Logistics supply system and supply method

Abstract

The application discloses a kind of logistics supply systems and supply methods, belong to the technical field of logistics.The application is shunted to double channel parallel processing according to the flow of goods by balance wheel device, and then the package flow is integrated in the middle by the package separation and module belt parallel flow centering;Sorting link uses module belt friction guide, and the package is smoothly turned by controlling module belt sorting section device deflection, and is sorted to each package opening, to avoid the impact and bounce problem in traditional mode;For abnormal package, it is introduced into artificial inspection table by end chute, and whether it is reloaded is determined after artificial judgment, to form closed loop processing.The application integrates shunting, separation, parallel flow, sorting and abnormal recovery, and realizes the highly compact, efficient and stable operation of system.

Description

Technical Field

[0001] This invention relates to the field of logistics parcel sorting technology, and in particular to a logistics supply system and supply method. Background Technology

[0002] As logistics sorting technology continues to develop towards intelligence and automation, cross-belt sorting systems have emerged. These systems are characterized by high efficiency and accuracy, and have become an important sorting method in express delivery, e-commerce, and warehousing. To achieve end-to-end automation, a corresponding fully automated feeding system has been proposed to ensure the continuous and efficient operation of the cross-belt sorting machine.

[0003] Existing logistics delivery systems utilize the collaborative operation of multiple types of equipment to achieve automated parcel loading, separation, and delivery; however, the aforementioned delivery methods have the following problems:

[0004] The system has low integration and requires a large number of independent devices (such as multiple swing wheel sorters, belt conveyors, stacked item separators, and single item separators). The devices rely on physical connections to achieve process connection, resulting in a bulky overall structure and large footprint, which makes it difficult to adapt to the "compact and intensive" layout requirements of modern sorting centers.

[0005] When packages are transferred between multiple devices, issues such as "package blockage, package collision, and package skipping" can easily occur, leading to large fluctuations in sorting efficiency.

[0006] Furthermore, in existing technologies, the drive wheels of the module with the sorting mechanism adopt a symmetrical structure of two rollers of equal size. The specific technical features and operating mechanism are as follows:

[0007] Structurally, two drive rollers of the same size are arranged symmetrically around the hinge axis of the swing bracket of the swing module.

[0008] In the non-sorting state (no sorting requirement), the two sets of symmetrical rollers swing with the swing module and are embedded in the clearance space formed between the module belt conveyor wheel and the partition, which can assist the module belt in running.

[0009] In the sorting state (when sorting requires turning), the drive unit drives the swing module to swing the double rollers to the left or right, so that the double rollers abut against the adjacent module belt conveyor wheel. Through the friction between the two, the conveyor wheel rotates clockwise or counterclockwise, and finally the conveyor wheel carries the parts to both sides of the conveyor belt to complete the sorting action.

[0010] Meanwhile, to enable the sorting wheel to deflect left and right, a drive plate with a waist-shaped groove is installed between the base plate and the machine base. The drive arm is driven by a motor, which in turn drives the swinging component to rotate within the waist-shaped groove. This causes the drive plate to produce an offset motion symmetrical to the rotation center line of the sorting wheel, and finally, the deflection arm drives the sorting wheel to complete the bidirectional sorting operation.

[0011] However, the above design has the following obvious limitations in actual long-term operation:

[0012] Because the two rollers of the same size are symmetrically arranged around the axis, the front roller (i.e. the roller that first contacts the module belt on the conveyor path) along the direction of the module belt's operation must continuously bear the main rolling resistance generated by the module belt's own operation and the conveying of objects. The force is concentrated and the load is greater than that of the rear roller. After long-term operation, the surface wear rate of the front roller will increase significantly, which will lead to a decrease in contact stability and fluctuations in friction. This will prevent the conveyor wheel from rotating stably at the preset angle, ultimately causing deviations in the object sorting path and causing package missorting problems.

[0013] In addition, the drive plate of the waist-shaped groove needs to be equipped with corresponding wheels or bearings for driving. Adding wheels or bearings imposes strict installation space requirements on the motor installation. The wheels or bearings must be fixed with corresponding limits, which places even higher demands on the already narrow height space below. When the module belt is running, there is a certain risk of scratching between the module belt below the motor and the motor. Secondly, the method of driving the waist-shaped groove by wheels or bearings to drive the swing wheel to rotate and complete the sorting action will result in greater wear on the wheels and bearings after a long period of operation, making later maintenance more troublesome and costly. Summary of the Invention

[0014] Purpose of the invention: The purpose of this invention is to provide a logistics supply system and supply method that is not only compact in layout but also highly efficient in supplying parts.

[0015] Technical solution: To achieve the above objectives, the logistics supply system of the present invention includes a single-channel belt conveyor, a swing wheel device, a double-channel belt conveyor, a stacked item separation device, a second double-channel belt conveyor, a blade belt conveyor, a module belt parallel flow section device, and a module belt sorting section device arranged sequentially along the transportation direction. Multiple first package supply devices are arranged side by side along the transportation direction on the side of the module belt sorting section device.

[0016] The single-channel belt conveyor is used to transport packages to the swing wheel device, and the swing wheel device is used to sort packages to the designated channel of the dual-channel belt conveyor according to the cargo flow information.

[0017] Two stacking separation devices are arranged side by side. The stacking separation devices are used to separate stacked packages on each channel of the dual-channel belt conveyor into single packages.

[0018] The second dual-channel belt conveyor and the blade belt conveyor transport the double-row packaged flow to the module belt parallel flow section device;

[0019] The module belt parallel flow section device is used to merge the two rows of package flows on the second dual-channel belt conveyor and then process them to the side to form two rows of dense package flows with smaller row spacing, and then transport the two rows of dense package flows in parallel to the module belt sorting section device.

[0020] The module with sorting section is used to compensate and sort two rows of dense package flows and transport them to different first package feeding devices. When a gap occurs in the package flow near the first package feeding device, packages on the other row of package flows away from the first package feeding device are moved to the package flow near the first package feeding device for compensation.

[0021] Optionally, it also includes a control system, a plurality of depth cameras spaced apart along the transport direction, a barcode recognition camera located at the blade belt conveyor, a light curtain sensor located at the blade belt conveyor, and a delivery device and a second package feeding device located at the end of the module belt sorting section for handling abnormal packages.

[0022] The depth camera is used to sequentially capture time-series package image data, the barcode recognition camera is used to capture images of the top and bottom sides of the package to form barcode images to be recognized, and the light curtain sensor is used to record the time points when the package is obscured to form obscuration time data.

[0023] The control system is used to identify inseparable stacked packages and easily rolled packages based on time-series package image data, and to identify packages with damaged barcodes based on barcode images to be identified, and to determine stacked packages, easily rolled packages, and packages with damaged barcodes as abnormal packages; the control system is also used to determine the location information of each package based on occlusion time data;

[0024] The control system is used to control the module belt sorting section device to compensate and sort normal packages to the corresponding first package supply device; the control system is used to control the module belt sorting section device to transport abnormal packages to the delivery device, and then process them through the second package supply device before returning them.

[0025] Optionally, the control system is used to identify inseparable stacked packages and easily rolled packages based on time-series package image data, specifically:

[0026] The control system performs target detection on time-series package image data with depth data, locates the package position, calculates the length, width and height of the package based on the corresponding depth data, and then judges the positional relationship between adjacent packages. If it is determined that there is an overlap between adjacent packages or the distance between two adjacent packages is less than a threshold, it is judged as a stacked package; for a single package that is not a stacked package, the package will be judged as irregular.

[0027] Depth data of the top detection area of ​​the package is acquired and converted into local point cloud data containing only information of the package's top surface using RGB camera intrinsics. This local point cloud data serves as the input point cloud, with the coordinates of each point in the input point cloud being... First, basic validation is performed on the input point cloud. After the data validation passes, a system of linear equations for least-squares fitting is constructed to fit the quadratic surface equation. The quadratic surface equation to be fitted is:

[0028] ,

[0029] in, For the six fitting coefficients to be solved, input each point of the point cloud. All points satisfy the equation of the quadratic surface. Substituting each point into the equation of the quadratic surface, we obtain an overdetermined system of equations:

[0030] ,

[0031] Obtain the coefficient matrix The vector of fitting coefficients to be solved Corresponding point to the target value vector ,in

[0032] ,

[0033] ,

[0034] ,

[0035] ,

[0036] The block diagonalized singular value decomposition method is used to solve the overdetermined system of equations using least squares.

[0037] After obtaining the fitting coefficients, the mean of the squared residuals between the fitted values ​​and the true values ​​(MSE) is calculated as the degree of fit between the fitted surface and the actual point cloud. The formula for calculating MSE is:

[0038] ,

[0039] ,

[0040] in To input the number of points in the point cloud, The z-value is the fitted value; MSE is used to quantify the fitting accuracy.

[0041] Curvature calculation based on the geometric center of the point cloud The formula for calculating the coordinates of the geometric center of the point cloud, serving as a reference point for curvature calculation, is as follows:

[0042] ,

[0043] Based on the first and second fundamental forms of surfaces in differential geometry, the fitted equation of the quadratic surface... Calculate the first-order partial derivative at the geometric center of the point cloud. , The specific calculation formula is as follows:

[0044] ,

[0045] Calculate the corresponding second-order partial derivatives , and The specific calculation formula is as follows:

[0046] ,

[0047] Obtain the first fundamental form coefficients of the surface , and , , , ;

[0048] Obtain the coefficients of the second fundamental form of the surface , and ;

[0049] , , ;

[0050] Gaussian curvature is calculated using standard differential geometry formulas based on the first and second fundamental form coefficients of the surface. and mean curvature , , ;

[0051] Then, the bending degree of the point cloud is evaluated by the average curvature, Gaussian curvature, length, width and height dimensions, and fitting characteristic parameters of the point cloud, and packages that are prone to rolling off are screened out.

[0052] After obtaining the quadratic surface equation of the point cloud, the initial state of the package to be identified is set as a normal item, and a curvature threshold is applied. As a criterion; when the average curvature of the package... Greater than the set threshold And Gaussian curvature When the value is greater than 0, the package to be identified is determined to be a suspected irregularly shaped item that is prone to rolling.

[0053] For suspected irregularly shaped parts, secondary identification is performed by combining dimensional characteristic parameters, including the average curvature. If the curvature is less than the first curvature threshold and both its length and width are less than the first length and width thresholds, the suspected irregular part is determined to be a normal part; if the average curvature is less than the first curvature threshold, the part is considered to be normal. If the curvature is less than the second curvature threshold and the height is less than the first height threshold, the suspected irregular part is determined to be a normal part; if the average curvature is less than the second curvature threshold, the part is considered to be normal. If the curvature is less than the second curvature threshold and the average length and width of the package are not less than the second length and width threshold, the suspected irregular part is determined to be a normal part.

[0054] If it is still determined to be a suspected irregular part, then the fit MSE value is used to determine whether it is an irregular part, and the point cloud fitting variance threshold is calculated. If the fit MSE value is less than If the MSE value is not less than 1, it is determined to be an irregularly shaped part; However, the aspect ratio of the package is greater than the first ratio threshold or the average curvature. If the curvature exceeds the third curvature threshold, it is determined to be an irregularly shaped part.

[0055] Optionally, the module belt sorting section device includes a second module belt, a first sorting module arranged along the transport direction of the second module belt and close to the supply side, corresponding to each group of first supply devices, and a second sorting module arranged sequentially along the transport direction of the second module belt and away from the supply side. The first sorting module and the second sorting module are arranged alternately, and the number of second sorting modules is less than that of first sorting modules.

[0056] Both the first sorting module and the second sorting module include a drive assembly and a motor disposed below the second module belt; the motor drives the drive assembly to deflect, and the sorting direction is changed by the friction between the drive wheel in the drive assembly and the conveyor wheel on the second module belt.

[0057] Optionally, the second module belt includes multiple conveyor wheel assemblies, each conveyor wheel assembly including two spaced-apart conveyor wheels and a clearance space formed between the two conveyor wheels, the drive assembly being disposed opposite the clearance space; the drive assembly includes a bracket connecting seat, a drive wheel mounting bracket disposed on the top of the bracket connecting seat, and a first drive wheel and a second drive wheel mounted on the drive wheel mounting bracket;

[0058] During the operation of the second module belt, the first drive wheel is closer to the starting point of the second module belt in the direction of module belt operation than the second drive wheel.

[0059] The rotation axes of the first and second drive wheels are arranged in a left-right offset manner when projected perpendicular to the conveying direction;

[0060] The highest point of the top of the first drive wheel is lower than the highest point of the top of the second drive wheel.

[0061] Optionally, in the non-sorting state, the second drive wheel contacts the bottom surface of the second module belt, and the first drive wheel is suspended in the air; in the sorting state, the first drive wheel and the second drive wheel respectively abut against the two conveyor wheels in the conveyor wheel assembly.

[0062] Optionally, a swing arm is connected to the bracket connecting seat. The swing arm is connected to the rotating arm through a bearing. The rotating arm is connected to the output end of the motor. When the motor is started, the rotating arm and the swing arm drive the entire drive assembly to swing in the sorting state. The first drive wheel and the second drive wheel synchronously abut against the two conveyor wheels in the conveyor wheel assembly respectively. The conveyor wheels are driven to rotate clockwise or counterclockwise by friction, thereby driving the package to move to the side of the conveyor belt to achieve sorting.

