyor belt, and the state of the yoga bricks is determined by comparing the height with the threshold. Traditional yoga brick detection methods may rely solely on simple mechanical sensors, which are easily affected by external interference or sensor accuracy limitations, leading to significant detection errors. This method, however, improves the reliability and accuracy of detection through visual inspection. This is crucial for ensuring the accuracy of subsequent palletizing operations, significantly reducing palletizing errors caused by yoga brick detection mistakes, and improving production efficiency and finished product quality.

[0013] 2. This intelligent palletizing system for handling sports equipment, based on a first test strategy and a second test strategy, obtains the minimum airflow required to change yoga blocks from a second state and a third state to a first state, thus optimizing the use of pneumatic devices. By accurately testing the required minimum airflow, overuse of pneumatic devices can be avoided, saving energy and reducing equipment wear. Traditional methods may use a fixed airflow to adjust the state of all yoga blocks, leading to unnecessary equipment damage. In this method, by gradually increasing the jet speed of the pneumatic device until the yoga block changes state, the minimum necessary airflow can be ensured. Furthermore, recording and using precise airflow values ​​can improve the stability and repeatability of the adjustment process, ensuring consistent results for each operation, thereby improving the reliability and lifespan of the entire system.

[0014] 3. This intelligent palletizing system for handling sports equipment uses pneumatic devices to adjust the height and posture of yoga bricks with appropriate wind force according to their different states, ensuring precise placement of yoga bricks within the palletizing area. This method obtains the position and state of yoga bricks through visual detection, combined with the adjustment strategy of the pneumatic device, so that each brick enters the palletizing area in the optimal posture, thus forming a stable and compact stacking structure. Traditional palletizing methods may rely on robotic arms or simple conveyor belt systems, which are prone to uneven placement of yoga bricks and unstable stacking. In contrast, this method, by precisely adjusting the height and position of each brick, ensures optimal results for each palletizing, significantly improving the neatness and stability of the stacking and reducing the risk of collapse or damage due to unstable stacking.

[0015] 4. This intelligent palletizing system for handling sports equipment significantly improves palletizing efficiency by rotating and adjusting yoga bricks on the conveyor belt according to the parallelism of their longest edge with the central axis of the conveyor belt. This ensures the yoga bricks are arranged in the optimal way. Traditional palletizing operations may require manual adjustment of each brick, which is time-consuming and prone to errors. This method automatically rotates and adjusts the yoga bricks to ensure they enter the palletizing area in the optimal posture, enabling rapid arrangement and stacking of yoga bricks. Furthermore, by setting up palletizing areas and sub-areas and performing palletizing operations in a predetermined order, a highly efficient and orderly palletizing process can be achieved, reducing the dwell time of yoga bricks on the conveyor belt and improving the overall operating efficiency of the production line. Automated palletizing operations not only improve efficiency but also reduce labor costs and enhance the automation level of the production line.

[0016] 5. This intelligent palletizing system for handling sports equipment obtains the distances of all yoga bricks on the conveyor belt to the first boundary and sorts them in ascending order of distance to form a sequence. The system then determines whether multiple second-qualified yoga bricks are adjacent or located at the edge of the palletizing area. If so, adjustments are made to ensure that no two second-qualified yoga bricks are adjacent or located at the edge of the palletizing area. Specifically, when multiple second-qualified yoga bricks are adjacent in the sequence, rearranging them between the corresponding first-qualified yoga bricks effectively breaks the potential instability caused by adjacent second-qualified yoga bricks. This not only improves the rationality of the palletizing sequence but also ensures the overall stability of the yoga brick stack, reducing the risk of collapse and damage.

