Carousel cross-belt sorting apparatus and control method and control device therefor

Abstract

The application discloses a kind of ring-shaped cross-belt sorting equipment and its control method and control device, it is related to logistics technical field, wherein, control method includes: obtaining the physical attribute data of bend to be sorted package;Based on the motion speed of physical attribute data and cross-belt trolley along annular track, determine the centrifugal deviation value of bend to be sorted package when moving in the bend section of annular track;Based on centrifugal deviation value and the preset maximum allowable impact force of package, determine the unloading speed control curve of the cross-belt trolley where bend to be sorted package is located;Based on the distance between bend to be sorted package and its target sorting grid, the motion speed of cross-belt trolley and unloading speed control curve, determine sorting trigger point;According to sorting trigger point and unloading speed control curve, control corresponding cross-belt trolley to execute corresponding sorting action.The application aims to reduce the situation that package needs to be unloaded at bend is often directly thrown when the belt of trolley starts.

Description

Technical Field

[0001] This application relates to the field of logistics technology, and in particular to a ring-shaped cross-belt sorting device and its control method and control device. Background Technology

[0002] The circular cross-belt sorting system is one of the core sorting devices in modern logistics warehousing. Its basic components include a closed-loop circular track, a series of cross-belt trolleys circulating along the track, and sorting slots located beside the track. Each cross-belt trolley is equipped with a conveyor belt perpendicular to its direction of travel (i.e., the cross belt). During operation, packages are placed on the trolleys, and the system assigns them to a target slot by recognizing the waybill information. When the trolley reaches the target slot, its lateral belt activates, throwing the package laterally into the slot to complete the sorting process.

[0003] However, in traditional circular cross-belt sorting equipment, when a trolley carrying packages passes through the curved section, the packages on the trolley will be subjected to centrifugal force, which is directed away from the center of the curve. At this time, the packages that need to be unloaded at the curve are often thrown directly away when the trolley belt starts, and cannot fall into the sorting slot. Summary of the Invention

[0004] The main purpose of this application is to propose a circular cross-belt sorting device and its control method and control device, which aims to reduce the situation where packages that need to be unloaded at bends are often thrown off when the trolley belt starts.

[0005] To achieve the above objectives, this application proposes a control method for a circular cross-belt sorting device, wherein the circular cross-belt sorting device includes a circular track, multiple cross-belt trolleys that circulate along the circular track, and multiple sorting slots disposed beside the track. The control method for the circular cross-belt sorting device includes: Packages whose target sorting compartments are located at the bends of the circular track are identified as bend-side packages to be sorted, and the physical attribute data of the bend-side packages to be sorted is obtained. The physical attribute data includes the external dimensions, weight information, and packaging material type of the packages to be sorted. Based on the physical property data and the speed of the cross-belt trolley along the circular track, the centrifugal offset value of the package to be sorted on the curved section of the circular track is determined. The centrifugal offset value is used to characterize the degree of tendency of the package to be sorted on the curved section to shift or overturn relative to the cross-belt trolley under the action of centrifugal force. Based on the centrifugal offset value and the preset maximum allowable impact force of the package, the unloading speed control curve of the cross-belt trolley where the package to be sorted on the bend is located is determined. Based on the distance between the package to be sorted on the curve and its target sorting grid, the speed of the cross-belt trolley along the circular track, and the unloading speed control curve, the sorting trigger point of the package to be sorted on the curve is determined. According to the sorting trigger point and the unloading speed control curve, the corresponding cross-belt trolley is controlled to perform the corresponding sorting action.

[0006] In one embodiment, the annular cross-belt sorting equipment further includes a contour scanning device and an image recognition device disposed above the annular track, and a weight sensor is integrated under each cross-belt trolley; acquiring the physical attribute data of the packages to be sorted on the curved track includes: The weight sensor is used to obtain the weight information of the packages to be sorted at the bend. The contour scanning device acquires three-dimensional point data of the package to be sorted on the bend, and performs solid geometric modeling based on the three-dimensional point data to calculate the estimated centroid height of the package to be sorted on the bend and the effective support area of ​​its bottom surface. The image recognition device acquires image information of the packages to be sorted at the bend, and calls a pre-trained material classification model based on the image information to identify the image in the image information as one of the predefined categories, which include cardboard boxes, woven bags, and foam boxes.

[0007] In one embodiment, determining the centrifugal offset value of the package to be sorted on the curved section of the circular track based on the physical property data and the speed of the cross-belt trolley along the circular track includes: Based on the weight information, the external dimensions, the type of packaging material, the radius of curvature of the curved section, and the speed of the cross-belt trolley, the overturning moment of the package to be sorted on the curved section under centrifugal force is determined. Based on the packaging material type and the weight information, determine the maximum static friction between the curved package to be sorted and the surface of the cross-belt trolley. The quotient obtained by dividing the overturning moment by the maximum static friction force is determined as the centrifugal offset value.

[0008] In one embodiment, determining the overturning moment of the package to be sorted on the curved track under centrifugal force based on the weight information, the external dimensions, the type of packaging material, the radius of curvature of the curved section of the circular track, and the speed of the cross-belt trolley includes: The first product is obtained by multiplying the weight of the packages to be sorted on the curve by the square of the speed of the cross-belt trolley. The second product is obtained by multiplying the first product by the centroid height of the package to be sorted on the bend. Divide the second product by the radius of curvature of the curved section of the circular track to obtain a first quotient, and determine the first quotient as the overturning moment; The determination of the maximum static friction between the curved package to be sorted and the surface of the cross-belt trolley's belt, based on the packaging material type and weight information, includes: Based on the packaging material type and the preset friction coefficient table, determine the static friction coefficient corresponding to the package to be sorted on the curved track. The static friction coefficient corresponding to the package to be sorted on the bend is multiplied by the weight of the package to be sorted on the bend to obtain a third product, and the third product is determined as the maximum static friction force.

[0009] In one embodiment, determining the unloading speed control curve of the cross-belt trolley where the package to be sorted on the curve is located, based on the centrifugal offset value and the preset maximum permissible impact force of the package, includes: The centrifugal offset value is compared with a set of preset offset threshold intervals; Based on the offset threshold range where the centrifugal offset value is located, one of the pre-stored speed control curves is selected as the unloading speed control curve of the cross-belt trolley where the package to be sorted on the bend is located, so that the impact force between the package to be sorted on the bend and the sorting grid during the sorting process is less than the preset impact threshold.