[0063] Optionally, the control system is used to control the module with sorting section to perform compensatory sorting of normal packages to the corresponding first package feeding device, specifically:

[0064] The inner wrapping flow consists of main wrapping lines, while the outer wrapping flow consists of auxiliary wrapping lines. A light curtain sensor is installed between the upstream second dual-channel belt conveyor and the knife-edge belt conveyor, and an encoder is installed on the second module belt. Throughout the entire conveying process, the operating speeds of the upstream second dual-channel belt conveyor, the knife-edge belt conveyor, and the second module belt remain consistent.

[0065] When the main line package and the auxiliary line package enter the blade belt conveyor and block the light curtain sensor, the rising edge of the light curtain sensor is triggered, and the control system records the real-time position value of the package head.

[0066] When the main line package and the auxiliary line package leave the light curtain sensor, the falling edge of the light curtain sensor is triggered, the control system records the real-time position value of the tail of the package, and stores the current positions of the head and tail of the main line package and the auxiliary line package into the main line package array and the auxiliary line package array respectively.

[0067] During the continuous operation of the second module belt, the control system calculates the forward movement of the second module belt in real time through the pulse signal of the encoder, and updates the real-time position values ​​of the head and tail of the package based on the forward movement.

[0068] The control system determines whether the main line package has reached the location of each first sorting module. If the main line package has not reached the location of each first sorting module, the control system returns to update the head and tail positions of the main line package in real time until the main line package reaches the location of each first sorting module.

[0069] When the control system detects a signal allowing package entry, it controls the drive component of the first sorting module to deflect, and the mainline package is sorted through the first sorting module to the corresponding first supply device. The mainline package is marked as supplied, and the corresponding package information is simultaneously deleted from the mainline package array. If the control system detects a signal disallowing package entry, it determines whether the mainline package has passed the last first sorting module. If so, the mainline package is transferred to the delivery device; otherwise, it returns to update the head and tail positions of the mainline package in real time.

[0070] The control system determines whether the auxiliary line packages have reached the positions of the respective second sorting modules; if the auxiliary line packages have not reached the positions of the respective second sorting modules, the control system returns to update the positions of the head and tail of the auxiliary line packages in real time; until the auxiliary line packages reach the positions of the respective second sorting modules;

[0071] The control system determines whether the auxiliary line package meets the insertion conditions. If the control system considers the auxiliary line package to meet the insertion conditions, it controls the drive component of the second sorting module to deflect, and the auxiliary line package is deflected to compensate for the deflection into the inner package flow. After confirming that the second sorting module has swung into position, the control system updates the auxiliary line package information to the main line package array and simultaneously deletes the corresponding package information from the auxiliary line package array, thus completing the insertion. If the control system considers the auxiliary line package does not meet the insertion conditions, it determines whether the auxiliary line package has passed the last second sorting module. If so, the auxiliary line package is transferred to the delivery device; otherwise, the control system returns to update the head and tail positions of the auxiliary line package in real time.

[0072] Optionally, the control system determines whether the auxiliary line package meets the insertion conditions in the following ways:

[0073] Using the light curtain sensor as the position reference point, the auxiliary line package moves along the second module belt in the direction of increasing position value; the head of the package passes the light curtain sensor first, and the position value H of the head of the package is greater than the position value T of the tail; the head and tail position values ​​of the package to be inserted on the auxiliary line are respectively: H 辅 and T 辅 And H 辅 >T 辅 The head and tail position values ​​of the nth main line wrapper are: H 主n and T 主n And H 主n >T 主n The adjacent packages to be inserted are mainline package A and mainline package B, respectively. Mainline package A is the nearest mainline package behind the auxiliary package, and mainline package B is the nearest mainline package in front of the auxiliary package.

[0074] First, locate the main storyline package A. Then, iterate through all main storyline packages and calculate the difference between the head position of the auxiliary storyline package and the head position of the main storyline package, i.e., ΔA. n =H 辅 -H主n ; Filter out ΔA n For all results greater than 0, the maximum value is selected from the filtered results, and the corresponding main story package is the main story package A. Next, locate the main story package B, iterate through all main story packages, and calculate the difference between the head position of the main story package and the head position of the auxiliary story package, i.e., ΔB. n =H 主n -H 辅 ; Filter out ΔB n All results >0 indicate that the main line package is in front of the auxiliary line package; the minimum value in the filtered results corresponds to the main line package B.

[0075] If ΔA n >0 No result, the auxiliary line wraps no main line wraps after it, that is, the main line wraps A do not exist; if ΔB n >0 No result: There is no main line package in front of the auxiliary line package, that is, the main line package B does not exist; if neither the main line package A nor the main line package B exists, the packet insertion condition is directly satisfied.

[0076] After locating mainline package A and mainline package B, the following conditions must be met simultaneously: there is no positional overlap with mainline package A and mainline package B, and the distance between the package and mainline package A and mainline package B is not less than the third distance threshold. Only then is the insertion condition satisfied, that is: calculate the distance T between the package and mainline package A. 辅 -H A ≥Third spacing threshold, calculate the spacing T between the main line wrapping B and the spacing T. B -H 辅 ≥Third spacing threshold;

[0077] If mainline package A does not exist, after finding mainline package B, it must meet the following conditions: it must not overlap with mainline package B and the distance between it and mainline package B must not be less than the third distance threshold to be considered as satisfying the insertion condition, that is: calculate the distance T between it and mainline package B. B -H 辅 ≥Third spacing threshold;

[0078] If main package B does not exist, after finding main package A, it must meet the following conditions: it must not overlap with main package A and the distance between it and main package A must not be less than the third distance threshold to be considered as satisfying the insertion condition, that is: calculate the distance T between it and main package A. 辅 -H A ≥ Third spacing threshold.

[0079] Optionally, the balance wheel device includes a balance wheel bracket, multiple balance wheel units arranged in an array on top of the balance wheel bracket, a balance wheel base connected to the bottom of each balance wheel unit, a swing rod connected to the balance wheel base, and a balance wheel motor whose output shaft is connected to the swing rod via a first link and a second link; it also includes a photoelectric sensor for detecting cargo flow information and a control system, wherein the control system controls the balance wheel motor to drive the balance wheel units to swing according to the cargo flow information, so as to guide the package to the designated channel of the dual-channel belt conveyor.

[0080] Optionally, the stacked item separation device includes multiple sets of separation units arranged sequentially in the transport direction. Each set of separation units includes an inclined section and a horizontal section located behind it. A connecting baffle is provided between the inclined section and the horizontal section. The lower end of the inclined section is lower than the horizontal section, and the upper end of the inclined section is higher than the horizontal section. The stacked item package is separated by falling from the end of the inclined section to different positions at the beginning of the horizontal section.

[0081] Optionally, the module belt parallel flow section device includes a first module belt, and a plurality of inclined parallel flow friction drive parts are arranged below the first module belt. The total coverage of the plurality of parallel flow friction drive parts in the width direction is greater than the width of the outer channel of the dual-channel belt conveyor, which is used to push the package from the outer channel of the dual-channel belt conveyor towards the inner side of the package feeding table.

[0082] Below the first module, there are also a plurality of centering friction drive units with an inclination direction opposite to that of the parallel flow friction drive unit. The plurality of centering friction drive units form two rows of centering groups. The two rows of centering groups are used to adjust the pushed package to the center position and form two rows of dense package flow with smaller row spacing.

[0083] Optionally, the first package feeding device includes an acceleration section, a buffer section, and a first package receiving section connected sequentially along the transport direction, and a first height restriction frame is provided above the buffer section.

[0084] Optionally, the delivery device includes a receiving chute that docks with the end of the module belt sorting section, a fourth belt conveyor that connects to the discharge side of the receiving chute, a transfer section located on the discharge side of the fourth belt conveyor, and an unloading plate located at the end of the transfer section. The transfer section is used to temporarily store abnormal packages.

[0085] Optionally, the second package supply device includes a manual inspection table, a fifth conveyor belt, and a second package receiving section connected sequentially along the transport direction; the fifth conveyor belt is equipped with a second height limiter to restrict the height of the packages;

[0086] The manual inspection station is used to manually judge and process abnormal packages from the delivery device, and to return packages that can be reloaded to the next process via the fifth belt conveyor and the second receiving section.

[0087] A method for supplying parts in a logistics supply system includes the following steps:

[0088] Packages are input via the single-channel belt conveyor. A photoelectric sensor on the single-channel belt conveyor records the time a package is obscured. The control system determines the cargo flow information in real time based on the obscuration time. When the cargo flow does not exceed a threshold, the package is sorted by the swing wheel device to the inner channel of the dual-channel belt conveyor. When the cargo flow exceeds the threshold, the control system drives the swing wheel device to deflect, and the package is sorted by the swing wheel device to the outer channel of the dual-channel belt conveyor. The inner channel is the channel closer to the package feeding platform, and the outer channel is the channel farther away from the package feeding platform.

[0089] After being diverted, the packages are separated by the corresponding stacking separation device to form two rows of wide-spaced single-item packages.

[0090] Two rows of wide-spaced single-piece flow packages pass sequentially through the second dual-channel belt conveyor and the blade belt conveyor, and then enter the module belt parallel flow section device for parallel flow and centering, forming two rows of tightly wrapped flow packages;

[0091] The depth camera sequentially captures images of packages to form time-series package image data, and the barcode recognition camera captures images of the top and bottom sides of the packages to form barcode images to be recognized. The control system identifies inseparable stacked packages and easily rolled packages based on the time-series package image data and determines them as abnormal packages. The control system also identifies packages with damaged barcodes based on the barcode images to be recognized and determines them as abnormal packages.

[0092] The light curtain sensor records the time points when the package is blocked, forming blocking time data. The control system determines the location information of each package based on the blocking time data.

[0093] Two rows of tightly packed packages enter the module belt sorting section device. For normal packages, the control system controls the first sorting module of the module belt sorting section device to sort the inner normal packages to the corresponding first package feeding device. When the control system identifies a gap in the inner package flow based on the package position information, it controls the second sorting module of the module belt sorting section device to deflect and compensate the outer normal packages into the inner package flow.

[0094] For abnormal packages, the control system controls the second module belt of the module belt sorting section to transport the abnormal item to the delivery device and temporarily store it in the transfer section;

[0095] Abnormal packages are manually inspected at the manual inspection station of the second package supply device, and packages that can be re-entered into the system are re-entered.

[0096] Optionally, the control system identifies inseparable stacked packages and easily rolled packages based on time-series package image data, and determines them to be abnormal packages; specifically, it includes the following steps:

[0097] The control system performs target detection on time-series package image data with depth data, locates the package position, calculates the length, width and height of the package based on the corresponding depth data, and then judges the positional relationship between adjacent packages. If it is determined that there is an overlap between adjacent packages or the distance between two adjacent packages is less than a threshold, it is judged as a stacked package; for a single package that is not a stacked package, the package will be judged as irregular.

[0098] Depth data of the top detection area of ​​the package is acquired and converted into local point cloud data containing only information of the package's top surface using RGB camera intrinsics. This local point cloud data serves as the input point cloud, with the coordinates of each point in the input point cloud being... First, basic validation is performed on the input point cloud. After the data validation passes, a system of linear equations for least-squares fitting is constructed to fit the quadratic surface equation. The quadratic surface equation to be fitted is:

[0099] ,

[0100] in, For the six fitting coefficients to be solved, input each point of the point cloud. All points satisfy the equation of the quadratic surface. Substituting each point into the equation of the quadratic surface, we obtain an overdetermined system of equations:

[0101] ,

[0102] Obtain the coefficient matrix The vector of fitting coefficients to be solved Corresponding point to the target value vector ,in

[0103] ,

[0104] ,

[0105] ,

[0106] ,

[0107] The block diagonalized singular value decomposition method is used to solve the overdetermined system of equations using least squares.

[0108] After obtaining the fitting coefficients, the mean of the squared residuals between the fitted values ​​and the true values ​​(MSE) is calculated as the degree of fit between the fitted surface and the actual point cloud. The formula for calculating MSE is:

[0109] ,

[0110] ,

[0111] in To input the number of points in the point cloud, The z-value is the fitted value; MSE is used to quantify the fitting accuracy.

[0112] Curvature calculation based on the geometric center of the point cloud The formula for calculating the coordinates of the geometric center of the point cloud, serving as a reference point for curvature calculation, is as follows:

[0113] ,

[0114] Based on the first and second fundamental forms of surfaces in differential geometry, the fitted equation of the quadratic surface... Calculate the first-order partial derivative at the geometric center of the point cloud. , The specific calculation formula is as follows:

[0115] ,

[0116] Calculate the corresponding second-order partial derivatives , and The specific calculation formula is as follows:

[0117] ,

[0118] Obtain the first fundamental form coefficients of the surface , and , , , ;

[0119] Obtain the coefficients of the second fundamental form of the surface , and ;

[0120] , , ;

[0121] Gaussian curvature is calculated using standard differential geometry formulas based on the first and second fundamental form coefficients of the surface. and mean curvature , , ;

[0122] Then, the bending degree of the point cloud is evaluated by the average curvature, Gaussian curvature, length, width and height dimensions, and fitting characteristic parameters of the point cloud, and packages that are prone to rolling off are screened out.