[0017] 6. This intelligent palletizing system for handling sports equipment conveys yoga bricks as a whole to a palletizing platform, which is then rotated 90 degrees clockwise and lowered in height, ensuring the upper surface of the yoga bricks on the platform is flush with the conveyor belt. This ensures the stability and neatness of the palletizing structure. Traditional palletizing methods may cause tilting or misalignment of yoga bricks during stacking, leading to instability or collapse. However, this method ensures neatness and stability during stacking by moving and rotating the yoga bricks as a whole within the palletizing area. Furthermore, by adjusting the height of the palletizing platform to be flush with the conveyor belt, each layer of stacking is ensured to be on the same horizontal plane, further improving the stability and aesthetics of the stacking and reducing safety hazards caused by uneven stacking. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example, refer to Figure 1 A smart palletizing system for handling sports equipment, specifically comprising: Set the first height threshold; Set a second height threshold; Get the height of the yoga blocks on the conveyor belt; The yoga block is a cuboid structure with six faces. The two faces with the same area and the largest area are called the first face, the two faces with the same area and the smallest area are called the third face, and the remaining two faces are called the second face; Yoga blocks are classified into three types based on their height: first-state yoga block, second-state yoga block, and third-state yoga block. According to the first testing strategy, the minimum wind force required to change the second-state yoga brick to the first-state yoga brick is obtained. The minimum wind force required to change the second-state yoga brick to the first-state yoga brick is denoted as the first wind force. According to the second testing strategy, the minimum wind force required to change the third-state yoga brick back to the first-state yoga brick is obtained. The minimum wind force required to change the third-state yoga brick back to the first-state yoga brick is denoted as the second wind force. Adjust the height of the yoga blocks on the conveyor belt according to the adjustment strategy; Determine whether yoga blocks on the conveyor belt are up to standard based on a visual inspection strategy; If the yoga blocks on the conveyor belt are up to standard; Perform palletizing operations according to the palletizing strategy; If the yoga blocks on the conveyor belt are not up to standard; Remove any substandard yoga blocks.

[0021] The strategy for determining the type of yoga block based on its height specifically includes: Compare the height of the yoga blocks on the conveyor belt with the magnitudes of the first height threshold and the second height threshold; If the height of the yoga block on the conveyor belt is less than the first height threshold, then the yoga block on the conveyor belt whose height is less than the first height threshold is recorded as the first state yoga block. The first state yoga block refers to the yoga block whose first surface is in contact with the conveyor belt. If the height of the yoga brick on the conveyor belt is greater than the first height threshold and less than the second height threshold, then the yoga brick on the conveyor belt whose height is greater than the first height threshold and less than the second height threshold is recorded as the second state yoga brick. The second state yoga brick refers to the yoga brick whose second side is in contact with the conveyor belt. If the height of the yoga brick on the conveyor belt is greater than the second height threshold, then the yoga brick on the conveyor belt whose height is greater than the second height threshold is recorded as the third state yoga brick. The third state yoga brick refers to the yoga brick whose third side is in contact with the conveyor belt. This intelligent palletizing system for handling sports equipment distinguishes yoga bricks in different states by setting a first height threshold and a second height threshold, thereby improving the accuracy of yoga brick detection. Visual inspection accurately acquires the height of yoga bricks on the conveyor belt, and the system determines the state of the yoga bricks by comparing the height with the threshold. Traditional yoga brick detection methods may rely solely on simple mechanical sensors, which are easily affected by external interference or sensor accuracy limitations, leading to significant detection errors. This method, however, improves the reliability and accuracy of detection through visual inspection. This is crucial for ensuring the accuracy of subsequent palletizing operations, significantly reducing palletizing errors caused by yoga brick detection mistakes, and improving production efficiency and finished product quality.