[0010] In one embodiment, the step of selecting one of a plurality of pre-stored speed control curves from the offset threshold range where the centrifugal offset value is located to determine the unloading speed control curve of the cross-belt trolley where the package to be sorted on the curve is located includes: When the centrifugal offset value is not less than the first threshold and less than the second threshold, the second speed control curve is selected from the multiple pre-stored speed control curves as the unloading speed control curve of the cross belt trolley where the package to be sorted is located in the bend, so as to control the belt of the cross belt trolley to increase the acceleration after running at the first acceleration for a first preset time when the cross belt trolley is in the bend section. When the centrifugal offset value is not less than the second threshold, a third speed control curve is selected from a plurality of pre-stored speed control curves as the unloading speed control curve for the cross-belt trolley where the package to be sorted on the curve is located. This is used to control the belt of the cross-belt trolley to pre-move with a second acceleration when the cross-belt trolley is in the position of the straight section of the circular track close to the curve section, and to control the belt of the cross-belt trolley to run with a first acceleration for a second preset time and then increase the acceleration when the cross-belt trolley enters the position of the curve section, wherein the second acceleration is less than the first acceleration.

[0011] In one embodiment, determining the sorting trigger point of the package to be sorted on the curve based on the distance between the package to be sorted on the curve and its target sorting slot, the speed of the cross-belt trolley along the circular track, and the unloading speed control curve includes: Based on the unloading speed control curve, calculate the complete unloading time required from the start of the sorting action to the complete removal of the package from the cross-belt trolley. Based on the current real-time speed of the cross-belt trolley and the complete cargo throwing time, calculate the travel distance that the sorting action needs to be started in advance. Using the position of the target sorting compartment as a reference point, the sorting trigger point is determined by offsetting the travel distance upstream along the circular track.

[0012] In one embodiment, controlling the corresponding cross-belt trolley to perform the corresponding sorting action according to the sorting trigger point and the unloading speed control curve includes: When the cross-belt trolley reaches the sorting trigger point, a start command is sent to the belt drive mechanism of the cross-belt trolley. The belt movement of the cross-belt trolley is controlled according to the unloading speed control curve.

[0013] This application also provides a control device, the control device comprising: a memory, a processor, and a control program for a ring-shaped cross-belt sorting device stored in the memory and executable on the processor, the ring-shaped cross-belt sorting device being configured to implement the control method for the ring-shaped cross-belt sorting device as described above.

[0014] This application also provides a circular cross-belt sorting device, which includes the control device described above.

[0015] As can be seen from the above, the control method, control device and the ring cross belt sorting equipment provided in this application, by dynamically calculating the centrifugal offset value of the package and matching the differentiated speed control curve, accurately execute the sorting action at the sorting trigger point, which solves the problem of package offset and overturning at the bend. It has the advantages of effectively preventing package offset or overturning at the bend while ensuring sorting efficiency, and reducing the package damage rate. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 A flowchart of the first embodiment of the control method for the annular cross-belt sorting equipment provided in this application; Figure 2 A flowchart of a second embodiment of the control method for the annular cross-belt sorting equipment provided in this application; Figure 3 A flowchart of the third embodiment of the control method for the annular cross-belt sorting equipment provided in this application; Figure 4 A flowchart of the fourth embodiment of the control method for the annular cross-belt sorting equipment provided in this application; Figure 5 A flowchart of the fifth embodiment of the control method for the annular cross-belt sorting equipment provided in this application; Figure 6 A flowchart of the sixth embodiment of the control method for the annular cross-belt sorting equipment provided in this application; Figure 7 A flowchart of the seventh embodiment of the control method for the annular cross-belt sorting equipment provided in this application; Figure 8 A flowchart of the eighth embodiment of the control method for the annular cross-belt sorting equipment provided in this application; Figure 9 A flowchart of the ninth embodiment of the control method for the ring-shaped cross-belt sorting equipment provided in this application.

[0018] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

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

[0020] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0021] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0022] It should be noted that step designations such as S100 and S200 are used in this document for the purpose of more clearly and concisely describing the corresponding content, and do not constitute a substantial limitation on the order. In specific implementation, those skilled in the art may execute S200 first and then S100, etc., but these should all be within the protection scope of this application.

[0023] Circular cross-belt sorting equipment, as a core sorting device in modern logistics centers, express delivery hubs, and automated warehousing systems, has been widely used due to its high sorting efficiency, high degree of automation, and stable and reliable operation. This system typically includes a closed-loop track structure, multiple cross-belt trolleys that continuously circulate along the track, and several sorting slots arranged along the sides or below the track. Each cross-belt trolley is equipped with an independently driven transverse conveyor belt (i.e., the cross belt), whose conveying direction is perpendicular to the trolley's travel direction on the main loop. In actual operation, packages to be sorted are precisely placed onto designated trolleys via a feeding system. The system automatically reads the destination information of the packages using technologies such as barcode scanning, image recognition, or RFID, and assigns them corresponding target sorting slots accordingly. When a trolley carrying a package reaches the target slot, the control system triggers the belt movement of that trolley, pushing the package radially or laterally, causing it to detach from the trolley and fall into the corresponding slot, thus completing an efficient and accurate automated sorting operation.

[0024] In the operation of traditional circular cross-belt sorting equipment, when the cross-belt trolley carrying packages enters the curved section of the circular track, the packages tend to shift laterally due to centrifugal force. This shifting tendency is dynamically related to the physical properties of the package, the radius of curvature of the curve, and the speed of the trolley, causing the package to deviate from the predetermined trajectory during sorting. Especially when performing sorting operations in the curved section, the instantaneous motion of the package after leaving the cross-belt trolley is affected by the combined effects of centrifugal force and belt driving force, which can easily lead to the package colliding with the sorting slots or deviating from the target area, directly affecting sorting accuracy and system throughput efficiency.

[0025] For example, during peak operating hours at a logistics sorting center, the system needs to process a large number of packages with significantly different dimensions and packaging materials. When a cross-belt trolley carrying large cardboard boxes passes through a curve at a constant speed, the boxes, due to their high center of gravity and small bottom support area, generate a tipping moment under centrifugal force. If the belt drive is triggered according to the standard sorting sequence, the lateral acceleration of the package upon release, combined with the centrifugal force component, causes the package to collide with the edge of the sorting slot. For woven bag packages with a low surface friction coefficient, the static friction between them and the cross-belt trolley is insufficient to counteract the slippage tendency caused by centrifugal force, resulting in packages slipping off the track prematurely or deviating from their intended path during the sorting process.

[0026] If the above problems are not addressed, the parcel sorting error rate will increase exponentially with the system's operating speed, forcing operators to reduce the overall sorting speed to maintain basic accuracy and severely limiting the system's processing capacity. Simultaneously, frequent parcel collisions will accelerate wear and tear on the sorting compartment structure, increasing equipment maintenance costs. In real-world application scenarios where parcel physical properties are complex and variable, traditional fixed-parameter sorting control strategies cannot dynamically adapt to the different mechanical characteristics of parcels, resulting in system stability and adaptability that fail to meet the demands of modern logistics sorting.