[0123] After obtaining the quadratic surface equation of the point cloud, the initial state of the package to be identified is set as a normal item, and a curvature threshold is applied. As a criterion; when the average curvature of the package... Greater than the set threshold And Gaussian curvature When the value is greater than 0, the package to be identified is determined to be a suspected irregularly shaped item that is prone to rolling.

[0124] For suspected irregularly shaped parts, secondary identification is performed by combining dimensional characteristic parameters, including the average curvature. If the curvature is less than the first curvature threshold and both its length and width are less than the first length and width thresholds, the suspected irregular part is determined to be a normal part; if the average curvature is less than the first curvature threshold, the part is considered to be normal. If the curvature is less than the second curvature threshold and the height is less than the first height threshold, the suspected irregular part is determined to be a normal part; if the average curvature is less than the second curvature threshold, the part is considered to be normal. If the curvature is less than the second curvature threshold and the average length and width of the package are not less than the second length and width threshold, the suspected irregular part is determined to be a normal part.

[0125] If it is still determined to be a suspected irregular part, then the fit MSE value is used to determine whether it is an irregular part, and the point cloud fitting variance threshold is calculated. If the fit MSE value is less than If the MSE value is not less than 1, it is determined to be an irregularly shaped part; However, the aspect ratio of the package is greater than the first ratio threshold or the average curvature. If the curvature exceeds the third curvature threshold, it is determined to be an irregularly shaped part.

[0126] Optionally, the two rows of tightly packed packages enter the module belt sorting section device. For normal packages, the control system controls the first sorting module of the module belt sorting section device to sort the inner normal packages to the corresponding first feeding device. When the control system identifies a gap in the inner package flow based on package position information, it controls the second sorting module of the module belt sorting section device to deflect and compensate the outer normal packages into the inner package flow. Specifically, this includes the following steps:

[0127] The inner wrapping flow consists of main wrapping lines, while the outer wrapping flow consists of auxiliary wrapping lines. A light curtain sensor is installed between the upstream second dual-channel belt conveyor and the knife-edge belt conveyor, and an encoder is installed on the second module belt. Throughout the entire conveying process, the operating speeds of the upstream second dual-channel belt conveyor, the knife-edge belt conveyor, and the second module belt remain consistent.

[0128] When the main line package and the auxiliary line package enter the blade belt conveyor and block the light curtain sensor, the rising edge of the light curtain sensor is triggered, and the control system records the real-time position value of the package head.

[0129] When the main line package and the auxiliary line package leave the light curtain sensor, the falling edge of the light curtain sensor is triggered, the control system records the real-time position value of the tail of the package, and stores the current positions of the head and tail of the main line package and the auxiliary line package into the main line package array and the auxiliary line package array respectively.

[0130] During the continuous operation of the second module belt, the control system calculates the forward movement of the second module belt in real time through the pulse signal of the encoder, and updates the real-time position values ​​of the head and tail of the package based on the forward movement.

[0131] The control system determines whether the main line package has reached the location of each first sorting module. If the main line package has not reached the location of each first sorting module, the control system returns to update the head and tail positions of the main line package in real time until the main line package reaches the location of each first sorting module.

[0132] When the control system detects a signal allowing package entry, it controls the drive component of the first sorting module to deflect, and the mainline package is sorted through the first sorting module to the corresponding first supply device. The mainline package is marked as supplied, and the corresponding package information is simultaneously deleted from the mainline package array. If the control system detects a signal disallowing package entry, it determines whether the mainline package has passed the last first sorting module. If so, the mainline package is transferred to the delivery device; otherwise, it returns to update the head and tail positions of the mainline package in real time.

[0133] The control system determines whether the auxiliary line packages have reached the positions of the respective second sorting modules; if the auxiliary line packages have not reached the positions of the respective second sorting modules, the control system returns to update the positions of the head and tail of the auxiliary line packages in real time; until the auxiliary line packages reach the positions of the respective second sorting modules;

[0134] The control system determines whether the auxiliary line package meets the insertion conditions. If the control system considers the auxiliary line package to meet the insertion conditions, it controls the drive component of the second sorting module to deflect, and the auxiliary line package is deflected to compensate for the deflection into the inner package flow. After confirming that the second sorting module has swung into position, the control system updates the auxiliary line package information to the main line package array and simultaneously deletes the corresponding package information from the auxiliary line package array, thus completing the insertion. If the control system considers the auxiliary line package does not meet the insertion conditions, it determines whether the auxiliary line package has passed the last second sorting module. If so, the auxiliary line package is transferred to the delivery device; otherwise, the control system returns to update the head and tail positions of the auxiliary line package in real time.

[0135] Optionally, the control system determines whether the auxiliary line package meets the insertion conditions, specifically including the following steps:

[0136] Using the light curtain sensor as the position reference point, the auxiliary line package moves along the second module belt in the direction of increasing position value; the head of the package passes the light curtain sensor first, and the position value H of the head of the package is greater than the position value T of the tail; the head and tail position values ​​of the package to be inserted on the auxiliary line are respectively: H 辅 and T 辅 And H 辅 >T 辅 The head and tail position values ​​of the nth main line wrapper are: H 主n and T 主n And H 主n >T 主n The adjacent packages to be inserted are mainline package A and mainline package B, respectively. Mainline package A is the nearest mainline package behind the auxiliary package, and mainline package B is the nearest mainline package in front of the auxiliary package.

[0137] First, locate the main storyline package A. Then, iterate through all main storyline packages and calculate the difference between the head position of the auxiliary storyline package and the head position of the main storyline package, i.e., ΔA. n =H 辅 -H 主n ; Filter out ΔA n For all results greater than 0, the maximum value is selected from the filtered results, and the corresponding main story package is the main story package A. Next, locate the main story package B, iterate through all main story packages, and calculate the difference between the head position of the main story package and the head position of the auxiliary story package, i.e., ΔB. n =H 主n -H 辅 ; Filter out ΔB n All results >0 indicate that the main line package is in front of the auxiliary line package; the minimum value in the filtered results corresponds to the main line package B.

[0138] If ΔA n >0 No result, the auxiliary line wraps no main line wraps after it, that is, the main line wraps A do not exist; if ΔB n >0 No result: There is no main line package in front of the auxiliary line package, that is, the main line package B does not exist; if the main line package A and the main line package B do not exist, the packet insertion condition is directly satisfied.

[0139] After locating mainline package A and mainline package B, the following conditions must be met simultaneously: there is no positional overlap with mainline package A and mainline package B, and the distance between the package and mainline package A and mainline package B is not less than the third distance threshold. Only then is the insertion condition satisfied, that is: calculate the distance T between the package and mainline package A. 辅 -H A ≥Third spacing threshold, calculate the spacing T between the main line wrapping B and the spacing T. B -H 辅 ≥Third spacing threshold;

[0140] If mainline package A does not exist, after finding mainline package B, it must meet the following conditions: it must not overlap with mainline package B and the distance between it and mainline package B must not be less than the third distance threshold to be considered as satisfying the insertion condition, that is: calculate the distance T between it and mainline package B. B -H 辅 ≥Third spacing threshold;

[0141] If main package B does not exist, after finding main package A, it must meet the following conditions: it must not overlap with main package A and the distance between it and main package A must not be less than the third distance threshold to be considered as satisfying the insertion condition, that is: calculate the distance T between it and main package A. 辅 -H A ≥ Third spacing threshold.

[0142] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

[0143] This invention has a compact structure and improves overall processing efficiency and system flexibility through a dual-path parallel processing architecture;

[0144] The swing wheel device installed at the system entrance of the present invention can divert packages to two sets of independent conveying and stacking separation channels running in parallel on the left and right according to the real-time cargo flow, forming two processing lines that operate simultaneously, thereby doubling the peak processing capacity of the system and being able to cope with cargo flow fluctuations, avoiding problems caused by congestion in a single channel.

[0145] This invention uses modular belts as carriers for parallel flow, centering, and sorting. In the parallel flow and centering stage, multiple sets of friction drive units with different inclination directions are set below the modular belt. Without transferring the packages, the merging and centering alignment of two package flows are completed during continuous conveying, resulting in a smooth and impact-free process. In the sorting stage, the sorting modular belt controls the deflection of the drive components below, causing friction between the drive components and the conveyor wheels on the second modular belt. This changes the direction of the driving force on the surface of the modular belt, causing the packages to move laterally while being conveyed forward. This guides the sorting process, resulting in gentle movements that avoid collisions that may occur in traditional push-bar sorting. It also reduces the risk of packages bouncing, rolling, or getting stuck, ensuring the accuracy and reliability of the supply.

[0146] The sorting module of the present invention adopts a dual-path compensation mode. When the parcel flow near the first feeding device is interrupted, the parcels in the other row will be deflected by the drive component below to compensate for the interrupted parcel flow, thereby improving sorting efficiency and reducing the number of returned parcels.

[0147] This invention features a delivery chute channel at the end of the module's sorting section, guiding abnormal packages into a separate manual inspection area instead of simply rejecting them. This allows operators to make centralized judgments and handle the issues at fixed workstations, and packages that can be reloaded can be directly re-input via a second package feeding device. This design embeds the handling of abnormal packages into the main logistics process, while avoiding the cumbersome step of manually carrying packages to the next process start point for reloading, thus reducing the intensity of manual intervention.

[0148] The modular belt sorting device of this invention creates a height difference between the two drive wheels of the drive assembly. In the unsorted state, the front roller is suspended, avoiding ineffective friction and wear, while the rear roller is supported independently, resulting in a more uniform load distribution. This reduces the vibration amplitude of the modular belt during operation and improves the stability of object conveying. The suspended design of the small wheels avoids additional resistance, reducing the energy consumption of the modular belt during normal operation and achieving energy saving. In the sorting state, the motor drives the rotating arm to swing, causing the rotating shaft and swing arm to swing at the corresponding angle. The two drive wheels swing accordingly, and the drive wheels synchronously abut against the conveyor wheels of the modular belt. Through friction, the conveyor wheels are driven to rotate clockwise or counterclockwise, thereby moving the objects to both sides of the conveyor belt to achieve sorting. Attached Figure Description

[0149] Figure 1 This is a schematic diagram of the overall system of the present invention;

[0150] Figure 2 This is a schematic diagram of the structure of the single-channel belt conveyor of the present invention;

[0151] Figure 3 This is a schematic diagram of the external structure of the balance wheel device of the present invention;

[0152] Figure 4 This is a schematic diagram of the internal structure of the balance wheel device of the present invention;

[0153] Figure 5 This is a schematic diagram of the structure of the dual-channel belt conveyor of the present invention;

[0154] Figure 6 This is a schematic diagram of the stack separation device of the present invention;

[0155] Figure 7 This is a schematic diagram showing the cooperation between the inclined section and the horizontal section of the stacking separation device of the present invention;

[0156] Figure 8 This is a schematic diagram of the stack separation device of the present invention;

[0157] Figure 9 This is a schematic diagram illustrating the cooperation between the module belt parallel flow section device and the module belt sorting section device of the present invention;

[0158] Figure 10This is a schematic diagram of the module with parallel flow section device of the present invention;

[0159] Figure 11 This is a schematic diagram of the module with sorting section of the present invention;

[0160] Figure 12 This is a schematic diagram of the side structure of the module with sorting section device of the present invention;

[0161] Figure 13 This is a schematic diagram of the bottom structure of the module with sorting section device of the present invention;

[0162] Figure 14 This is a schematic diagram of the structure of the first package feeding device of the present invention;

[0163] Figure 15 This is a schematic diagram showing the cooperation between the delivery device and the second package feeding device of the present invention;

[0164] Figure 16 This is a schematic diagram of the mounting plate in the module belt sorting device of the present invention;

[0165] Figure 17 This is a schematic diagram of the drive assembly in the module belt sorting device of the present invention;

[0166] Figure 18 This is a view showing the interaction between the drive assembly and the second module belt in the unsorted state of the module belt sorting device of the present invention.

[0167] Figure 19 This is a view showing the interaction between the drive assembly and the second module belt in the sorting state of the module belt sorting device of the present invention;

[0168] Figure 20 This is a schematic diagram of the swing component in the module belt sorting device of the present invention;

[0169] Figure 21 This is a schematic diagram of the rollable component and the normal component in this invention;

[0170] Figure 22 This is a schematic diagram of the process for identifying irregularly shaped parts in this invention;

[0171] Figure 23 This is a schematic diagram of the main line and auxiliary line package sorting process in this invention;

[0172] Among them: 100, single-channel belt conveyor; 200, swing wheel device; 300, double-channel belt conveyor; 400, stacked item separation device; 500, second double-channel belt conveyor; 600, blade belt conveyor; 700, module belt parallel flow section device; 800, module belt sorting section device; 900, first package feeding device; 1000, item delivery device; 1100, second package feeding device;

[0173] 110. First belt conveyor; 120. Baffle;

[0174] 210. Balance wheel support; 220. Balance wheel unit; 230. First connecting rod; 240. Second connecting rod; 250. Swing rod; 260. Balance wheel base; 270. Balance wheel motor;

[0175] 310. Second belt conveyor; 320. Third belt conveyor;

[0176] 410. Inclined section; 420. Horizontal section; 430. Connecting baffle;

[0177] 710. First module belt; 720. First parallel flow friction drive unit; 730. Second parallel flow friction drive unit; 740. Third parallel flow friction drive unit; 750. First centering friction drive unit; 760. Second centering friction drive unit;

[0178] 810. Second module belt; 820. Drive assembly; 830. Swing arm; 840. Motor; 850. Rotary arm; 860. Bearing; 870. Mounting plate; 880. Rotating shaft; 811. Conveyor wheel assembly; 812. Clearance space; 821. Bracket connector; 822. Drive wheel mounting bracket; 823. First drive wheel; 824. Second drive wheel;

[0179] 910. Acceleration section; 920. Buffer section; 930. First height restriction barrier; 940. First packet receiving section;

[0180] 1010. Receiving chute; 1020. Fourth belt conveyor; 1030. Transfer section; 1040. Unloading plate;

[0181] 1110, Manual inspection table; 1120, Fifth belt conveyor; 1130, Second height restriction frame; 1140, Second receiving section. Detailed Implementation

[0182] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0183] like Figure 1As shown, this application discloses a logistics supply system designed to separate, organize, and sort incoming packages before supplying them to backend equipment. The logistics supply system of this application comprises modules sequentially connected along the transport direction, including: a single-channel belt conveyor 100, a swing wheel device 200, a dual-channel belt conveyor 300, a stacking separation device 400, a second dual-channel belt conveyor 500, a blade belt conveyor 600, a modular belt parallel flow section device 700, a modular belt sorting section device 800, a first package supply device 900, a package delivery device 1000, and a second package supply device 1100.