[0022] The step of obtaining the minimum wind force required to change the yoga block from its second state to its first state according to the first testing strategy specifically includes: Place the yoga block on the conveyor belt with any second side in contact with it, and call this yoga block the first test yoga block. Select any one of the first faces of the first test yoga block and denote it as the first test face; Obtain the geometric center of the first test surface and denote it as the first test point; The initial jet velocity of the pneumatic device is set to 0 meters per second. The pneumatic device is made to spray air at the first test point at a speed of 0 meters per second. Applying air to the first test point ensures that the first surface of the yoga block makes contact with the conveyor belt after it is blown over. If the yoga block in the first test is not changed to the yoga block in the first state, then increase the air jet speed of the pneumatic device by an amount of A meters per second; The pneumatic device is made to spray air at the first test point at a jet speed of A meters per second; If the first test yoga block is changed to the first state yoga block, then record the jet speed of the pneumatic device at this time, and record it as the first wind force; If the yoga block in the first test is not changed to the yoga block in the first state, then increase the air jet speed of the pneumatic device by an amount of A meters per second; Until the pneumatic device sprays air onto the first test point at the airflow speed before the increase in airflow speed, the first test yoga block does not change to the first state yoga block; when the pneumatic device sprays air onto the first test point at the airflow speed after the increase in airflow speed, the first test yoga block changes to the first state yoga block; the airflow speed after the increase in airflow speed is recorded as the first wind force.

[0023] The step of obtaining the minimum wind force required to change the yoga brick from its third state to its first state according to the second testing strategy specifically includes: Place the yoga block on the conveyor belt with any third side in contact with it, and call this yoga block the second test yoga block. Select any one of the first faces of the second test yoga block and denote it as the second test face; Obtain the geometric center of the second test surface, and denote it as the second test point; The initial jet velocity of the pneumatic device is set to 0 meters per second. The pneumatic device is made to spray air at the second test point at a speed of 0 meters per second. Applying airflow to the second test point ensures that the first surface of the yoga block contacts the conveyor belt after it is blown over. If the second test yoga block is not changed to the first state yoga block, then increase the air jet speed of the pneumatic device by an amount of A meters per second; The pneumatic device is made to spray air at the second test point at a jet speed of A meters per second; If the second test yoga block is changed to the first state yoga block, then record the jet speed of the pneumatic device at this time, and record it as the second wind force; If the second test yoga block is not changed to the first state yoga block, then increase the air jet speed of the pneumatic device by an amount of A meters per second; Until the pneumatic device sprays air at the second test point at the air velocity before the increase in air velocity, the second test yoga block does not change to the first state yoga block; when the pneumatic device sprays air at the second test point at the air velocity after the increase in air velocity, the second test yoga block changes to the first state yoga block; the air velocity after the increase in air velocity is recorded as the second wind force; This intelligent palletizing system for handling sports equipment obtains the minimum airflow required to change yoga blocks from a second state and a third state to a first state, based on a first and a second testing strategy, respectively. This optimizes the use of pneumatic devices. By accurately testing the required minimum airflow, overuse of pneumatic devices can be avoided, saving energy and reducing equipment wear. Traditional methods may use a fixed airflow to adjust the state of all yoga blocks, leading to unnecessary equipment damage. In this method, by gradually increasing the jet speed of the pneumatic device until the yoga block changes state, the minimum necessary airflow can be ensured. Furthermore, recording and using precise airflow values ​​improves the stability and repeatability of the adjustment process, ensuring consistent results for each operation, thereby improving the reliability and lifespan of the entire system.

[0024] The adjustment of the height of the yoga blocks on the conveyor belt according to the adjustment strategy specifically includes: Obtain the operating range of the pneumatic device; Get the position of the yoga block in the second state; If the second-state yoga block is within the working range of the pneumatic device, then the second-state yoga block within the working range of the pneumatic device is recorded as the first target yoga block. Rotate the first target yoga block so that its first face is parallel to the conveyor belt's direction of travel; Obtain the geometric center of the first face of the yoga block that is closest to the pneumatic device, and denote it as the first target point; The pneumatic device is made to spray air at the first target point at the jet speed of the first wind force.