[0027] To address this issue, this application proposes a control method for a circular cross-belt sorting device. The circular cross-belt sorting device includes a circular track, multiple cross-belt trolleys that circulate along the circular track, and multiple sorting slots located beside the track. The circular track serves as the system framework, constructing a closed path for material flow; the cross-belt trolleys act as dynamic execution units, continuously transporting packages through their cyclical movement on the track; and the sorting slots, as terminal collection devices, are arranged in a square network around the track to form sorting destinations. In other words, the track provides guidance, the trolleys function as transport carriers, and the slots collect goods; through the coordinated operation of these three components, the entire process from package delivery to sorting and placement is fully automated.

[0028] In the first embodiment of this application, as Figure 1 As shown, the control method of the annular cross-belt sorting equipment includes steps S100 to S500.

[0029] In this embodiment, step S100 involves determining that the package whose target sorting compartment is located at the bend of the circular track is a bend-to-be-sorted package, and obtaining the physical attribute data of the bend-to-be-sorted package.

[0030] In this embodiment, step S200 involves determining the centrifugal offset value of the package to be sorted on the curved section of the circular track based on the physical attribute data and the speed of the cross-belt trolley along the circular track.

[0031] In this embodiment, step S300 involves determining the unloading speed control curve of the cross-belt trolley where the package to be sorted on the bend is located, based on the centrifugal offset value and the preset maximum allowable impact force of the package.

[0032] In this embodiment, step S400 involves determining the sorting trigger point of the package to be sorted on the curve based on the distance between the package to be sorted on the curve and its target sorting slot, the speed of the cross-belt trolley along the circular track, and the unloading speed control curve.

[0033] In this embodiment, step S500 involves controlling the corresponding cross-belt trolley to perform the corresponding sorting action according to the sorting trigger point and the unloading speed control curve.

[0034] Specifically, packages located at curves in the circular track are considered "curved packages awaiting sorting" because their target sorting compartments are situated on the curved sections of the circular track. This can be determined in real-time by using track encoders or position sensors to locate the position of the cross-belt trolley on the track, combined with a pre-defined database of track curve coordinates. This feature is used to identify packages in curved sorting scenarios, providing filtering criteria for subsequent dynamic analysis.

[0035] Understandably, by requiring packages to be placed with the information barcode facing upwards during loading, the visual recognition system installed above the circular track can efficiently read the barcode information, thereby accurately deciphering the target sorting slot corresponding to the package; when the system determines that the target slot is located in the curved section of the circular track, it can automatically mark the package as a curved package to be sorted.

[0036] The physical attribute data includes the external dimensions, weight information, and packaging material type of the packages to be sorted. This refers to the collection of geometric features, mass parameters, and surface material characteristics of the packages through multi-dimensional sensing devices. Specifically, a 3D laser scanner can be used to obtain the external dimensions, a weighing sensor can be used to obtain the weight data, and a visual recognition system can be used to analyze the packaging material. These parameters are used to quantify the mechanical response characteristics of the packages under centrifugal force.

[0037] Among them, the centrifugal offset value is used to characterize the tendency of packages to deviate or overturn relative to the cross belt trolley under the action of centrifugal force on the curve. It is calculated by the ratio of the overturning moment of the package to the maximum static friction force. Specifically, it can be calculated by combining the moment balance equation and the friction coefficient model. This parameter is used to evaluate the critical stability state of the package when it moves on the curve.

[0038] The unloading speed control curve refers to the acceleration change sequence of the cross-belt trolley at different time points during the sorting process. Specifically, it can adopt piecewise linear acceleration or parabolic acceleration mode. By adjusting the acceleration gradient, the inertial impact when the package is detached is controlled. This curve is used to balance sorting efficiency and package anti-displacement requirements.

[0039] Among them, the sorting trigger point refers to the dynamic distance compensation point between the starting position of the package sorting action and the target sorting slot. Specifically, it can be calculated by the reverse calculation of the package detachment time and the trolley movement speed. This trigger point is used to compensate for the time delay in the package detachment process and ensure the accuracy of the sorting position.

[0040] The pre-set maximum permissible impact force for a package can be configured based on the physical properties and contents of different packages. This can be achieved by establishing a mapping table between package types and impact force thresholds. For example, in this table, ordinary clothing packages could be set to 50N, electronic product packages to 30N, and fragile item packages to 20N. Alternatively, this maximum permissible impact force can be determined based on the package's size and weight. No specific limit is imposed on this maximum permissible impact force.

[0041] It is important to note that the relative distance between the package to be sorted on the curve and its target sorting slot is a dynamically changing parameter. Because packages may experience slight displacement due to centrifugal force when entering the curve, their actual position on the cross-belt trolley will deviate from their initial loading position. This positional change directly affects the accurate calculation of the sorting trigger point. Therefore, the system needs to continuously track the relative position of the package on the belt using real-time position monitoring devices (such as vision sensors or photoelectric encoders) and dynamically correct the calculation parameters of the sorting trigger point to ensure that the timing of the sorting action accurately matches the spatial relationship between the actual position of the package and the target slot.

[0042] The core innovation of this application lies in establishing a dynamic correlation model between the physical properties of the package and the centrifugal offset value, and combining this with the collaborative calculation of the unloading speed control curve and the sorting trigger point to achieve closed-loop control of the package's movement trajectory during the curved sorting process. Specifically, by calculating the mechanical offset trend of the package in real time and dynamically matching the belt acceleration strategy, the influence of centrifugal force is simultaneously counteracted when the package is released, thereby solving the technical problem of package deviation during curved sorting.

[0043] The working process and principle of this application are as follows: First, packages whose target sorting slots are located at the bends of the circular track are identified as packages to be sorted at the bend, and their physical attribute data, including dimensions, weight, and packaging material type, are obtained. Based on these physical attribute data and the speed of the cross-belt trolley along the circular track, the centrifugal offset value of the package to be sorted at the bend is calculated. According to the calculated centrifugal offset value and the pre-set maximum allowable impact force on the package, the unloading speed control curve of the cross-belt trolley where the package to be sorted at the bend is located is determined. This speed control curve can be used to ensure sorting efficiency while avoiding excessive impact on the package, or it can be used to coordinate with the aforementioned centrifugal offset value to prevent the package from flying out (the principle will be explained later). Next, based on the distance between the package to be sorted at the bend and its target sorting slot, the speed of the cross-belt trolley along the circular track, and the previously determined unloading speed control curve, the sorting trigger point of the package to be sorted at the bend is calculated. The sorting trigger point refers to the precise position where the cross-belt trolley needs to begin the sorting action. Finally, based on the calculated sorting trigger point and unloading speed control curve, the corresponding cross-belt trolley is controlled to perform the sorting action. The unloading speed control curve can include different acceleration stages to adapt to the special requirements of curved sorting. In this way, the centrifugal force on packages during curved sorting can be effectively addressed, improving sorting accuracy and stability. By dynamically adjusting the sorting parameters, the system can adapt to the physical characteristics of different packages, achieving a more flexible and efficient sorting process.