[0184] like Figure 1 and Figure 2 As shown, the single-channel belt conveyor 100 serves as the system's inlet, receiving and initially conveying packages from upstream (such as manual drop-off points or unloading areas). The single-channel belt conveyor 100 mainly includes a first belt conveyor 110 extending in the transport direction, and baffles 120 installed on both sides of the first belt conveyor 110. The baffles 120 are used to prevent packages from falling off the sides during transport, ensuring that packages move along a predetermined path. Photoelectric sensors are installed on the baffles 120 to record the time a package is blocked. The control system determines the cargo flow information in real time based on the blocking time. A swing wheel device 200 is installed immediately at the outlet end of the single-channel belt conveyor 100. The control system controls the swing wheel device 200 to divert packages based on the real-time monitored cargo flow information.

[0185] like Figure 3 and Figure 4 As shown, the balance wheel device 200 includes a balance wheel support 210, on which multiple balance wheel units 220 are arranged in an array in the horizontal direction. Each balance wheel unit 220 has a balance wheel base 260 mounted at its bottom, and the balance wheel base 260 is connected to a swing rod 250. The other side of the swing rod 250 is connected to the output end of a balance wheel motor 270 via a first connecting rod 230 and a second connecting rod 240, forming a linkage transmission mechanism. Its working principle is as follows:

[0186] When the control system determines the current cargo flow rate based on the duration of time the photoelectric sensor on the baffle of the first belt conveyor 110 is blocked, and the cargo flow rate is lower than the preset threshold, the swing wheel motor 270 does not operate, all swing wheel units 220 remain in a neutral position, and the package passes directly through the top of the swing wheel device 200 and enters the inner second belt conveyor 310 of the dual-channel belt conveyor device 300; the inner second belt conveyor 310 is close to the bag supply table, and the outer third belt conveyor is far away from the bag supply table;

[0187] When the cargo flow rate increases to a preset threshold, the control system starts the swing wheel motor 270; the swing wheel motor 270 rotates, driving the swing rod 250 to swing at a certain angle through the first connecting rod 230 and the second connecting rod 240; the swing of the swing rod 250 is transmitted to the upper swing wheel unit 220 through the swing wheel base 260, causing it to deflect as a whole; the deflected swing wheel unit 220 applies a lateral force to the packages passing over it, thereby guiding the packages in a designated direction, namely towards the feed inlet of the third belt conveyor 320 on the outer side of the dual-channel belt conveyor device 300, such as... Figure 5 As shown, this method achieves balanced distribution of the package stream, splitting a single input stream into two parallel processing branches, which greatly improves the front-end processing capability.

[0188] like Figure 1 and Figure 5 As shown, the discharge ends of the second belt conveyor 310 and the third belt conveyor 320 of the dual-channel belt conveyor device 300 are respectively equipped with a set of stacked package separation devices 400 with the same structure, which are used to deal with possible stacked packages, that is, the situation where two or more packages are stacked.

[0189] like Figure 6 , Figure 7 and Figure 8 As shown, each set of stacking separation device 400 includes multiple sets of sequentially arranged separation units in the transport direction; each set of separation units mainly consists of an inclined part 410 and a horizontal part 420 located behind it, which are connected by a connecting baffle 430. The function of the connecting baffle 430 is to prevent the package from falling out of the gap when it falls from the inclined part 410; wherein the lower end of the inclined part 410 is lower than the horizontal part 420, and the upper end of the inclined part 410 is higher than the horizontal part 420.

[0190] The separation principle of the separation unit is based on gravity and velocity difference, specifically:

[0191] When the stacked packages are conveyed to the end of the inclined section 410, they will fall downwards under the influence of gravity. Due to the different physical positions and centers of gravity of the two packages, their trajectories during the fall will differ, causing them to fall at different positions at the starting end of the horizontal section 420. The original stacked relationship is thus transformed into a staggered flow of individual packages, effectively solving the problem of package stacking.

[0192] like Figure 1 The single-piece package flow processed by the stacking separation device 400 continues to be conveyed by the corresponding second dual-channel belt conveyor 500, and after being accelerated and spaced by the knife-edge belt conveyor 600, it enters the module belt parallel flow section device 700.

[0193] like Figure 9 and Figure 10As shown, the module belt parallel flow section device 700 includes a first module belt 710. Below the first module belt 710 are multiple independently drivable friction drive units. The friction drive units consist of two main functional groups: a parallel flow group and a centering group, wherein:

[0194] The parallel flow group includes a first parallel flow friction drive unit 720, a second parallel flow friction drive unit 730, and a third parallel flow friction drive unit 740, which are arranged at an angle, and the total coverage width of the parallel flow group is greater than, for example, the wrapping flow width from the third belt conveyor 320; Figure 5 Taking the central direction as an example, the third belt conveyor 320 is located in Figure 5 On the outer side of the transport direction, when a package from the outer branch enters the first module belt 710, the parallel flow friction drive unit below it is activated. Through friction, the package moves smoothly inward (i.e. towards the center line) and gradually merges with the package flow from the inner branch (second belt conveyor 310).

[0195] The centering group includes a first centering friction drive unit 750 and a second centering friction drive unit 760. The centering group is located on the other side of the first module belt 710, that is, on the side closer to the inner branch. The tilting direction of the centering group is opposite to the tilting direction of the parallel flow friction drive unit. Multiple centering friction drive units constitute two rows of centering groups.

[0196] When the parcels that have completed the parallel flow continue to advance to the area of ​​the two rows of centering groups, the centering friction drive unit works, using friction to adjust the parcels to the center position of the conveyor channel, adjusting the pushed parcels to the center position, and forming two rows of dense parcels with smaller row spacing, preparing for subsequent accurate sorting;

[0197] The parcels that have completed parallel flow and centering enter the module belt sorting section device 800 from the discharge end of the module belt parallel flow section device 700.

[0198] The parallel flow friction drive and the centering friction drive are roller structures with opposite inclination directions. The roller structure generates rolling friction with the conveyor wheel on the first module belt 710, and the conveyor wheel generates rolling that matches the inclination direction of the parallel flow friction drive or the centering friction drive, thereby generating a horizontal conveying force on the package on the first module belt 710.

[0199] like Figure 9 , Figure 11 , Figure 12 and Figure 13As shown, the modular belt sorting device 800 includes a second modular belt 810, under which multiple first sorting modules and second sorting modules are arranged in an array. The number of first sorting modules is the same as the number of first package feeding devices 900, and the first sorting modules are arranged in a one-to-one correspondence with the first package feeding devices 900. The first sorting modules are arranged sequentially along the transport direction of the second modular belt 810 and close to the package feeding side, while the second sorting modules are arranged sequentially along the transport direction of the second modular belt 810 and away from the package feeding side. The first sorting modules and second sorting modules are arranged alternately, and the number of second sorting modules is less than that of first sorting modules. Multiple first sorting modules constitute an inner sorting module, corresponding to the second centering friction drive unit 760; multiple second sorting modules constitute an outer sorting module, corresponding to the first centering friction drive unit 750.

[0200] The first sorting module and the second sorting module have the same specific structure, both including a drive assembly 820. A swing arm 830 is connected below the drive assembly 820. The bottom of the swing arm 830 is connected to the rotating arm 850 through a bearing 860, and the rotating arm 850 is driven by a motor 840. In the straight-line state, the drive assembly 820 is in a neutral position, and the second module belt 810 only provides forward conveying force.

[0201] In one embodiment, such as Figure 16 and Figure 17 As shown, a modular belt sorting device 800 is provided, including a mounting plate 870, a second modular belt 810, a drive assembly 820, and a swing module for driving the drive assembly 820 to swing. The second modular belt 810 includes a plurality of conveyor wheel assemblies 811 arranged along the conveying direction. Each conveyor wheel assembly 811 consists of two conveyor wheels and a clearance space 812 formed between the two conveyor wheels. The clearance space 812 is used to accommodate the drive wheel of the drive assembly 820.

[0202] In some embodiments, a mounting plate 870 is disposed below the second module strip 810, and a plurality of drive components 820 are arranged thereon in an array.

[0203] Each drive assembly 820 includes a bracket connecting seat 821, a drive wheel mounting bracket 822, a first drive wheel 823, and a second drive wheel 824. The bottom of the bracket connecting seat 821 is fixedly connected to a swing arm 830, and the drive wheel mounting bracket 822 is fixedly mounted on the top of the bracket connecting seat 821. The drive wheel mounting bracket 822 has two first drive wheels 823 and second drive wheels 824 that are horizontally offset. That is, the drive wheel mounting bracket 822 includes two mounting arms for mounting the first drive wheel 823 and the second drive wheel 824, respectively, and the two mounting arms are horizontally offset.

[0204] Furthermore, in the direction of operation of the second module belt, the first drive wheel 823 is located in front of the second drive wheel 824. That is, when the second module belt 810 is running, the first drive wheel 823 is closer to the starting point of the second module belt 810 than the second drive wheel 824 in the direction of operation of the second module belt.

[0205] Meanwhile, the rotation axes of the first drive wheel 823 and the second drive wheel 824 are arranged in a left-right offset manner on the projection perpendicular to the conveying direction.

[0206] Furthermore, the highest point of the top of the first drive wheel 823 is lower than the highest point of the top of the second drive wheel 824 in the height direction. Preferably, the height difference is designed to be 0.2mm to 0.5mm.

[0207] like Figure 12 , Figure 13 and Figure 20 As shown, in some embodiments, the swing module is used to drive the swing arm 830 to swing, and is configured as follows:

[0208] Includes motor 840, rotating arm 850, bearing 860 and rotating shaft 880;

[0209] The motor 840 is fixed below the mounting plate 870, and the output shaft of the motor 840 is fixedly connected to one end of the rotating arm 850;

[0210] The other end of the swing arm 850 is connected to the rotating shaft 880 via a bearing 860;

[0211] The top of the rotating shaft 880 is engaged with the swing arm 830.

[0212] Therefore, it can be understood that in the swing arm module, the transmission chain is: motor 840 → swing arm 850 → rotating shaft 880 → swing arm 830 → drive assembly 820; when the motor 840 rotates, the power is transmitted to the swing arm 830 through the swing arm 850, bearing 860 and rotating shaft 880, which drives the drive assembly 820 to swing at a preset angle, so that the first drive wheel 823 and the second drive wheel 824 respectively abut against the two conveyor wheels in the conveyor wheel assembly 811.

[0213] In practical applications, the module belt sorting device 800 of the present invention operates in two states: a non-sorting state and a sorting state.

[0214] like Figure 18As shown, in the non-sorting state, the second module belt 810 runs at a constant speed along the conveying direction; at this time, the swing module does not move, and the drive component 820 is directly opposite the clearance space 812; since the top of the second drive wheel 824 is higher, the top of the second drive wheel 824 is embedded in the clearance space 812 and contacts the bottom surface of the second module belt 810, and independently bears the supporting load of the second module belt 810 and the objects on it, ensuring smooth conveying; at the same time, the first drive wheel 823 is suspended in the air because its top is lower and does not contact the second module belt 810, thereby avoiding ineffective friction and wear, and also reducing running resistance.

[0215] like Figure 19 As shown, in the sorting state (requiring steering), the motor 840 is started, and power is transmitted to the swing arm 830 through the rotating arm 850, bearing 860 and rotating shaft 880, which drives the drive assembly 820 to swing at a preset angle. After the drive assembly 820 deflects, the first drive wheel 823 and the second drive wheel 824 simultaneously enter the sorting working position. At this time, the first drive wheel 823 and the second drive wheel 824 respectively abut against the outer peripheral surfaces of the two conveyor wheels in the current conveyor wheel assembly 811. The first drive wheel 823 and the second drive wheel 824 drive the conveyor wheels to rotate in the required direction (clockwise or counterclockwise), and drive the conveyor wheels through friction, thereby changing the movement direction of the objects on the second module belt 810, causing them to move to the side of the second module belt 810, thus realizing the sorting function.