[0025] The method of adjusting the height of yoga blocks on the conveyor belt according to the adjustment strategy also includes: Find the position of the yoga block in the third state; If the position of the third-state yoga block is within the working range of the pneumatic device, then the third-state yoga block within the working range of the pneumatic device is recorded as the second target yoga block. Rotate the second target yoga block so that its first face is parallel to the conveyor belt's direction of travel. Obtain the geometric center of the first face of the yoga block that is closest to the pneumatic device, and denote it as the second target point; The pneumatic device is used to spray air at a second target point at a second airflow velocity; the pneumatic device is a common structure used to transport gas, such as a fan.

[0026] This intelligent palletizing system for handling sports equipment uses pneumatic devices to adjust the height and posture of yoga bricks with appropriate airflow based on their different states, ensuring precise placement of yoga bricks within the palletizing area. This method acquires the position and state of yoga bricks through visual detection, combined with the adjustment strategy of the pneumatic device, ensuring each brick enters the palletizing area in the optimal posture, thus forming a stable and compact stacking structure. Traditional palletizing methods may rely on robotic arms or simple conveyor belt systems, which are prone to uneven placement and unstable stacking. In contrast, this method, by precisely adjusting the height and position of each brick, ensures optimal results for each palletizing operation, significantly improving the neatness and stability of the stacking and reducing the risk of collapse or damage due to unstable stacking.

[0027] The method of determining whether yoga blocks on the conveyor belt are qualified based on a visual inspection strategy specifically includes: Select any yoga block that is not broken and designate it as the standard yoga block; Collect the area of ​​any first surface of a standard yoga block and record it as the standard area; For each yoga block on the conveyor belt; Collect the area of ​​any first face of a yoga block; Set a qualified threshold N; If the area of ​​the yoga block / standard area < N, the yoga block is considered unqualified and recorded as an unqualified yoga block. The unqualified yoga block is then removed from the conveyor belt. If the area of ​​the yoga block / the standard area = 1, the yoga block is considered qualified and is recorded as the first qualified yoga block; if the area of ​​the yoga block / the standard area = 1, it means that the yoga block is not damaged. If N ≤ the area of ​​the yoga block / standard area < 1, the yoga block is considered qualified and is recorded as the second qualified yoga block; if N ≤ the area of ​​the yoga block / standard area < 1, it means that the yoga block is damaged but does not affect its use, and is a qualified product. Perform palletizing operations according to the palletizing strategy.