[0044] It's important to explain that the synergistic principle between the speed control curve and the centrifugal offset value lies in: by establishing a package dynamics model, the risk assessment indicator of centrifugal offset value is transformed into specific motion control parameters. When the system identifies a high centrifugal offset value, it automatically generates a smoother speed control curve. By reducing the initial acceleration and extending the acceleration time, it ensures that the vector sum of the centrifugal force and inertial force experienced by the package during sorting is always less than the maximum static friction force between the package and the conveyor belt. This physics-based synergistic control fundamentally prevents the possibility of packages being thrown around, while simultaneously ensuring the smooth completion of the sorting operation through optimized acceleration strategies.

[0045] It is understandable that by implementing the control method comprising steps S100 to S500, this application can significantly improve the accuracy and stability of the annular cross-belt sorting equipment during sorting operations on curved sections. This method first determines the centrifugal offset value, thereby quantifying the risk of slippage or overturning. Based on this, the system dynamically generates a loading speed control curve adapted to the characteristics of the package. By optimizing the acceleration timing and gradient of the transverse belt, the direction and magnitude of the inertial force when the package detaches are controlled to counteract the adverse effects of centrifugal force. Simultaneously, by combining the distance between the package and the target compartment, the trolley's running speed, and the loading dynamics, the sorting trigger point is calculated, achieving timing compensation for the sorting action and ensuring that the package detaches from the trolley at the optimal position and falls into the compartment along the expected trajectory. Overall, this method achieves a technological leap from passively enduring centrifugal force interference to actively predicting and dynamically compensating, effectively avoiding the problems of package flying, collisions, or misplacement caused by curved sorting in traditional systems.

[0046] The control method described herein effectively solves the technical problem of packages being easily thrown off curves at bends by dynamically generating a loading speed control curve and a coordinated control strategy for sorting trigger points, while maintaining a constant operating speed of the cross-belt trolley. Compared with existing technologies that require reducing the operating speed of the cross-belt trolley to ensure the safety of sorting at bends, this application avoids the problems of decreased system throughput, increased energy consumption, and increased control complexity caused by frequent adjustments to the trolley speed, significantly improving the overall sorting efficiency of the system while ensuring sorting reliability.

[0047] It's also understandable that this method, which first determines the unloading speed control curve and then the timing of the sorting trigger points, has significant technical implications. First, a safe speed curve is determined based on the characteristics of the packages to ensure they won't fly out. Then, the required operation time is calculated based on this curve, and the trigger position is determined. This ensures that regardless of the current speed of the cross-belt trolley, the system can automatically adjust the trigger timing to precisely synchronize the package's release action with the trolley's spatial position, guaranteeing that the package detaches exactly above the target compartment. This fundamentally avoids sorting failures caused by actions that are too early or too late.

[0048] As can be seen from the above, the control method, control device and the ring cross belt sorting equipment provided in this application, by dynamically calculating the centrifugal offset value of the package and matching the differentiated speed control curve, accurately execute the sorting action at the sorting trigger point, which solves the problem of package offset and overturning at the bend. It has the advantages of effectively preventing package offset or overturning at the bend while ensuring sorting efficiency, and reducing the package damage rate.

[0049] In one embodiment, the annular cross-belt sorting equipment further includes a contour scanning device and an image recognition device disposed above the annular track, and a weight sensor is integrated under each cross-belt trolley.

[0050] In the second embodiment of this application, as Figure 2 As shown, step S100 involves obtaining the physical attribute data of the packages to be sorted on the bend, including steps S110 to S130.

[0051] In this embodiment, step S110 involves obtaining the weight information of the packages to be sorted at the bend using the weight sensor.

[0052] In this embodiment, step S120 involves obtaining three-dimensional point data of the package to be sorted on the curve using the contour scanning device, and performing solid geometric modeling based on the three-dimensional point data to calculate the estimated centroid height of the package to be sorted on the curve and the effective support area of ​​its bottom surface.

[0053] In this embodiment, step S130 involves obtaining image information of the package to be sorted at the bend through the image recognition device, and calling a pre-trained material classification model based on the image information to identify the image in the image information as one of the predefined categories.

[0054] Optionally, the contour scanning device and image recognition device can be integrated and installed upstream of the package placement point in the system. This layout allows for the simultaneous acquisition of the package's dimensions and surface material information at the initial stage when the package is loaded onto the cross-belt trolley. This provides sufficient preprocessing time for the subsequent control system, effectively improving the system's response speed and overall sorting efficiency, and avoiding control lag issues caused by information acquisition delays.

[0055] Optionally, a weight sensor is integrated into the bottom support structure of the cross-belt trolley, with a measurement accuracy controllable within ±0.1 kg, for example, using a piezoelectric sensor or strain gauge sensor. The contour scanning device employs a LiDAR or structured light 3D scanner with a scanning frequency of no less than 30 frames / second and a point cloud density of over 5000 points per square meter. It fits the bottom contour boundary of the package using the least squares method and calculates the centroid height based on the package's volume distribution model, for example, by decomposing the package into multiple regular geometric shapes and then calculating the weighted centroid. The image recognition device has a camera resolution of no less than 2 megapixels, and the material classification model is trained using a convolutional neural network. The training dataset can contain at least 100,000 images of the package surface under different lighting conditions. The effective support area is calculated by extracting the area of ​​the minimum bounding rectangle of the package's bottom projection contour. For example, when the bottom surface is an irregular polygon, a convex hull algorithm is used to calculate the maximum support area.

[0056] In one feasible implementation, when the cross-belt trolley enters a curved section, the weight sensor collects package weight data in real time and transmits the data to the central processing unit. Simultaneously, the contour scanning device initiates a 3D scan, generating point cloud data of the package surface. A 3D geometric modeling algorithm reconstructs the package's 3D shape, thereby deriving the center of gravity height and the effective support area of ​​the bottom surface. For example, for a cuboid package, the center of gravity height is half its height; for a cylindrical package, the center of gravity height is the midpoint of the axis. The image recognition device captures surface images when the package enters the scanning area, and the material classification model outputs a material type code, such as a friction coefficient of 0.4 for cardboard boxes and 0.3 for woven bags. This data is then integrated and input into the centrifugal offset calculation module, which calculates the package's offset trend under centrifugal force using mechanical formulas. Because the weight, center of gravity, support area, and material data are all collected collaboratively by multiple sensors, the accumulation of errors from a single data source is avoided, reducing the calculation error rate of the centrifugal offset value and ensuring the accuracy of the sorting trigger point's position calculation.