[0216] In this embodiment, the first drive wheel 823 is changed from the original large front roller to a small front roller. This reduces the roller's mass and moment of inertia (I=mr²), resulting in a smaller radius r and lower mass m. This significantly reduces the momentum change (Δp=mv) of the small roller during sorting. Reduced momentum directly decreases the impact contact force between the roller and the conveyor wheel during the drive process, thus reducing their wear rate at the source. Therefore, the small roller has lower momentum during sorting, reducing the impact contact force with the conveyor wheel. This decreases the wear rate of the drive wheel and conveyor wheel compared to the original large roller design, thereby reducing the roller replacement frequency and extending the service life of core components.

[0217] The present invention effectively solves the problems of uneven wear, high energy consumption and poor stability caused by the traditional symmetrical arrangement of dual wheels by designing the height difference between the first drive wheel 823 and the second drive wheel 824, and significantly improves the stability of the module belt 2 and the service life of the equipment.

[0218] The modular belt sorting device of this invention has a compact structure. By designing the front drive wheel (which moves in the module belt running direction and passes the first drive wheel first) to be suspended in the non-sorting state, continuous friction between it and the module belt is avoided, thus fundamentally eliminating ineffective wear. Compared to the traditional structure where the front wheel suffers severe wear due to continuously bearing the main load, in the non-sorting state, the load is concentrated on the rear drive wheel (the second drive wheel, which is farther away from the module belt than the first drive wheel in the module running direction). The first drive wheel is suspended, reducing unnecessary rolling. The reduction of resistance and friction losses effectively extends the service life of the front wheel, reduces replacement frequency, and lowers maintenance costs. Furthermore, in the unsorted state, the rear wheel bears the support task alone, resulting in a more concentrated load distribution. This reduces vibration or instability that may be caused by simultaneous contact between the two wheels, improving the smoothness of the module belt during straight-line operation. Finally, in the sorting state, the first drive wheel on the front side is changed from a large roller to a small roller, resulting in lower momentum and reduced impact contact force with the conveyor wheel. Therefore, the wear rate of the drive wheel and conveyor wheel is reduced compared to the original large roller design, thereby reducing the roller replacement frequency and extending the service life of core components.

[0219] Multiple depth cameras are spaced apart along the transport direction, and the depth cameras sequentially capture package images to form time-series package image data; barcode recognition cameras and light curtain sensors are set near the blade belt conveyor 600, the barcode recognition cameras capture images of the top and bottom sides of the package to form barcode images to be recognized, and the light curtain sensors record the time points when the package is covered to form occlusion time data.

[0220] The control system identifies inseparable stacked packages and easily rolled packages based on time-series package image data, and identifies packages with damaged barcodes based on barcode images to be identified. Stacked packages, easily rolled packages, and packages with damaged barcodes are then identified as abnormal packages. The control system determines the location information of each package based on the occlusion time data.

[0221] When the control system detects a normal package, it controls the first sorting module of the sorting section 800 to sort the normal packages on the inner side to the corresponding first package feeding device 900. The control system controls the motor 840 at the corresponding position to operate. The motor 840 drives the swing arm 830 and the drive assembly 820 mounted on it to deflect by a preset angle via the rotating arm 850 and bearing 860. After the drive assembly 820 deflects, its drive wheel (such as a friction wheel) contacts the corresponding conveyor wheel (not shown separately in the figure) on the second module belt 810 and generates rolling friction. This frictional force changes the rotation direction of the conveyor wheel, causing a lateral velocity component to be generated on the surface of the second module belt 810 in this local area. The packages on it, while maintaining forward movement, are guided by this lateral force to the target direction and finally output from the side of the second module belt 810 into the corresponding first package feeding device 900. This method avoids the rigid impact of traditional push-bar sorting and solves the problems of "package jumping" and "package collision".

[0222] When the control system identifies a gap in the inner package flow based on package location information, the second sorting module of the control module with sorting section 800 deflects and compensates for the normal outer packages into the inner package flow. This invention maximizes the feeding efficiency of the feeding station through the module with sorting section 800, compensating for the inability of a single-row feeding system to meet the needs of cross-belt feeding. It also improves the flow control capability of the previous single-channel independent feeding station, effectively reducing backflow.

[0223] In this invention, RGB images and depth data of the top of a package are obtained using an RGBD depth camera. Target detection is then performed on the RGB images and depth data to obtain the package's length, width, and height dimensions and locate its position. The positional relationship between adjacent packages is then determined. If overlapping is detected between adjacent packages or the distance between two adjacent packages is less than a threshold, the package is classified as stacked. For single packages that are not stacked, an irregular shape assessment is performed to identify packages that are prone to rolling off the packaging table.

[0224] In logistics sorting, conveyor belts contain normal items and easily rolled items, such as... Figure 21 As shown, (a) and (b) are easily rolling packages, while (c) and (d) are normal packages. Easily rolling packages mainly refer to packages that are extremely prone to rolling and slipping during the feeding and conveying process, which can easily lead to sorting abnormalities. These mainly include rigid cylindrical and spherical packages, as well as soft packages with a large degree of curvature. Among them, the core characteristics of soft packages with a large degree of curvature are: the package is full, round, bulging and compact, with a shape that is spherical or cylindrical, with rounded edges and corners that do not protrude, and no obvious sharp corner support. They have poor stability on the conveyor belt and are extremely prone to rolling and shifting on their own.

[0225] This invention identifies irregularly shaped packages by first acquiring depth data of the detection area at the top of the package and converting it into local point cloud data containing only information about the package's upper surface using camera intrinsic parameters. Then, based on this local point cloud data, it calculates multi-dimensional indicators such as the package's curvature, size parameters, geometric feature parameters, and fit. Through multiple rounds of rule-based verification, it determines packages prone to rolling, including multi-layered logic such as curvature verification, size filtering, and fit verification. Packages meeting the easy-to-roll characteristics are classified as irregularly shaped, while others are classified as normal.

[0226] The control system performs target detection on time-series package image data with depth data to locate the package position, then calculates the length, width and height dimensions of the package based on the corresponding depth data, and then judges the positional relationship between adjacent packages. If it is determined that there is an overlap between adjacent packages or the distance between two adjacent packages is less than a threshold, it is judged as a stacked package; for a single package that is not a stacked package, the package will be judged as irregular.

[0227] like Figure 22 As shown, the irregular shape recognition method of the present invention specifically includes the following steps:

[0228] Depth data of the top detection area of ​​the package is acquired and converted into local point cloud data containing only information of the package's top surface using RGB camera intrinsics. This local point cloud data serves as the input point cloud, with the coordinates of each point in the input point cloud being... First, perform basic verification on the input point cloud to ensure that the number of points in the point cloud is no less than 6, that is, the number of points in the point cloud cannot be less than the number of coefficients to be determined in the quadratic surface equation, so as to avoid fitting failure due to insufficient data.

[0229] After the data validation is passed, a system of linear equations for least-squares fitting is constructed to fit the quadratic surface equation. The equation of the quadratic surface to be fitted is:

[0230] ,

[0231] in, For the six fitting coefficients to be solved, input each point of the point cloud. All points satisfy the equation of the quadratic surface. Substituting each point into the equation of the quadratic surface, we obtain an overdetermined system of equations:

[0232] ,

[0233] Obtain the coefficient matrix The vector of fitting coefficients to be solved Corresponding point to the target value vector ,in

[0234] ,

[0235] ,

[0236] ,

[0237] ,

[0238] The block diagonalized singular value decomposition method is used to solve the overdetermined equation system by least squares. This method can effectively handle large-scale point cloud data and has better numerical stability than the traditional QR decomposition.

[0239] After obtaining the fitting coefficients, the mean of the squared residuals between the fitted values ​​and the true values ​​(MSE) is calculated as the degree of fit between the fitted surface and the actual point cloud. The formula for calculating MSE is:

[0240] ,

[0241] ,

[0242] in To input the number of points in the point cloud, The z-value is the fitted value. MSE is used to quantify the fitting accuracy. The smaller the MSE, the higher the degree of fit between the surface and the point cloud.

[0243] Curvature calculation based on the geometric center of the point cloud The formula for calculating the coordinates of the geometric center of the point cloud, serving as a reference point for curvature calculation, is as follows:

[0244] ,

[0245] Based on the first and second fundamental forms of surfaces in differential geometry, the fitted equation of the quadratic surface... Calculate the first-order partial derivative at the geometric center of the point cloud. , The specific calculation formula is as follows:

[0246] ,

[0247] Calculate the corresponding second-order partial derivatives , and The specific calculation formula is as follows:

[0248] ,

[0249] Obtain the first fundamental form coefficients of the surface , and , , , ;

[0250] Obtain the coefficients of the second fundamental form of the surface , and ;

[0251] , , ;

[0252] The first fundamental form coefficients of the surface describe the metric properties of the surface, reflecting the degree of stretching of the surface at the reference point; the second fundamental form coefficients of the surface describe the degree of curvature of the surface.

[0253] Gaussian curvature is calculated using standard differential geometry formulas based on the first and second fundamental form coefficients of the surface. and mean curvature , , ;

[0254] Among them, Gaussian curvature is independent of the coordinate system and reflects the inherent bending characteristics of the surface; mean curvature reflects the overall degree of bending of the surface.

[0255] The bending degree of the point cloud is then evaluated using the average curvature, Gaussian curvature, size, and fit characteristic parameters to screen out soft packages that are prone to rolling off. The specific steps include:

[0256] First, after obtaining the quadratic surface equation of the point cloud, the initial state of the package to be identified is set as a normal item, and a curvature threshold is applied. As a core criterion; when the average curvature of the package... Greater than the set threshold And Gaussian curvature When the value is greater than 0, the package to be identified is determined to be a suspected irregularly shaped item that is prone to rolling.

[0257] For suspected irregularly shaped parts, secondary identification is performed by combining dimensional characteristic parameters, including the average curvature. If the value is less than 0.008 and both length and width are less than 200mm, the suspected irregularly shaped part is determined to be a normal part, and small-sized packages are filtered out; if the average curvature is less than 0.008 ... If the value is less than 0.01 and the height is less than 150mm, the suspected irregular part is judged to be a normal part, and the low-profile package is filtered out; if the average curvature is less than 0.01 ... If the value is less than 0.01 and the average length and width of the package is ≥405mm, the suspected irregularly shaped item is judged to be a normal item. This includes packages that are relatively large in size but not very round and not easy to fall off; or packages that are relatively long but not cylindrical.

[0258] If it is still determined to be a suspected irregular part, then the fit MSE value is used to determine whether it is an irregular part. First, the point cloud fitting variance threshold is calculated based on the Z-axis range. , The calculation formula is:

[0259] , This represents the Z-axis range of the point cloud, that is, the difference between the maximum and minimum Z-axis values;

[0260] If the MSE value is less than If the MSE value is not less than 1, it is determined to be an irregularly shaped part; However, the aspect ratio of the package is greater than 5.0 or the average curvature is... If the value is greater than 0.006, it is determined to be an irregularly shaped part;

[0261] The final output is the status indicator of the package: 1 if it is an irregularly shaped item, and 0 if it is a normal item.

[0262] like Figure 14 As shown, the first package supply device 900 is used to receive and buffer normal packages sorted from the module belt sorting section device 800, and smoothly supply them to the subsequent equipment. The structure of the first package supply device 900 includes, in sequence along the transportation direction: an acceleration section 910 that connects to the sorting outlet for fast package reception; a buffer section 920 that connects to the acceleration section 910 for temporary storage of packages to match the subsequent cycle time, with a first height limiter 930 above the buffer section 920 to prevent oversized packages from passing through; and finally, a first receiving section 940 that delivers the packages.

[0263] For abnormal packages identified by the control system, the module belt sorting section device 800 will not sort them to the side, but will allow them to continue moving along the second module belt 810 to the end.

[0264] like Figure 15 As shown, a delivery device 1000 is provided at the end. The delivery device 1000 includes a package receiving chute 1010 for receiving abnormal packages that fall; a fourth belt conveyor 1020 for transporting packages out from the bottom of the chute; and a transfer section 1030 (e.g., a material frame or platform) for temporarily storing these abnormal packages.

[0265] Adjacent to the delivery device 1000 is the second package supply device 1100, which includes a manual inspection table 1110 where operators can inspect, relabel, or perform simple processing on abnormal packages in the transfer section 1030.

[0266] For packages deemed suitable for reloading, they can be manually placed on the fifth conveyor belt 1120 (which is equipped with a second height limit frame 1130 for height protection) and finally output through the second receiving section 1140. This eliminates the need for long-distance manual handling and greatly improves the efficiency of handling abnormalities.

[0267] Based on the above system, the feeding method of the present invention includes the following steps:

[0268] (1) The package is input via a single-channel belt conveyor 100; the photoelectric sensor on the single-channel belt conveyor 100 records the time the package is blocked, and the control system judges the cargo flow information in real time based on the blocking time. When the cargo flow does not exceed the threshold, the package is sorted by the swing wheel device 200 to the second belt conveyor 310 on the inner channel of the dual-channel belt conveyor 300; when the cargo flow exceeds the threshold, the control system drives the swing wheel device 200 to deflect, and the package is sorted by the swing wheel device 200 to the third belt conveyor 320 on the outer channel of the dual-channel belt conveyor 300, thus realizing parallel processing.

[0269] (2) After being diverted, the parcels are separated on the left and right branches by the corresponding stacking separation device 400 to form two rows of single-piece flow parcels with wide spacing.