[0028] The process of performing palletizing operations according to the palletizing strategy specifically includes: Obtain the length of the first side of the yoga block, denoted as U; Get the width of the first side of the yoga block, denoted as V; Calculate the least common multiple of the length and width of the first face of the yoga block, and record it as the stacking value. The side length of the palletizing area is set to the palletizing value. The palletizing area is a square area and is located at the end of the conveyor belt along the conveying direction. The first palletizing area boundary that appears along the direction of the conveyor belt and is perpendicular to the central axis of the conveyor belt is denoted as the first boundary. The second boundary of the stacking area that appears along the direction of the conveyor belt and is perpendicular to the central axis of the conveyor belt is called the second boundary. A straight line perpendicular to the central axis of the conveyor belt and including the first boundary is drawn and denoted as the first straight line; Draw a straight line perpendicular to the central axis of the conveyor belt and including the second boundary, and denote it as the second straight line; Starting from the first straight line, draw a straight line perpendicular to the central axis of the conveyor belt at intervals U between the first and second straight lines, dividing the palletizing area into V regions, which are named as the first sub-region, the second sub-region, ... the Vth sub-region in order of increasing distance from the second straight line; The stacking order is as follows: first sub-region, second sub-region...Vth sub-region; Stacking is performed in each sub-region in a left-to-right order; For all the yoga blocks on the conveyor belt; Find the longest edge of the yoga block; If the longest edge of the yoga block is parallel to the central axis of the conveyor belt, no action is taken. If the longest edge of the yoga block is not parallel to the central axis of the conveyor belt, rotate the yoga block until the longest edge of the yoga block is parallel to the central axis of the conveyor belt. This intelligent palletizing system for handling sports equipment significantly improves palletizing efficiency by rotating and adjusting yoga bricks on a conveyor belt according to the parallelism of their longest edge with the central axis of the conveyor belt. This ensures the yoga bricks are arranged in the optimal way. Traditional palletizing operations may require manual adjustment of each brick, which is time-consuming and prone to errors. This method, however, automatically rotates and adjusts the yoga bricks to ensure they enter the palletizing area in the optimal posture, enabling rapid arrangement and stacking of yoga bricks. Furthermore, by setting up palletizing areas and sub-areas and performing palletizing operations in a predetermined order, a highly efficient and orderly palletizing process can be achieved, reducing the dwell time of yoga bricks on the conveyor belt and improving the overall operating efficiency of the production line. Automated palletizing operations not only improve efficiency but also reduce labor costs and enhance the automation level of the production line. Obtain the distances from all yoga bricks on the conveyor belt to the first boundary, and sort them in ascending order of distance to form a sequence; If multiple second-qualified yoga blocks are adjacent in the sequence; Adjacent second qualified yoga bricks form an adjacent set; Find the number of second-qualified yoga bricks in adjacent sets, denoted as S; Obtain the first qualified yoga blocks that appear in pairs in the sequence, and label them as the first target group, the second target group, ... the Xth target group according to the sequence order; Place the sequence position of the first qualified yoga brick in the adjacent set between two qualified yoga bricks in the first target group; place the sequence position of the second qualified yoga brick in the adjacent set between two qualified yoga bricks in the second target group; ... place the sequence position of the Sth qualified yoga brick in the adjacent set between two qualified yoga bricks in the Sth target group. Until no multiple second-qualified yoga blocks are adjacent; In addition, the positions from the first to the Vth position and from the (V-1)*U+1th position to the U*Vth position, as well as the 2nd Uth position, the 3rd Uth position, ... the (V-1)*Uth position and the U+1th position, the 2nd U+1th position, ... the (V-2)*Uth position, are obtained and recorded as special positions; If the second qualified yoga brick is located at the first to the Vth position, the (V-1)*U+1th to the U*Vth position, the 2nd Uth position, the 3rd Uth position, ... the (V-1)*Uth position, the U+1th position, the 2nd U+1th position, ... the (V-2)*Uth position, it means that the second qualified yoga brick is at the edge of the stacking area; If a second qualified yoga brick appears in a special location, obtain the number of second qualified yoga bricks appearing in the special location, denoted as P; Place the sequence position of the first qualified yoga brick in the special position between two qualified yoga bricks in the S+1 target group, place the sequence position of the second qualified yoga brick in the special position between two qualified yoga bricks in the S+2 target group, ... place the sequence position of the Pth qualified yoga brick in the adjacent set between two qualified yoga bricks in the S+P target group. No second qualified yoga block appeared in a specific location; A new sequence is formed, denoted as the palletizing sequence; The yoga bricks are conveyed to the stacking area in the order of the stacking sequence for stacking. This intelligent palletizing system for handling sports equipment acquires the distances of all yoga bricks on the conveyor belt to the first boundary and sorts them in ascending order of distance to form a sequence. The system then determines whether multiple second-qualified yoga bricks are adjacent or located at the edge of the palletizing area. If such situations exist, adjustments are made to ensure that no two second-qualified yoga bricks are adjacent or located at the edge of the palletizing area. Specifically, when multiple second-qualified yoga bricks are adjacent in the sequence, rearranging them between corresponding first-qualified yoga bricks effectively breaks down the potential instability caused by adjacent second-qualified yoga bricks. This not only improves the rationality of the palletizing sequence but also ensures the overall stability of the yoga brick stack, reducing the risk of collapse and damage.