[0057] The predefined categories include, but are not limited to, common packaging material types such as cardboard boxes, woven bags, and foam boxes. Those skilled in the art can expand or adjust the material classification system according to actual sorting needs, such as adding categories like plastic film and wooden boxes, or making more refined subcategories of existing categories (such as further distinguishing cardboard boxes into corrugated cardboard boxes, hard cardboard boxes, etc.).

[0058] In the third embodiment of this application, as Figure 3 As shown, step S200, which determines the centrifugal offset value of the package to be sorted on the curved section of the circular track based on the physical attribute data and the speed of the cross-belt trolley along the circular track, includes steps S210 to S230.

[0059] In this embodiment, step S210 involves determining the overturning moment of the package to be sorted on the bend under centrifugal force based on the weight information, the external dimensions, the type of packaging material, the radius of curvature of the bend section, and the movement speed of the cross-belt trolley.

[0060] In this embodiment, step S220 involves determining the maximum static friction between the curved package to be sorted and the surface of the cross-belt trolley based on the packaging material type and the weight information.

[0061] In this embodiment, step S230 involves dividing the overturning moment by the maximum static friction force to obtain the quotient value, which is then determined as the centrifugal offset value.

[0062] In the dynamics of curved sorting, the overturning moment represents the destructive force that causes packages to slide or overturn. Driven by centrifugal effect, its magnitude directly depends on the package's mass, operating speed, the steepness of the curve, and the height of the package's center of gravity. The higher the center of gravity, the faster the speed, and the sharper the curve, the greater the moment, and the more unstable the package. Conversely, the maximum static friction reflects the stabilizing anchoring force that the belt surface can provide for the package. It is determined by the package's weight and the frictional characteristics between the package's bottom surface and the belt, representing the physical upper limit for maintaining package stability and preventing slippage. The centrifugal offset value reflects the ratio of these two opposing forces; its physical essence is a contest between destructive and stabilizing forces: when this value is less than 1, it indicates that the stabilizing force prevails, and the package is safe; when this value is close to or greater than 1, it means that the destructive force is about to or has already exceeded the stability limit, and the package faces the risk of being thrown off balance. Therefore, these three parameters together constitute a complete risk assessment logic, quantifying the package's tendency to become unstable in curves, providing crucial physical basis for subsequent precise control.

[0063] Based on the package's weight, dimensions, packaging material type, the radius of curvature of the bend, and the real-time speed of the cross-belt trolley, the overturning moment is calculated using a dynamic model. Specifically, the system first determines the center of gravity height based on the dimensions, then combines the weight information, the square of the current speed, and the radius of curvature of the bend to calculate the quantified overturning moment. This step accurately quantifies the force state of the package at the bend, transforming the previously vague concept of easy slippage into a calculable physical quantity. This provides accurate input parameters for subsequent safety control, enabling the system to differentiate between packages of different risk levels. A preset friction coefficient lookup table is consulted based on the packaging material type to obtain an estimated static friction coefficient between the material and the belt surface. The static friction coefficient is then multiplied by the package weight to calculate the maximum static friction force. This accurately assesses the maximum anti-slip capability that the belt and package can provide, establishing the boundary conditions for the system's safe operation. By considering the characteristics of different packaging materials, calculation errors caused by a uniform friction coefficient are avoided, making the judgment more consistent with reality.

[0064] It is important to note that to ensure the stability of packages on curved sections, two key conditions must be met: First, during the steady-state operation phase before the conveyor belt starts, the centrifugal offset must not exceed 1, meaning the overturning moment does not exceed the maximum static friction. When this value equals 1, the package is in a critical equilibrium state, potentially experiencing a small, controllable displacement but not immediately flying off; when this value is less than 1, the package remains completely stable. Second, during the dynamic sorting phase after the conveyor belt starts, the resultant force of the lateral acceleration and centrifugal force must be controlled to not exceed the maximum static friction, meaning the ratio of the resultant force to the maximum static friction must not exceed 1. When the ratio equals 1, the package may slip but remains controlled; when the ratio is less than 1, complete stability is ensured. Therefore, by precisely controlling the conveyor belt acceleration to keep the resultant force on the package within the friction limit range during sorting, the entire process of sorting packages on curved sections can be kept under control, effectively preventing unexpected flying off.

[0065] In the fourth embodiment of this application, as Figure 4 As shown, step S210 determines the overturning moment of the package to be sorted on the curved track under centrifugal force based on the weight information, the external dimensions, the type of packaging material, the radius of curvature of the curved section of the circular track, and the movement speed of the cross-belt trolley, including steps S211 to S213.

[0066] In this embodiment, step S211 involves multiplying the weight of the package to be sorted on the curved road by the square of the speed of the cross-belt trolley to obtain a first product.

[0067] In this embodiment, step S212 involves multiplying the first product by the centroid height of the package to be sorted on the bend to obtain the second product.

[0068] In this embodiment, step S213 involves dividing the second product by the radius of curvature of the circular track curve segment to obtain a first quotient, and determining the first quotient as the overturning moment.

[0069] In the fifth embodiment of this application, as Figure 5 As shown, step S220 determines the maximum static friction force between the curved package to be sorted and the surface of the cross-belt trolley based on the packaging material type and the weight information, including steps S221 and S222.

[0070] In this embodiment, step S221 involves determining the static friction coefficient corresponding to the package to be sorted on the curved road based on the type of packaging material and a preset friction coefficient table.

[0071] In this embodiment, step S222 involves multiplying the static friction coefficient corresponding to the package to be sorted on the bend by the weight of the package to be sorted on the bend to obtain a third product, and determining the third product as the maximum static friction force.

[0072] The determination of the centroid height is achieved through the following steps: After acquiring the 3D point cloud data of the package using a contour scanning device, the control device first performs a solid geometric model of the package's shape, fitting it into a combination of regular geometric bodies. For a standard cuboid package, the centroid height is half of its outer contour height; for a cylindrical package, the centroid height is half of its central axis height; for irregularly shaped packages, the precise centroid position is obtained by calculating the ratio of the sum of the volume moments of each component unit to the total volume. The radius of curvature is related to the arc of the track's curved section and is determined based on the actual design parameters of the circular track, typically ranging from 2 meters to 5 meters. Using this method, accurate centroid parameters can be obtained for packages with different shape characteristics, providing reliable input for subsequent mechanical calculations.