[0270] (3) Two rows of wide-spaced single-piece packages are conveyed by the second double-channel belt conveyor 500, and after the knife-edge belt conveyor 600 opens the spacing and speeds up, they enter the module belt parallel flow section device 700.

[0271] In the module with parallel flow section device 700, the package from the outer branch is pushed to the right by the parallel flow friction drive unit and merged with the package flow from the inner branch. Then, the centering friction drive unit adjusts the merged package flow to the center position to form two rows of dense package flows.

[0272] (4) The depth camera sequentially captures the package to form time-series package image data, and the barcode recognition camera captures the top and bottom sides of the package to form barcode images to be recognized. The control system identifies stacked packages that cannot be separated and easily rolled packages based on the time-series package image data and judges them as abnormal packages. The control system identifies packages with damaged barcodes based on the barcode images to be recognized and judges them as abnormal packages.

[0273] (5) The light curtain sensor records the time points when the package is covered to form the covering time data. The control system determines the location information of each package based on the covering time data.

[0274] (6) Two rows of dense packages enter the module belt sorting section device 800. For normal packages, the control system controls the drive component 820 of the first sorting module of the module belt sorting section device 800 to deflect. The normal packages on the inner side are smoothly sorted to the corresponding first package feeding device 900 by friction guidance. When the control system identifies that there is a gap in the inner package flow according to the package position information, it controls the drive component 820 of the second sorting module of the module belt sorting section device 800 to deflect and compensate the normal packages on the outer side to the inner package flow.

[0275] like Figure 23As shown, when the control system identifies a gap in the inner package flow based on package location information, it controls the drive component 820 of the second sorting module of the module with sorting section device 800 to deflect and compensate for the normal outer packages into the inner package flow. Specifically, this includes the following steps:

[0276] (6.1) Packages in the inner package flow are main line packages, and packages in the outer package flow are auxiliary line packages. The main line packages and auxiliary line packages are first conveyed to the knife-edge belt conveyor by the upstream second dual-channel belt conveyor 500. A light curtain sensor is installed between the upstream second dual-channel belt conveyor 500 and the knife-edge belt conveyor 600. An encoder is installed on the second module belt 810. The encoder is installed on the main shaft of the second module belt. When the second module belt is running, the control system calculates the forward movement of the second module belt every 4 milliseconds based on the encoder pulse. When a package falls on the second module belt, the position information of the package is updated every 4 milliseconds. After the main line packages and auxiliary line packages complete the identification of the package head and package tail information by the light curtain sensor, they are finally conveyed by the knife-edge belt conveyor and fall onto the second module belt 810 of the module belt sorting section device 800. During the entire conveying process, the running speed of the upstream second dual-channel belt conveyor 500, the knife-edge belt conveyor and the second module belt 810 are kept consistent to ensure that the packages are conveyed smoothly and continuously without jamming or position deviation.

[0277] (6.2) When the main line package and the auxiliary line package enter the knife-edge belt conveyor and block the light curtain sensor, the rising edge of the light curtain sensor is triggered, and the control system records the real-time position value of the package head.

[0278] (6.3) When the main line package and the auxiliary line package leave the light curtain sensor, the falling edge of the light curtain sensor is triggered, the control system records the real-time position value of the tail of the package, and stores the current position of the head and tail of the main line package and the auxiliary line package into the main line package array and the auxiliary line package array respectively.

[0279] (6.4) During the continuous operation of the second module belt, the control system calculates the forward movement of the second module belt in real time with a period of 4 milliseconds through the pulse signal of the encoder, and updates the real-time position values ​​of the head and tail of the package based on the forward movement.

[0280] (6.5) Each first sorting module corresponds to a first package feeding device. The position value from the tail of each first sorting module to the light curtain sensor is a known fixed value. The control system compares the real-time position of the head of each main line package with the tail position of each first sorting module one by one to determine whether the main line package has reached the position of each first sorting module.

[0281] If the main line package has not reached the position of each first sorting module, the control system returns to step (6.4) to update the head and tail positions of the main line package in real time until the main line package reaches the position of each first sorting module. That is, when the tail position of the first sorting module minus the head position of the main line package is less than the first spacing threshold, the first spacing threshold is 2cm, and it is determined that the main line package has reached the corresponding first sorting module position.

[0282] (6.6) The control system sends a signal to indicate whether the package is allowed to enter based on the number of packages supplied by the first package supply device corresponding to the first sorting module. When the control system detects the allowable package signal, it controls the drive component on the first sorting module to deflect, and the main line package is sorted to the corresponding first package supply device through the first sorting module. The main line package is marked as supplied and the corresponding package information is deleted from the main line package array at the same time. If the control system detects the disallowable package signal, it determines whether the main line package has passed the last first sorting module. If so, the main line package is transferred to the delivery device 1000. Otherwise, it returns to step (6.4) to update the head and tail positions of the main line package in real time.

[0283] (6.7) The position value from the tail of each second sorting module to the light curtain sensor is a known fixed value; the control system compares the real-time position of the head of each auxiliary line package with the tail position of each second sorting module one by one to determine whether the auxiliary line package has reached the position of each second sorting module.

[0284] If the auxiliary line package has not reached the position of each second sorting module, the control system returns to step (6.4) to update the head and tail positions of the auxiliary line package in real time until the auxiliary line package reaches the position of each second sorting module. That is, when the tail position of the second sorting module minus the head position of the auxiliary line package is less than the second spacing threshold, the second spacing threshold is 2cm, and it is determined that the auxiliary line package has reached the corresponding second sorting module position.

[0285] (6.8) The control system determines whether the auxiliary line package meets the insertion conditions by comparing the head and tail positions of the auxiliary line package with the head and tail positions of all main line packages. If the positions do not overlap and the distance is not less than the third distance threshold (20cm), the auxiliary line package is considered to meet the insertion conditions. The control system controls the drive component of the second sorting module to deflect, and the auxiliary line package is deflected to compensate into the inner package flow. After confirming that the second sorting module has swung into position, the control system updates the auxiliary line package information to the main line package array and simultaneously deletes the corresponding package information in the auxiliary line package array to complete the insertion. If the control system determines that the auxiliary line package does not meet the insertion conditions, it determines whether the auxiliary line package has passed the last second sorting module. If so, the auxiliary line package is transferred to the delivery device 1000.

[0286] The specific steps for determining whether the auxiliary line package meets the insertion conditions are as follows:

[0287] Using the light curtain sensor as the position reference point, the auxiliary line wrapping moves along the running direction of the second module belt in the direction of increasing position value; the head of the wrapping passes the light curtain sensor first, and the position value H of the head of the wrapping is greater than the position value T of the tail.

[0288] The head and tail position values ​​of the package to be inserted on the auxiliary line are: H 辅 and T 辅 And H 辅 >T 辅 ;

[0289] The head and tail position values ​​of the nth main line wrapper are: H 主n and T 主n And H 主n >T 主n ;

[0290] The adjacent packages to be inserted are mainline package A and mainline package B. Mainline package A is the nearest mainline package behind the auxiliary line package, and mainline package B is the nearest mainline package in front of the auxiliary line package.

[0291] First, locate the main storyline package A. Then, iterate through all main storyline packages and calculate the difference between the head position of the auxiliary storyline package and the head position of the main storyline package, i.e., ΔA. n =H 辅 -H 主n ; Filter out ΔA n For all results greater than 0, the maximum value is taken from the filtered results; the corresponding main wrapper is the main wrapper A; ΔA n The larger the value, the closer the head of the main line package is to the head of the auxiliary line package, indicating that it is the closest package to the back.

[0292] Next, locate the main storyline package B, traverse all main storyline packages, and calculate the difference between the head position of the main storyline package and the head position of the auxiliary storyline package, i.e., ΔB. n =H 主n -H 辅 ; Filter out ΔB n All results >0 indicate that the main line wrapper precedes the auxiliary line wrapper; the minimum value in the filtered results corresponds to the main line wrapper B; ΔB n The smaller the value, the closer the head of the main line package is to the head of the secondary line package, indicating that it is the closest package in front.

[0293] If ΔA n >0 No result, the auxiliary line wraps no main line wraps after it, that is, the main line wraps A do not exist; if ΔB n >0 No result: There is no main line package in front of the auxiliary line package, that is, the main line package B does not exist; if neither the main line package A nor the main line package B exists, the packet insertion condition is directly satisfied.

[0294] After finding mainline package A and mainline package B, both conditions must be met simultaneously: there must be no positional overlap with mainline package A and mainline package B, and the distance between the package and mainline package A and mainline package B must not be less than the third distance threshold. Only then is the packet insertion condition satisfied. Specifically:

[0295] Calculate the distance T between the main line and the wrapping A. 辅 -H A ≥20cm, meaning the distance between the end of the auxiliary line wrap and the beginning of the main line wrap A is ≥20cm; calculate the distance T between the auxiliary line wrap and the main line wrap B. B -H 辅 ≥20cm, meaning the distance between the end of the main line wrapping B and the beginning of the auxiliary line wrapping B is ≥20cm;

[0296] If main package A does not exist, after finding main package B, it must meet the following conditions: it must not overlap with main package B and the distance between them must be no less than 20cm to be considered as meeting the insertion condition. That is, calculate the distance T between them and main package B. B -H 辅 ≥20cm;

[0297] If main package B does not exist, after finding main package A, it must meet the following conditions: it must not overlap with main package A and the distance between them must be no less than 20cm to be considered as meeting the insertion condition. That is, calculate the distance T between them and main package A. 辅 -H A ≥20cm;

[0298] (7) For abnormal packages, the module belt sorting section device 800 keeps its path straight, so that it runs to the end delivery device 1000, and falls into the transfer section 1030 for temporary storage via the receiving chute 1010 and the fourth belt conveyor 1020.

[0299] (8) The operator handles the abnormal packages at the manual inspection table 1110, and manually places the packages that can be reloaded onto the second package supply device 1100, which are then output via the fifth belt conveyor 1120 and the second package receiving section 1140.

[0300] The module belt insert of the present invention refers to inserting the package on the auxiliary line module belt into the package gap of the main line module belt when the insert conditions are met (when the target position of the auxiliary line package to be inserted into the main line does not overlap with the position of all existing packages on the main line, and the auxiliary line package maintains a certain safe distance from its adjacent packages on the main line), and synchronizing the position information of the auxiliary line package to the main line module belt, so as to realize the automatic delivery of the auxiliary line package to the package supply station.

Claims

1. A logistics supply system, characterized in that, The device includes a single-channel belt conveyor (100), a swing wheel device (200), a double-channel belt conveyor (300), a stacking separation device (400), a second double-channel belt conveyor (500), a blade belt conveyor (600), a module belt parallel flow section device (700), and a module belt sorting section device (800), wherein multiple first package feeding devices (900) are arranged side by side along the transport direction on the side of the module belt sorting section device (800). The single-channel belt conveyor (100) is used to transport packages to the balance wheel device (200), and the balance wheel device (200) is used to sort packages to the designated channel of the dual-channel belt conveyor (300) according to the cargo flow information; Two stacking separation devices (400) are arranged side by side, and the stacking separation devices (400) are used to separate stacked packages on each channel of the dual-channel belt conveyor (300) into single packages; The second dual-channel belt conveyor (500) and the blade belt conveyor (600) transport the double-row package flow to the module belt parallel flow section device (700). The module belt parallel flow section device (700) is used to merge the two rows of package flows on the second dual-channel belt conveyor device (500) and then process them to the side to form two rows of dense package flows with smaller row spacing, and then transport the two rows of dense package flows in parallel to the module belt sorting section device (800). The module with sorting section device (800) is used to compensate and sort two rows of dense package streams and transport them to different first package supply devices (900). When a gap occurs in the package stream near the first package supply device (900), the packages on the other row of package streams away from the first package supply device (900) are moved to the package stream near the first package supply device (900) for compensation. It also includes a control system, a plurality of depth cameras spaced apart along the transport direction, a barcode recognition camera located at the blade belt conveyor (600), a light curtain sensor located at the blade belt conveyor (600), and a delivery device (1000) and a second package supply device (1100) located at the end of the module belt sorting section device (800) for handling abnormal packages. The depth camera is used to sequentially capture the package to form time-series package image data with depth data; the barcode recognition camera is used to capture the top and bottom sides of the package to form barcode images to be recognized; and the light curtain sensor is used to record the time points when the package is covered to form occlusion time data. The control system is used to identify inseparable stacked packages and easily rolled packages based on time-series package image data, and to identify packages with damaged barcodes based on barcode images to be identified, and to determine stacked packages, easily rolled packages, and packages with damaged barcodes as abnormal packages; the control system is also used to determine the location information of each package based on occlusion time data; The control system is used to control the module belt sorting section device (800) to compensate and sort normal packages to the corresponding first package supply device (900); the control system is used to control the module belt sorting section device (800) to transport abnormal packages to the delivery device (1000), and then process them through the second package supply device (1100) before returning them.