[0029] When the stacking area is completely covered by yoga bricks, the yoga bricks in the stacking area are transferred to the stacking platform as a whole. The palletizing platform is located at the end of the conveyor belt, and its height is consistent with that of the conveyor belt. When the yoga bricks in the stacking area are completely transferred to the stacking platform; The palletizing platform rotates 90 degrees clockwise while simultaneously lowering its height, aligning the top surface of the yoga bricks on the platform with the conveyor belt. This intelligent palletizing system for handling sports equipment ensures the stability and neatness of the palletizing structure by transferring the yoga bricks within the palletizing area to the palletizing platform and then rotating the platform 90 degrees clockwise while lowering its height to align the top surface of the yoga bricks with the conveyor belt. Traditional palletizing methods may result in tilting or misalignment during the stacking process, leading to instability or collapse. However, this method ensures neatness and stability during the stacking process by transporting and rotating the yoga bricks within the palletizing area as a whole. Furthermore, by adjusting the height of the palletizing platform to be level with the conveyor belt, it ensures that each layer of palletizing is on the same horizontal plane, further improving the stability and aesthetics of the stacking and reducing safety hazards caused by uneven stacking.

[0030] Palletizing system Pneumatic device that outputs gas to change the state of yoga blocks; Conveyor belt transports yoga blocks; A robotic arm used to grip yoga blocks and stack them; The controller is used to control the pneumatic devices, conveyor belts, and robotic arms to coordinate the palletizing work.

[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0032] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A smart palletizing system for handling sports equipment, characterized in that, Specifically, it includes: The yoga blocks in different placement states are respectively labeled as first state yoga block, second state yoga block and third state yoga block; Get the minimum wind force required to change the yoga block from the second state to the first state, and denote it as the first wind force; get the minimum wind force required to change the yoga block from the third state to the first state, and denote it as the second wind force. Adjust the height of the yoga blocks on the conveyor belt according to the adjustment strategy; Select any yoga block that is not broken and designate it as the standard yoga block; Collect the area of ​​any first surface of a standard yoga block and record it as the standard area; For each yoga block on the conveyor belt; Collect the area of ​​any first face of a yoga block; Set a qualified threshold N; If the area of ​​the yoga block / standard area < N, the yoga block is considered unqualified and recorded as an unqualified yoga block. The unqualified yoga block is then removed from the conveyor belt. If the area of ​​the yoga block / the standard area = 1, then the yoga block is considered qualified and is recorded as the first qualified yoga block. If N ≤ the area of ​​the yoga block / the standard area < 1, then the yoga block is considered qualified and is recorded as the second qualified yoga block. Perform stacking operations on qualified yoga bricks.

2. The intelligent palletizing system for handling sports equipment according to claim 1, characterized in that: include: Set the first height threshold; Set a second height threshold; obtain the height of the yoga blocks on the conveyor belt; The yoga block is a cuboid structure with six faces. The two faces with the same area and the largest area are called the first face, the two faces with the same area and the smallest area are called the third face, and the remaining two faces are called the second face. Compare the height of the yoga blocks on the conveyor belt with the magnitudes of the first height threshold and the second height threshold; If the height of the yoga block on the conveyor belt is less than the first height threshold, then the yoga block on the conveyor belt whose height is less than the first height threshold is recorded as the first state yoga block. The first state yoga block refers to the yoga block whose first surface is in contact with the conveyor belt. If the height of the yoga brick on the conveyor belt is greater than the first height threshold and less than the second height threshold, then the yoga brick on the conveyor belt whose height is greater than the first height threshold and less than the second height threshold is recorded as the second state yoga brick. The second state yoga brick refers to the yoga brick whose second side is in contact with the conveyor belt. If the height of the yoga block on the conveyor belt is greater than the second height threshold, then the yoga block on the conveyor belt whose height is greater than the second height threshold is recorded as the third state yoga block. The third state yoga block refers to the yoga block whose third side is in contact with the conveyor belt.