[0073] The preset static friction coefficient table includes the correspondence between different materials and belt materials. For example, the static friction coefficient between cardboard boxes and rubber belts is 0.4, while that between foam boxes and belts is 0.3. Of course, the material types in this preset static friction coefficient table are not limited to the two mentioned above, and can include many other types, which will not be elaborated here.

[0074] The ratio of the center of gravity height to the radius of curvature directly affects the quantification accuracy of the overturning moment. When the center of gravity height is 0.5 meters and the radius of curvature is 2 meters, the ratio reaches 0.25, at which point the package has a high risk of overturning.

[0075] Specifically, when the package enters a curved section, the system first calculates a basic centrifugal force value based on the weight data and the square of the real-time speed. This basic value is multiplied by the center of gravity height and then normalized using the radius of curvature, ultimately forming a torque value characterizing the actual risk of the package tipping over. Taking a package weighing 10kg and traveling at 2m / s as an example, under the conditions of a center of gravity height of 0.4m and a radius of curvature of 3m, the calculated real-time tipping torque is (10×2²×0.4) / 3≈5.33N·m. Simultaneously, the system calculates the maximum static friction force as 3.5N based on the friction coefficient corresponding to the packaging material (e.g., 0.35 for woven bags) and the package weight. By using the ratio of the tipping torque to the maximum static friction force as the centrifugal offset value, the package's motion state can be accurately determined: when this value exceeds 1, it indicates a risk of slippage or tipping over. This calculation method, which dynamically correlates the package's physical characteristics with its motion state, provides real-time and accurate mechanical parameter input for the speed control curve, effectively overcoming the adaptability limitations of the fixed threshold method.

[0076] As a preferred implementation scheme, this scheme achieves precise control through the following steps: After the system identifies the package to be sorted on the curve, it first obtains its physical attribute data, and then performs the following calculation process: Real-time overturning moment calculation: Multiply the package weight by the square of the trolley speed to obtain the first product, then multiply by the center of gravity height to obtain the second product, and finally divide by the radius of curvature of the curve to obtain the overturning moment. For example, when a 5kg package travels at 2m / s through a curve with a radius of curvature of 5m and a center of gravity height of 0.3m, the calculated overturning moment is 1.2N·m.

[0077] Determining the maximum static friction: Refer to the friction coefficient table based on the packaging material (e.g., 0.5 for cardboard boxes), and multiply it by the package weight to obtain the maximum static friction. In the above example, the maximum static friction is 24.5 N.

[0078] Through the above technical solution, this application can accurately calculate the real-time overturning moment and maximum static friction force under centrifugal force. By establishing a specific mathematical model and combining the physical properties of the package with motion parameters, the accurate quantification of the package's offset trend during curved movement is achieved. This method considers multiple key factors such as package weight, movement speed, center of gravity height, and curve curvature, avoiding problems of unclear parameter correlation and ambiguous calculation logic. Simultaneously, by introducing the static friction coefficient corresponding to the packaging material type, the system can more accurately estimate the frictional characteristics between different packages and the conveyor belt surface, thereby improving the reliability of the unloading speed control curve. This precise quantification method provides a reliable data foundation for subsequent speed control and sorting operations, contributing to improved overall efficiency and accuracy of the sorting system.

[0079] In the sixth embodiment of this application, as Figure 6 As shown, in step S300, based on the centrifugal offset value and the preset maximum allowable impact force of the package, the unloading speed control curve of the cross-belt trolley where the package to be sorted on the bend is located is determined, including steps S310 and S320.

[0080] In this embodiment, step S310 involves comparing the centrifugal offset value with a set of preset offset threshold intervals.

[0081] In this embodiment, step S320 involves selecting one of the pre-stored speed control curves from the offset threshold range where the centrifugal offset value is located, and determining it as the unloading speed control curve of the cross-belt trolley where the package to be sorted on the bend is located, so that the impact force between the package to be sorted on the bend and the sorting grid during the sorting process is less than the preset impact threshold.

[0082] Optionally, the offset threshold range can be set to three levels, such as a low offset range of 0-0.3, a medium offset range of 0.3-0.6, and a high offset range of above 0.6. The pre-stored speed control curves include at least three types, such as a regular acceleration curve corresponding to the low offset range with an acceleration of 0.5 m / s²; a segmented acceleration curve corresponding to the medium offset range, with an initial acceleration of 0.3 m / s² for 0.2 seconds, increasing to 0.4 m / s² in the latter part; and a pre-deceleration curve corresponding to the high offset range, starting deceleration at -0.2 m / s² 0.5 meters before entering the curve. Each curve is pre-verified using an impact force simulation model to ensure that the maximum impact force within the corresponding offset range does not exceed a preset threshold of 15 N. The calculation of the centrifugal offset value is based on the package weight, center of gravity height, and belt friction coefficient. For example, the overturning moment is calculated using the formula M=(mv²h) / R, and then divided by the maximum static friction force to obtain the dimensionless offset value.

[0083] In one feasible implementation, the circular cross-belt sorting device can preset multiple centrifugal offset value threshold ranges, for example, the centrifugal offset value can be divided into three ranges: low, medium, and high. The system pre-stores the speed control curve corresponding to each range. When the centrifugal offset value of the package to be sorted is determined, the value is compared with the preset threshold range. Assuming the centrifugal offset value is 0.6, falling into the medium offset range (0.5-0.8), the system selects the speed control curve corresponding to this range from the pre-stored curves. The selected speed control curve can adopt a segmented acceleration strategy. For example, a lower acceleration is used at the initial stage of startup, and then the acceleration is gradually increased. Specifically, the acceleration can be maintained at 0.5 m / s² for 0-0.5 seconds, increased to 1 m / s² for 0.5-1 seconds, and further increased to 1.5 m / s² for 1-1.5 seconds. This gradual acceleration can effectively reduce the instantaneous impact force, allowing the package to smoothly leave the trolley. The velocity curve parameters for each interval are determined through offline simulation and experimental optimization to ensure that the impact force between the package and the grid does not exceed a preset safety threshold, such as 50N, within the corresponding offset range. This method of pre-storing curves avoids complex real-time calculations and improves the system response speed.

[0084] The above technical solution enables refined sorting control of packages with different centrifugal offset states. By dynamically matching the centrifugal offset value with a preset threshold range and selecting an appropriate pre-optimized speed control curve, the system can adopt differentiated unloading strategies for packages with different offset risks. This method effectively suppresses the impact force on packages during the sorting process on curved tracks, improving sorting success rate and package safety. Simultaneously, the design of the pre-stored curve reduces real-time calculation complexity, improves system response speed, and ensures the real-time performance and stability of the sorting operation.

[0085] In the seventh embodiment of this application, as Figure 7As shown, in step S320, based on the offset threshold range where the centrifugal offset value is located, one of the pre-stored speed control curves is selected as the unloading speed control curve of the cross belt trolley where the package to be sorted on the curve is located, including steps S321 and S322.