2. The logistics supply system according to claim 1, characterized in that, The control system is used to identify inseparable stacked packages and easily rolled packages based on time-series package image data, specifically: The control system performs target detection on time-series package image data with depth data, locates the package position, calculates the length, width and height of the package based on the corresponding depth data, and then judges the positional relationship between adjacent packages. If it is determined that there is an overlap between adjacent packages or the distance between two adjacent packages is less than a threshold, it is judged as a stacked package; for a single package that is not a stacked package, the package will be judged as irregular. Depth data of the top detection area of ​​the package is acquired and converted into local point cloud data containing only information of the package's top surface using RGB camera intrinsics. This local point cloud data serves as the input point cloud, with the coordinates of each point in the input point cloud being... First, basic validation is performed on the input point cloud. After the data validation passes, a system of linear equations for least-squares fitting is constructed to fit the quadratic surface equation. The quadratic surface equation to be fitted is: ， in, For the six fitting coefficients to be solved, input each point of the point cloud. All points satisfy the equation of the quadratic surface. Substituting each point into the equation of the quadratic surface, we obtain an overdetermined system of equations: ， Obtain the coefficient matrix The vector of fitting coefficients to be solved Corresponding point to the target value vector ,in ， ， ， ， The block diagonalized singular value decomposition method is used to solve the overdetermined system of equations using least squares. After obtaining the fitting coefficients, the mean of the squared residuals between the fitted values ​​and the true values ​​(MSE) is calculated as the degree of fit between the fitted surface and the actual point cloud. The formula for calculating MSE is: ， ， in To input the number of points in the point cloud, The z-value is the fitted value; MSE is used to quantify the fitting accuracy. Curvature calculation based on the geometric center of the point cloud The formula for calculating the coordinates of the geometric center of the point cloud, serving as a reference point for curvature calculation, is as follows: ， Based on the first and second fundamental forms of surfaces in differential geometry, the fitted equation of the quadratic surface... Calculate the first-order partial derivative at the geometric center of the point cloud. , The specific calculation formula is as follows: ， Calculate the corresponding second-order partial derivatives , and The specific calculation formula is as follows: ， Obtain the first fundamental form coefficients of the surface , and , , , ; Obtain the coefficients of the second fundamental form of the surface , and ; 、 、 ； Gaussian curvature is calculated using standard differential geometry formulas based on the first and second fundamental form coefficients of the surface. and mean curvature , , ; Then, the bending degree of the point cloud is evaluated by the average curvature, Gaussian curvature, length, width and height dimensions, and fitting characteristic parameters of the point cloud, and packages that are prone to rolling off are screened out. After obtaining the quadratic surface equation of the point cloud, the initial state of the package to be identified is set as a normal item, and a curvature threshold is applied. As a criterion; when the average curvature of the package... Greater than the set threshold And Gaussian curvature When the value is greater than 0, the package to be identified is determined to be a suspected irregularly shaped item that is prone to rolling. For suspected irregularly shaped parts, secondary identification is performed by combining dimensional characteristic parameters, including the average curvature. If the curvature is less than the first curvature threshold and both its length and width are less than the first length and width thresholds, the suspected irregular part is determined to be a normal part; if the average curvature is less than the first curvature threshold, the part is considered to be normal. If the curvature is less than the second curvature threshold and the height is less than the first height threshold, the suspected irregular part is determined to be a normal part; if the average curvature is less than the second curvature threshold, the part is considered to be normal. If the curvature is less than the second curvature threshold and the average length and width of the package are not less than the second length and width threshold, the suspected irregular part is determined to be a normal part. If it is still determined to be a suspected irregular part, then the fit MSE value is used to determine whether it is an irregular part, and the point cloud fitting variance threshold is calculated. If the fit MSE value is less than If the MSE value is not less than 1, it is determined to be an irregularly shaped part; However, the aspect ratio of the package is greater than the first ratio threshold or the average curvature. If the curvature exceeds the third curvature threshold, it is determined to be an irregularly shaped part.

3. The logistics supply system according to claim 1, characterized in that, The modular belt sorting section device (800) includes a second modular belt (810), a first sorting module arranged along the transport direction of the second modular belt (810) and close to the supply side, corresponding to each group of first supply devices (900), and a second sorting module arranged sequentially along the transport direction of the second modular belt (810) and away from the supply side. The first sorting module and the second sorting module are arranged alternately, and the number of second sorting modules is less than that of first sorting modules. The first sorting module and the second sorting module both include a drive assembly (820) and a motor (840) disposed below the second module belt (810); the motor (840) drives the drive assembly (820) to deflect, and changes the sorting direction by friction between the drive wheel in the drive assembly (820) and the conveyor wheel on the second module belt (810).

4. The logistics supply system according to claim 3, characterized in that, The second module belt (810) includes a plurality of conveyor wheel assemblies (811), each conveyor wheel assembly (811) including two spaced-apart conveyor wheels and a clearance space (812) formed between the two conveyor wheels, the drive assembly (820) being disposed opposite the clearance space (812); the drive assembly (820) includes a bracket connecting seat (821), a drive wheel mounting bracket (822) disposed on the top of the bracket connecting seat (821), and a first drive wheel (823) and a second drive wheel (824) mounted on the drive wheel mounting bracket (822); During the operation of the second module belt (810), the first drive wheel (823) is closer to the starting point of the second module belt (810) in the direction of module belt operation than the second drive wheel (824); The rotation axes of the first drive wheel (823) and the second drive wheel (824) are arranged in a left-right offset manner when projected perpendicular to the conveying direction; The highest point of the top of the first drive wheel (823) is lower than the highest point of the top of the second drive wheel (824).

5. The logistics supply system according to claim 4, characterized in that, In the non-sorting state, the second drive wheel (824) contacts the bottom surface of the second module belt (810), and the first drive wheel (823) is in a suspended state; in the sorting state, the first drive wheel (823) and the second drive wheel (824) respectively abut against the two conveyor wheels in the conveyor wheel assembly (811).

6. The logistics supply system according to claim 4, characterized in that, A swing arm (830) is connected to the bracket connecting seat (821). The swing arm (830) is connected to the rotating arm (850) through the bearing (860). The rotating arm (850) is connected to the output end of the motor (840). When the motor is started, the rotating arm (850) and the swing arm (830) drive the drive assembly (820) to swing in the sorting state. The first drive wheel (823) and the second drive wheel (824) synchronously abut against the two conveyor wheels in the conveyor wheel assembly (811). The conveyor wheels are driven to rotate clockwise or counterclockwise by friction, thereby driving the package to move to the side of the conveyor belt to achieve sorting.

7. The logistics supply system according to claim 3, characterized in that, The control system is used to control the module belt sorting device (800) to perform compensatory sorting of normal packages to the corresponding first package supply device (900), specifically: The inner wrapping flow consists of main wrapping lines, while the outer wrapping flow consists of auxiliary wrapping lines. A light curtain sensor is installed between the upstream second dual-channel belt conveyor and the knife-edge belt conveyor, and an encoder is installed on the second module belt. Throughout the entire conveying process, the operating speeds of the upstream second dual-channel belt conveyor, the knife-edge belt conveyor, and the second module belt remain consistent. When the main line package and the auxiliary line package enter the blade belt conveyor and block the light curtain sensor, the rising edge of the light curtain sensor is triggered, and the control system records the real-time position value of the package head. When the main line package and the auxiliary line package leave the light curtain sensor, the falling edge of the light curtain sensor is triggered, the control system records the real-time position value of the tail of the package, and stores the current positions of the head and tail of the main line package and the auxiliary line package into the main line package array and the auxiliary line package array respectively. During the continuous operation of the second module belt, the control system calculates the forward movement of the second module belt in real time through the pulse signal of the encoder, and updates the real-time position values ​​of the head and tail of the package based on the forward movement. The control system determines whether the main line package has reached the location of each first sorting module. If the main line package has not reached the location of each first sorting module, the control system returns to update the head and tail positions of the main line package in real time until the main line package reaches the location of each first sorting module. When the control system detects a signal allowing package entry, it controls the drive component of the first sorting module to deflect, and the mainline package is sorted through the first sorting module to the corresponding first supply device. The mainline package is marked as supplied, and the corresponding package information is simultaneously deleted from the mainline package array. If the control system detects a signal disallowing package entry, it determines whether the mainline package has passed the last first sorting module. If so, the mainline package is transferred to the delivery device; otherwise, it returns to update the head and tail positions of the mainline package in real time. The control system determines whether the auxiliary line packages have reached the positions of the respective second sorting modules; if the auxiliary line packages have not reached the positions of the respective second sorting modules, the control system returns to update the positions of the head and tail of the auxiliary line packages in real time; until the auxiliary line packages reach the positions of the respective second sorting modules; The control system determines whether the auxiliary line package meets the insertion conditions. If the control system considers the auxiliary line package to meet the insertion conditions, it controls the drive component of the second sorting module to deflect, and the auxiliary line package is deflected to compensate for the deflection into the inner package flow. After confirming that the second sorting module has swung into position, the control system updates the auxiliary line package information to the main line package array and simultaneously deletes the corresponding package information from the auxiliary line package array, thus completing the insertion. If the control system considers the auxiliary line package does not meet the insertion conditions, it determines whether the auxiliary line package has passed the last second sorting module. If so, the auxiliary line package is transferred to the delivery device; otherwise, the control system returns to update the head and tail positions of the auxiliary line package in real time.

8. The logistics supply system according to claim 7, characterized in that, The control system determines whether the auxiliary line package meets the insertion conditions in the following ways: Using the light curtain sensor as the position reference point, the auxiliary line package moves along the second module belt in the direction of increasing position value; the head of the package passes the light curtain sensor first, and the position value H of the head of the package is greater than the position value T of the tail; the head and tail position values ​​of the package to be inserted on the auxiliary line are respectively: H 辅 and T 辅 And H 辅 >T 辅 The head and tail position values ​​of the nth main line wrapper are: H 主n and T 主n And H 主n >T 主n The adjacent packages to be inserted are mainline package A and mainline package B, respectively. Mainline package A is the nearest mainline package behind the auxiliary package, and mainline package B is the nearest mainline package in front of the auxiliary package. First, locate the main storyline package A. Then, iterate through all main storyline packages and calculate the difference between the head position of the auxiliary storyline package and the head position of the main storyline package, i.e., ΔA. n =H 辅 -H 主n ; Filter out ΔA n For all results greater than 0, the maximum value is selected from the filtered results, and the corresponding main story package is the main story package A. Next, locate the main story package B, iterate through all main story packages, and calculate the difference between the head position of the main story package and the head position of the auxiliary story package, i.e., ΔB. n =H 主n -H 辅 ; Filter out ΔB n All results >0 indicate that the main line is wrapped in front of the auxiliary line; The minimum value in the filtering results is the main line package B. If ΔA n >0 No result, the auxiliary line wraps no main line wraps after it, that is, the main line wraps A do not exist; if ΔB n >0 No result: There is no main line package in front of the auxiliary line package, that is, the main line package B does not exist; if neither the main line package A nor the main line package B exists, the packet insertion condition is directly satisfied. After locating mainline package A and mainline package B, the following conditions must be met simultaneously: there is no positional overlap with mainline package A and mainline package B, and the distance between the package and mainline package A and mainline package B is not less than the third distance threshold. Only then is the insertion condition satisfied, that is: calculate the distance T between the package and mainline package A. 辅 -H A ≥Third spacing threshold, calculate the spacing T between the main line wrapping B and the main line. B -H 辅 ≥Third spacing threshold; If mainline package A does not exist, after finding mainline package B, it must meet the following conditions: it must not overlap with mainline package B and the distance between it and mainline package B must not be less than the third distance threshold to be considered as satisfying the insertion condition, that is: calculate the distance T between it and mainline package B. B -H 辅 ≥Third spacing threshold; If main package B does not exist, after finding main package A, it must meet the following conditions: it must not overlap with main package A and the distance between it and main package A must not be less than the third distance threshold to be considered as satisfying the insertion condition, that is: calculate the distance T between it and main package A. 辅 -H A ≥ Third spacing threshold.

9. The logistics supply system according to claim 1, characterized in that, The balance wheel device (200) includes a balance wheel support (210), multiple balance wheel units (220) arranged in an array on the top of the balance wheel support, a balance wheel base (260) connected to the bottom of each balance wheel unit (220), a swing rod (250) connected to the balance wheel base (260), and a balance wheel motor (270) whose output shaft is connected to the swing rod (250) via a first connecting rod (230) and a second connecting rod (240); it also includes a photoelectric sensor for detecting cargo flow information and a control system, wherein the control system controls the balance wheel motor (270) to drive the balance wheel unit (220) to swing according to the cargo flow information, so as to guide the package to the designated channel of the dual-channel belt conveyor (300).

10. The logistics supply system according to claim 1, characterized in that, The stacked package separation device (400) includes multiple sets of separation units arranged sequentially in the transport direction. Each set of separation units includes an inclined part (410) and a horizontal part (420) located behind it. A connecting baffle (430) is provided between the inclined part (410) and the horizontal part (420). The lower end of the inclined part (410) is lower than the horizontal part (420), and the upper end of the inclined part (410) is higher than the horizontal part (420). The stacked package is separated from the horizontal part (420) by falling from the end of the inclined part (410) to different positions at the beginning of the horizontal part (420).

11. The logistics supply system according to claim 1, characterized in that, The module belt parallel flow section device (700) includes a first module belt (710), and a plurality of inclined parallel flow friction drive parts are provided below the first module belt (710). The total coverage of the plurality of parallel flow friction drive parts in the width direction is greater than the width of the outer channel of the dual channel belt conveyor (300), which is used to push the package from the outer channel of the dual channel belt conveyor (300) towards the inner side of the package feeding table. Below the first module belt (710), there are also a plurality of centering friction drive units with an inclination direction opposite to that of the parallel flow friction drive unit. The plurality of centering friction drive units form two rows of centering groups. The two rows of centering groups are used to adjust the pushed package to the center position and form two rows of dense package flow with smaller row spacing.