3. The intelligent palletizing system for handling sports equipment according to claim 1, characterized in that: Obtain the minimum wind force required to change the yoga block from its second state to its first state, specifically including: Place the yoga block on the conveyor belt with any second side in contact with it, and call this yoga block the first test yoga block. Select any one of the first faces of the first test yoga block and denote it as the first test face; Obtain the geometric center of the first test surface and denote it as the first test point; The initial jet velocity of the pneumatic device is set to 0 meters per second. The pneumatic device is made to spray air at the first test point at a speed of 0 meters per second. If the yoga block in the first test is not changed to the yoga block in the first state, then increase the air jet speed of the pneumatic device by an amount of A meters per second; The pneumatic device is made to spray air at the first test point at a jet speed of A meters per second; If the first test yoga block is changed to the first state yoga block, then record the jet speed of the pneumatic device at this time, and record it as the first wind force; If the yoga block in the first test is not changed to the yoga block in the first state, then increase the air jet speed of the pneumatic device by an amount of A meters per second; Until the pneumatic device sprays air onto the first test point at the airflow speed before the increase in airflow speed, the first test yoga block does not change to the first state yoga block; when the pneumatic device sprays air onto the first test point at the airflow speed after the increase in airflow speed, the first test yoga block changes to the first state yoga block; the airflow speed after the increase in airflow speed is recorded as the first wind force.

4. The intelligent palletizing system for handling sports equipment according to claim 1, characterized in that: Obtain the minimum wind force required to change the third-state yoga block back to the first-state yoga block, specifically including: Place the yoga block on the conveyor belt with any third side in contact with it, and call this yoga block the second test yoga block. Select any one of the first faces of the second test yoga block and denote it as the second test face; Obtain the geometric center of the second test surface, and denote it as the second test point; The initial jet velocity of the pneumatic device is set to 0 meters per second. The pneumatic device is made to spray air at the second test point at a speed of 0 meters per second. If the second test yoga block is not changed to the first state yoga block, then increase the air jet speed of the pneumatic device by an amount of A meters per second; The pneumatic device is made to spray air at the second test point at a jet speed of A meters per second; If the second test yoga block is changed to the first state yoga block, then record the jet speed of the pneumatic device at this time, and record it as the second wind force; If the second test yoga block is not changed to the first state yoga block, then increase the air jet speed of the pneumatic device by an amount of A meters per second; Until the pneumatic device sprays air onto the second test point at the airflow rate before the increase in airflow speed, the second test yoga block does not change to the first state yoga block; when the pneumatic device sprays air onto the second test point at the airflow rate after the increase in airflow speed, the second test yoga block changes to the first state yoga block; the airflow rate after the increase in airflow speed is recorded as the second wind force.

5. The intelligent palletizing system for handling sports equipment according to claim 1, characterized in that: The adjustment of the height of the yoga blocks on the conveyor belt according to the adjustment strategy specifically includes: Obtain the operating range of the pneumatic device; Get the position of the yoga block in the second state; If the second-state yoga block is within the working range of the pneumatic device, then the second-state yoga block within the working range of the pneumatic device is recorded as the first target yoga block. Rotate the first target yoga block so that its first face is parallel to the conveyor belt's direction of travel; Obtain the geometric center of the first face of the yoga block that is closest to the pneumatic device, and denote it as the first target point; The pneumatic device is made to spray air at the first target point at the jet speed of the first wind force.

6. The intelligent palletizing system for handling sports equipment according to claim 5, characterized in that: The method of adjusting the height of yoga blocks on the conveyor belt according to the adjustment strategy also includes: Find the position of the third-state yoga block; If the position of the third-state yoga block is within the working range of the pneumatic device, then the third-state yoga block within the working range of the pneumatic device is recorded as the second target yoga block. Rotate the second target yoga block so that its first face is parallel to the conveyor belt's direction of travel. Obtain the geometric center of the first face of the yoga block that is closest to the pneumatic device, and denote it as the second target point; The pneumatic device is made to spray air at the second target point at the jet speed of the second wind force.