[0086] In this embodiment, step S321, when the centrifugal offset value is not less than the first threshold and less than the second threshold, selects the second speed control curve from the multiple pre-stored speed control curves as the unloading speed control curve of the cross belt trolley where the package to be sorted is located on the curve, so as to control the belt of the cross belt trolley to increase the acceleration after running at the first acceleration for a first preset time when the cross belt trolley is in the curve section.

[0087] In this embodiment, step S322, when the centrifugal offset value is not less than the second threshold, selects the third speed control curve from the pre-stored multiple speed control curves as the unloading speed control curve of the cross belt trolley where the package to be sorted on the curve is located, so as to control the belt of the cross belt trolley to pre-move with the second acceleration when the cross belt trolley is in the position of the straight section of the circular track close to the curve section, and to control the belt of the cross belt trolley to run with the first acceleration for a second preset time and then increase the acceleration when the cross belt trolley enters the position of the curve section.

[0088] The second threshold is greater than the first threshold.

[0089] Specifically, the second speed control curve is suitable for medium-risk sorting scenarios (centrifugal offset values ​​between the first and second thresholds). This second speed control curve adopts a two-stage acceleration strategy: initially, the control belt runs at a conservative acceleration of 0.4-0.6 m / s² (e.g., 0.5 m / s²) for a first preset duration, such as 0.3-0.8 seconds. After the package partially moves out and the center of gravity shifts inward towards the track, the acceleration is increased to 1.0-1.4 m / s² (e.g., 1.2 m / s²). This segmented acceleration design ensures the stability of the package in the initial stage while maintaining sorting efficiency through subsequent speed increases. In practice, the system monitors the package position in real time. When the center of gravity of a package crosses the center line of the cart, it automatically triggers an acceleration switch to achieve dynamic control optimization.

[0090] Specifically, regarding the third speed control curve, optionally, the section near the curve on the straightaway is defined as the pre-deceleration zone. The second acceleration value can range from 0.2 to 0.5 m / s², for example, 0.3 m / s², its function being to reduce the initial inertia of the vehicle. The starting position of the curve is designated as the acceleration zone. The first acceleration value can range from 0.8 to 1.2 m / s², for example, 1.0 m / s², and the second preset duration can be 0.2 to 0.6 seconds, for example, 0.5 seconds, shorter than the first preset duration (because a pre-start has already been performed). The transition between the pre-deceleration and acceleration phases is triggered by the position sensor of the cross-belt trolley. When entering the curve, the acceleration control module automatically switches to the first acceleration. The difference between the second and first accelerations is set to at least 0.5 m / s², for example, 0.7 m / s², to ensure that the kinetic energy accumulated during the pre-deceleration phase is sufficient to offset the increase in centrifugal force caused by the curvature change of the curve. In one feasible implementation, when the cross-belt trolley carrying a package enters the end of the straight section, the belt drive mechanism initiates pre-deceleration according to the third speed control curve. For example, 2 meters from the entrance of the curve section, the belt continuously decelerates at an acceleration of 0.3 m / s² for 0.8 seconds, reducing the package speed by 0.24 m / s. When the trolley's front wheels contact the starting mark of the curve section, the acceleration immediately switches to 1.0 m / s² and is maintained for 1.0 seconds, at which point the package gains a speed increment of 1.0 m / s. During the acceleration enhancement phase, the belt drive mechanism further increases the acceleration to 1.5 m / s² to compensate for the centrifugal force attenuation in the curve section. Through the coordination of pre-deceleration in the straight section and graded acceleration in the curve section, the combined velocity of the package upon release is controlled within the range of 1.2-1.8 m / s, for example, 1.5 m / s, whose kinetic energy matches the absorption capacity of the buffer device at the sorting slot. This phased control reduces the belt speed change rate from 2.0 m / s³ in a single phase to 0.8 m / s³, effectively preventing the package offset from exceeding the edge of the cross belt trolley caused by sudden changes in centrifugal force.

[0091] It is important to note that when the centrifugal offset value is less than the first threshold (i.e., a low-risk situation), the system selects the first speed control curve, which employs a relatively simplified control strategy: controlling the belt of the cross-belt trolley to directly eject the packages to be sorted from the curve at a constant speed or with gentle acceleration. In one feasible implementation, after detecting the sorting trigger point, the belt drive mechanism smoothly accelerates to the preset ejection speed (typically 1.0-1.5 m / s) with a moderate acceleration of 0.5-1.0 m / s², and maintains this speed until the package is completely detached from the trolley. This simplified control scheme is suitable for packages with good stability, ensuring both sorting efficiency and basic safety during the sorting process through appropriate acceleration control.

[0092] From a mechanical perspective, this solution fundamentally solves the problem of packages being flung away during sorting on curves through the precise design of three speed control curves. Its core lies in ensuring that the net force acting on a package during sorting (i.e., the vector sum of centrifugal force and the inertial force generated by belt acceleration) is always less than the maximum static friction between the package and the belt. The first curve, for low-risk situations, uses a gentle, single acceleration to keep the lateral inertial force at a low level, avoiding dangerous superposition with the centrifugal force. The second curve, for medium-risk situations, uses a slow-then-fast acceleration strategy to control the lateral inertial force at a low level in the initial sorting stage. Once the package's center of gravity shifts inward and the lever arm shortens, naturally reducing the overturning moment, the acceleration is increased, achieving intelligent force distribution. The third curve, for high-risk scenarios, reduces the package's kinetic energy in advance during the pre-deceleration phase on the straight section, reducing the initial centrifugal force when entering the curve. Subsequently, a graded acceleration is used on the curve section to coordinate the increase in lateral inertial force with the change in centrifugal force, avoiding sudden changes in force. All three methods control the magnitude and timing of the lateral inertial force to constrain the combined vector of the lateral inertial force and the centrifugal force within the friction circle, thereby fundamentally preventing the slippage and ejection of the package.

[0093] In the eighth embodiment of this application, as Figure 8 As shown, in step S400, the sorting trigger point of the package to be sorted on the curve is determined based on the distance between the package to be sorted on the curve and its target sorting slot, the speed of the cross-belt trolley along the circular track, and the unloading speed control curve, including steps S410 to S430.

[0094] In this embodiment, step S410 involves calculating the complete unloading time required from the start of the sorting action to the complete removal of the package from the cross-belt trolley, based on the unloading speed control curve.

[0095] In this embodiment, step S420 involves calculating the travel distance that the sorting action needs to be started in advance, based on the current real-time movement speed of the cross-belt trolley and the complete cargo throwing time.

[0096] In this embodiment, step S430 involves using the position of the target sorting slot as a reference point and shifting the travel distance upstream along the circular track to determine the sorting trigger point.