12. The logistics supply system according to claim 1, characterized in that, The first package supply device (900) includes an acceleration section (910), a buffer section (920) and a first package receiving section (940) connected sequentially along the transport direction. A first height restriction frame (930) is provided above the buffer section (920).

13. The logistics supply system according to claim 1, characterized in that, The delivery device (1000) includes a receiving chute (1010) that docks with the end of the module belt sorting section device (800), a fourth belt conveyor (1020) that connects to the discharge side of the receiving chute (1010), a transfer section (1030) located on the discharge side of the fourth belt conveyor (1020), and an unloading plate (1040) located at the end of the transfer section (1030). The transfer section (1030) is used to temporarily store abnormal packages.

14. The logistics supply system according to claim 1, characterized in that, The second package feeding device (1100) includes a manual inspection table (1110), a fifth belt conveyor (1120) and a second package receiving section (1140) connected sequentially along the transport direction; the fifth belt conveyor (1120) is equipped with a second height limiter (1130) to limit the height of the packages. The manual inspection station (1110) is used to manually judge and process abnormal packages from the delivery device (1000), and to return packages that can be reloaded to the next process via the fifth belt conveyor (1120) and the second receiving section (1140).

15. A method for supplying parts in a logistics supply system according to claim 1, characterized in that, Includes the following steps: Packages are input through a single-channel belt conveyor (100). Photoelectric sensors on the single-channel belt conveyor (100) record the time the packages are blocked. The control system judges the cargo flow information in real time based on the blocking time. When the cargo flow does not exceed the threshold, the packages are sorted by the swing wheel device (200) to the inner channel of the double-channel belt conveyor (300). When the cargo flow exceeds the threshold, the control system drives the swing wheel device (200) to deflect, and the packages are sorted by the swing wheel device (200) to the outer channel of the double-channel belt conveyor (300). The inner channel is the channel closer to the package supply table, and the outer channel is the channel farther away from the package supply table. After being diverted, the parcels are separated by the corresponding stacking separation device (400) to form two rows of single-piece flow parcels with wide spacing. Two rows of wide-spaced single-piece flow packages pass sequentially through the second dual-channel belt conveyor (500) and the knife-edge belt conveyor (600), and then enter the module belt parallel flow section device (700) for parallel flow and centering, forming two rows of tightly packed flow packages; A depth camera sequentially captures images of packages to form time-series package image data, while a barcode recognition camera captures images of the top and bottom sides of the packages to form barcode images to be recognized. The control system identifies inseparable stacked packages and easily rolled packages based on the time-series package image data and determines them as abnormal packages. The control system also identifies packages with damaged barcodes based on the barcode images to be recognized and determines them as abnormal packages. The light curtain sensor records the time when the package is covered, forming the covering time data. The control system determines the location information of each package based on the covering time data. Two rows of tightly packed packages enter the module belt sorting section device (800). For normal packages, the control system controls the first sorting module of the module belt sorting section device (800) to sort the inner normal packages to the corresponding first package feeding device (900). When the control system identifies a gap in the inner package flow based on the package position information, it controls the second sorting module of the module belt sorting section device (800) to deflect the outer normal packages to the inner package flow as compensation. For abnormal packages, the second module belt (810) of the control module belt sorting section device (800) transports the abnormal item to the delivery device (1000) and temporarily stores it in the transfer section (1030) of the delivery device (1000). Abnormal packages are manually inspected by the manual inspection station (1110) of the second package supply device (1100), and packages that can be re-entered are re-entered.

16. The feeding method according to claim 15, characterized in that, The control system identifies inseparable stacked packages and easily rolled packages based on time-series package image data, and determines them to be abnormal packages; specifically, it includes the following steps: The control system performs target detection on time-series package image data with depth data, locates the package position, calculates the length, width and height of the package based on the corresponding depth data, and then judges the positional relationship between adjacent packages. If it is determined that there is an overlap between adjacent packages or the distance between two adjacent packages is less than a threshold, it is judged as a stacked package; for a single package that is not a stacked package, the package will be judged as irregular. Depth data of the top detection area of ​​the package is acquired and converted into local point cloud data containing only information of the package's top surface using RGB camera intrinsics. This local point cloud data serves as the input point cloud, with the coordinates of each point in the input point cloud being... First, basic validation is performed on the input point cloud. After the data validation passes, a system of linear equations for least-squares fitting is constructed to fit the quadratic surface equation. The quadratic surface equation to be fitted is: ， in, For the six fitting coefficients to be solved, input each point of the point cloud. All points satisfy the equation of the quadratic surface. Substituting each point into the equation of the quadratic surface, we obtain an overdetermined system of equations: ， Obtain the coefficient matrix The vector of fitting coefficients to be solved Corresponding point to the target value vector ,in ， ， ， ， The block diagonalized singular value decomposition method is used to solve the overdetermined system of equations using least squares. After obtaining the fitting coefficients, the mean of the squared residuals between the fitted values ​​and the true values ​​(MSE) is calculated as the degree of fit between the fitted surface and the actual point cloud. The formula for calculating MSE is: ， ， in To input the number of points in the point cloud, The z-value is the fitted value; MSE is used to quantify the fitting accuracy. Curvature calculation based on the geometric center of the point cloud The formula for calculating the coordinates of the geometric center of the point cloud, serving as a reference point for curvature calculation, is as follows: ， Based on the first and second fundamental forms of surfaces in differential geometry, the fitted equation of the quadratic surface... Calculate the first-order partial derivative at the geometric center of the point cloud. , The specific calculation formula is as follows: ， Calculate the corresponding second-order partial derivatives , and The specific calculation formula is as follows: ， Obtain the first fundamental form coefficients of the surface , and , , , ; Obtain the coefficients of the second fundamental form of the surface , and ; 、 、 ； Gaussian curvature is calculated using standard differential geometry formulas based on the first and second fundamental form coefficients of the surface. and mean curvature , , ; Then, the bending degree of the point cloud is evaluated by the average curvature, Gaussian curvature, length, width and height dimensions, and fitting characteristic parameters of the point cloud, and packages that are prone to rolling off are screened out. After obtaining the quadratic surface equation of the point cloud, the initial state of the package to be identified is set as a normal item, and a curvature threshold is applied. As a criterion; when the average curvature of the package... Greater than the set threshold And Gaussian curvature When the value is greater than 0, the package to be identified is determined to be a suspected irregularly shaped item that is prone to rolling. For suspected irregularly shaped parts, secondary identification is performed by combining dimensional characteristic parameters, including the average curvature. If the curvature is less than the first curvature threshold and both its length and width are less than the first length and width thresholds, the suspected irregular part is determined to be a normal part; if the average curvature is less than the first curvature threshold, the part is considered to be normal. If the curvature is less than the second curvature threshold and the height is less than the first height threshold, the suspected irregular part is determined to be a normal part; if the average curvature is less than the second curvature threshold, the part is considered to be normal. If the curvature is less than the second curvature threshold and the average length and width of the package are not less than the second length and width threshold, the suspected irregular part is determined to be a normal part. If it is still determined to be a suspected irregular part, then the fit MSE value is used to determine whether it is an irregular part, and the point cloud fitting variance threshold is calculated. If the fit MSE value is less than If the MSE value is not less than 1, it is determined to be an irregularly shaped part; However, the aspect ratio of the package is greater than the first ratio threshold or the average curvature. If the curvature exceeds the third curvature threshold, it is determined to be an irregularly shaped part.

17. The feeding method according to claim 15, characterized in that, The two rows of tightly packed packages enter the module belt sorting section device (800). For normal packages, the control system controls the first sorting module of the module belt sorting section device (800) to sort the inner normal packages to the corresponding first feeding device (900). When the control system identifies a gap in the inner package flow based on the package position information, it controls the second sorting module of the module belt sorting section device (800) to deflect the outer normal packages into the inner package flow as compensation. Specifically, the steps include the following: The inner wrapping flow consists of main wrapping lines, while the outer wrapping flow consists of auxiliary wrapping lines. A light curtain sensor is installed between the upstream second dual-channel belt conveyor and the knife-edge belt conveyor, and an encoder is installed on the second module belt. Throughout the entire conveying process, the operating speeds of the upstream second dual-channel belt conveyor, the knife-edge belt conveyor, and the second module belt remain consistent. When the main line package and the auxiliary line package enter the blade belt conveyor and block the light curtain sensor, the rising edge of the light curtain sensor is triggered, and the control system records the real-time position value of the package head. When the main line package and the auxiliary line package leave the light curtain sensor, the falling edge of the light curtain sensor is triggered, the control system records the real-time position value of the tail of the package, and stores the current positions of the head and tail of the main line package and the auxiliary line package into the main line package array and the auxiliary line package array respectively. During the continuous operation of the second module belt, the control system calculates the forward movement of the second module belt in real time through the pulse signal of the encoder, and updates the real-time position values ​​of the head and tail of the package based on the forward movement. The control system determines whether the main line package has reached the location of each first sorting module. If the main line package has not reached the location of each first sorting module, the control system returns to update the head and tail positions of the main line package in real time until the main line package reaches the location of each first sorting module. When the control system detects a signal allowing package entry, it controls the drive component of the first sorting module to deflect, and the mainline package is sorted through the first sorting module to the corresponding first supply device. The mainline package is marked as supplied, and the corresponding package information is simultaneously deleted from the mainline package array. If the control system detects a signal disallowing package entry, it determines whether the mainline package has passed the last first sorting module. If so, the mainline package is transferred to the delivery device; otherwise, it returns to update the head and tail positions of the mainline package in real time. The control system determines whether the auxiliary line packages have reached the positions of the respective second sorting modules; if the auxiliary line packages have not reached the positions of the respective second sorting modules, the control system returns to update the positions of the head and tail of the auxiliary line packages in real time; until the auxiliary line packages reach the positions of the respective second sorting modules; The control system determines whether the auxiliary line package meets the insertion conditions. If the control system considers the auxiliary line package to meet the insertion conditions, it controls the drive component of the second sorting module to deflect, and the auxiliary line package is deflected to compensate for the deflection into the inner package flow. After confirming that the second sorting module has swung into position, the control system updates the auxiliary line package information to the main line package array and simultaneously deletes the corresponding package information from the auxiliary line package array, thus completing the insertion. If the control system considers the auxiliary line package does not meet the insertion conditions, it determines whether the auxiliary line package has passed the last second sorting module. If so, the auxiliary line package is transferred to the delivery device; otherwise, the control system returns to update the head and tail positions of the auxiliary line package in real time.

18. The feeding method according to claim 17, characterized in that, The control system determines whether the auxiliary line package meets the insertion conditions, specifically including the following steps: Using the light curtain sensor as the position reference point, the auxiliary line package moves along the second module belt in the direction of increasing position value; the head of the package passes the light curtain sensor first, and the position value H of the head of the package is greater than the position value T of the tail; the head and tail position values ​​of the package to be inserted on the auxiliary line are respectively: H 辅 and T 辅 And H 辅 >T 辅 The head and tail position values ​​of the nth main line wrapper are: H 主n and T 主n And H 主n >T 主n The adjacent packages to be inserted are mainline package A and mainline package B, respectively. Mainline package A is the nearest mainline package behind the auxiliary package, and mainline package B is the nearest mainline package in front of the auxiliary package. First, locate the main storyline package A. Then, iterate through all main storyline packages and calculate the difference between the head position of the auxiliary storyline package and the head position of the main storyline package, i.e., ΔA. n =H 辅 -H 主n ; Filter out ΔA n For all results greater than 0, the maximum value is selected from the filtered results, and the corresponding main story package is the main story package A. Next, locate the main story package B, iterate through all main story packages, and calculate the difference between the head position of the main story package and the head position of the auxiliary story package, i.e., ΔB. n =H 主n -H 辅 ; Filter out ΔB n All results >0 indicate that the main line is wrapped in front of the auxiliary line; The minimum value in the filtering results is the main line package B. If ΔA n >0 No result, the auxiliary line wraps no main line wraps after it, that is, the main line wraps A do not exist; if ΔB n >0 No result: There is no main line package in front of the auxiliary line package, that is, the main line package B does not exist; if neither the main line package A nor the main line package B exists, the packet insertion condition is directly satisfied. After locating mainline package A and mainline package B, the following conditions must be met simultaneously: there is no positional overlap with mainline package A and mainline package B, and the distance between the package and mainline package A and mainline package B is not less than the third distance threshold. Only then is the insertion condition satisfied, that is: calculate the distance T between the package and mainline package A. 辅 -H A ≥Third spacing threshold, calculate the spacing T between the main line wrapping B and the main line. B -H 辅 ≥Third spacing threshold; If mainline package A does not exist, after finding mainline package B, it must meet the following conditions: it must not overlap with mainline package B and the distance between it and mainline package B must not be less than the third distance threshold to be considered as satisfying the insertion condition, that is: calculate the distance T between it and mainline package B. B -H 辅 ≥Third spacing threshold; If main package B does not exist, after finding main package A, it must meet the following conditions: it must not overlap with main package A and the distance between it and main package A must not be less than the third distance threshold to be considered as satisfying the insertion condition, that is: calculate the distance T between it and main package A. 辅 -H A ≥ Third spacing threshold.

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