7. The intelligent palletizing system for handling sports equipment according to claim 1, characterized in that: Palletizing operations specifically include: Obtain the length of the first side of the yoga block, denoted as U; Get the width of the first side of the yoga block, denoted as V; Calculate the least common multiple of the length and width of the first face of the yoga block, and record it as the stacking value. The side length of the palletizing area is set to the palletizing value. The palletizing area is a square area and is located at the end of the conveyor belt along the conveying direction. The first palletizing area boundary that appears along the direction of the conveyor belt and is perpendicular to the central axis of the conveyor belt is denoted as the first boundary. The second boundary of the stacking area that appears along the direction of the conveyor belt and is perpendicular to the central axis of the conveyor belt is called the second boundary. A straight line perpendicular to the central axis of the conveyor belt and including the first boundary is drawn and denoted as the first straight line; Draw a straight line perpendicular to the central axis of the conveyor belt and including the second boundary, and denote it as the second straight line; Starting from the first straight line, draw a straight line perpendicular to the central axis of the conveyor belt at intervals U between the first and second straight lines, dividing the palletizing area into V regions, which are named as the first sub-region, the second sub-region, ... the Vth sub-region in order of increasing distance from the second straight line; The stacking order is as follows: first sub-region, second sub-region...Vth sub-region; Stacking is performed in each sub-region in a left-to-right order; For all the yoga blocks on the conveyor belt; Find the longest edge of the yoga block; If the longest edge of the yoga block is parallel to the central axis of the conveyor belt, no action is taken. If the longest edge of the yoga block is not parallel to the central axis of the conveyor belt, rotate the yoga block until the longest edge of the yoga block is parallel to the central axis of the conveyor belt. Obtain the distances from all yoga bricks on the conveyor belt to the first boundary, and sort them in ascending order of distance to form a sequence; If multiple second-qualified yoga blocks are adjacent in the sequence; Adjacent second qualified yoga bricks form an adjacent set; Find the number of second-qualified yoga bricks in adjacent sets, denoted as S; Obtain the first qualified yoga blocks that appear in pairs in the sequence, and label them as the first target group, the second target group, ... the Xth target group according to the sequence order; Place the sequence position of the first qualified yoga brick in the adjacent set between two qualified yoga bricks in the first target group; place the sequence position of the second qualified yoga brick in the adjacent set between two qualified yoga bricks in the second target group; ... place the sequence position of the Sth qualified yoga brick in the adjacent set between two qualified yoga bricks in the Sth target group. Until there are no more adjacent second-qualified yoga blocks.

8. The intelligent palletizing system for handling sports equipment according to claim 7, characterized in that: It also includes obtaining the first to the Vth position and the (V-1)*U+1th to the U*Vth position, as well as the 2nd Uth, 3rd Uth, ... the (V-1)*Uth and U+1th, 2nd U+1th, ... the (V-2)*Uth positions of the sequence, which are recorded as special positions; If a second qualified yoga brick appears in a special location, obtain the number of second qualified yoga bricks appearing in the special location, denoted as P; Place the sequence position of the first qualified yoga brick in the special position between two qualified yoga bricks in the S+1 target group, place the sequence position of the second qualified yoga brick in the special position between two qualified yoga bricks in the S+2 target group, ... place the sequence position of the Pth qualified yoga brick in the adjacent set between two qualified yoga bricks in the S+P target group. No second qualified yoga block appeared in a specific location; A new sequence is formed, denoted as the palletizing sequence; The yoga bricks are conveyed to the stacking area in the order of the stacking sequence for stacking. When the stacking area is completely covered by yoga bricks, the yoga bricks in the stacking area are transferred to the stacking platform as a whole. The palletizing platform is located at the end of the conveyor belt, and its height is consistent with that of the conveyor belt. When the yoga bricks in the stacking area are completely transferred to the stacking platform; The palletizing platform rotates 90 degrees clockwise while its height decreases, making the upper surface of the yoga bricks on the palletizing platform flush with the conveyor belt.

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