[0097] The calculation of the complete cargo-throwing time can be obtained through the time-acceleration function of the integral speed control curve. For example, when the speed control curve contains three acceleration changes, the sum of the durations of each acceleration process is calculated. The travel distance can be calculated by multiplying the real-time movement speed by the complete cargo-throwing time. For example, when the trolley is running at 1.5 m / s and the cargo-throwing time is 0.8 seconds, the travel distance correction is 1.2 meters. The reference point offset operation needs to be implemented in conjunction with the topology of the circular track. Specifically, the offset can be calculated in reverse upstream after the target grid is located by the track encoder. The upstream direction is defined as the reverse direction of the cross-belt trolley's travel in the track loop path.

[0098] Specifically, in determining the sorting trigger point, the speed change characteristics during the belt acceleration process are first analyzed using the unloading speed control curve. For example, when the curve is set to accelerate from a standstill to 0.8 m / s within 0.2 seconds and then maintain a constant speed, the complete unloading time includes the acceleration phase and the constant speed phase until the package is completely detached. Then, the real-time acquired cross-belt trolley speed signal is dynamically calculated in conjunction with the complete unloading time. For example, when the actual trolley speed fluctuates from 1.4 m / s to 1.6 m / s, the travel distance is adjusted accordingly to the range of 1.12 meters to 1.28 meters. Finally, in the track coordinate system, the absolute position coordinates of the sorting trigger point are generated by extending the calculated travel distance in the reverse direction along the track tangent, using the target compartment center point as a reference. This process ensures precise matching between the package detachment process and the target compartment arrival time when the sorting action starts by dynamically compensating for the relationship between package detachment time and trolley displacement. The position compensation amount is updated in real time with speed fluctuations, adapting to displacement errors caused by changes in track curvature on curved sections.

[0099] In one feasible implementation, the complete throwing time required from the initiation of the sorting action to the complete detachment of the package from the cross-belt trolley is calculated based on the unloading speed control curve. Specifically, the time for the package to slide and detach on the cross-belt can be estimated by analyzing the acceleration changes and maximum speed of the unloading speed control curve, combined with the weight and size of the package. For example, for a standard-sized cardboard box package, the complete throwing time might be 0.8 seconds. Further, based on the current real-time movement speed of the cross-belt trolley and the complete throwing time, the travel distance required to initiate the sorting action in advance is calculated. A specific calculation method could be to multiply the complete throwing time by the real-time movement speed of the cross-belt trolley. For example, if the current trolley speed is 2 meters per second and the complete throwing time is 0.8 seconds, the calculated advance initiation travel distance is 1.6 meters. Therefore, using the position of the target sorting slot as a reference point, the sorting trigger point is determined by offsetting the travel distance upstream along the circular track. In a specific operation, the travel distance can be calculated by starting from the known coordinate position of the target sorting slot in the system's coordinate system and offsetting along the reverse path of the track, thereby determining the precise coordinates of the sorting trigger point.

[0100] Through the above technical solution, this application achieves precise matching between the sorting trigger point and the package detachment process on curved sections. By introducing the calculation of the complete cargo disposal time, the execution time of the sorting action is ensured to be synchronized with the package detachment process. The advance amount of the sorting action is dynamically adjusted in conjunction with the real-time movement speed of the cross-belt trolley, avoiding trigger point offset caused by fluctuations in trolley movement speed. The sorting trigger point is determined by offsetting the travel distance upstream from the target sorting grid, ensuring that the timing of the sorting action initiation covers the time window required for package detachment and adapts to the movement trajectory characteristics of the trolley on curved sections. This method effectively solves the problems of packages missing the target grid before fully detaching from the trolley during curved sorting, or packages colliding with the grid due to premature sorting action, thus improving the accuracy and reliability of curved sorting.

[0101] In the ninth embodiment of this application, as Figure 9 As shown, in step S500, the corresponding cross-belt trolley is controlled to perform the corresponding sorting action according to the sorting trigger point and the unloading speed control curve, including steps S510 and S520.

[0102] In this embodiment, step S510 is to send a start command to the belt drive mechanism of the cross-belt trolley when the cross-belt trolley reaches the sorting trigger point.

[0103] In this embodiment, step S520 involves controlling the belt movement of the cross-belt trolley according to the unloading speed control curve.

[0104] The sorting trigger point is set based on a dynamic calculation of the target compartment location and the time required for the package to detach, ensuring that the belt start time precisely corresponds to the spatial position of the target compartment. The unloading speed control curve includes multi-stage acceleration control logic: initially, a lower acceleration is used to maintain package stability; in the middle stage, the acceleration is increased to speed up the ejection; and in the final stage, the acceleration is adjusted to match the compartment receiving conditions.

[0105] Specifically, when the cross-belt trolley reaches the sorting trigger point detected by the track positioning system, the central controller immediately sends a pulse signal to the belt drive motor of the target trolley. Upon receiving the signal, the belt drive mechanism starts operating, with its acceleration strictly following a pre-generated speed control curve. For example, in a curved sorting scenario, the speed control curve is configured as follows: 0.3 m / s² acceleration for the first 0.5 seconds, increasing to 0.8 m / s² acceleration for the next 0.3 seconds, and maintaining a constant speed until the package is completely detached. This phased acceleration strategy ensures the package maintains a stable posture in the initial stage of the curve where centrifugal force is strongest, and quickly completes the ejection action after entering the straight section. By monitoring the trolley's speed and track position in real time, the control system dynamically adjusts the belt acceleration curve to ensure that the spatial matching error between the package ejection trajectory and the target compartment receiving area is controlled within ±5 cm.

[0106] As a preferred embodiment, the solution of this application is implemented as follows: When the cross-belt trolley reaches the sorting trigger point, the belt drive mechanism receives a start command and begins to execute an acceleration action. The unloading speed control curve is divided into three acceleration stages. In the initial stage, the package runs at a constant acceleration to generate an initial sliding speed. In the middle stage, the acceleration gradually increases to counteract the centrifugal offset of the curve. In the final stage, the speed is switched to uniform motion to ensure that the package is completely detached from the belt. When sorting is performed on the curve section, the moment the package detaches is controlled to be in the area directly opposite the target compartment, and the belt running trajectory and the radius of curvature of the curve form a dynamic matching relationship.

[0107] Through the above technical solution, this application effectively solves the problem of package ejection position deviation during curved sorting. Real-time positioning of the sorting trigger point ensures precise correspondence between the sent instruction and the target slot's spatial position, avoiding premature or late ejection due to movement delay. The dynamic adjustment function of the multi-segment speed curve enables the package to overcome centrifugal deviation and maintain a stable trajectory during accelerated ejection, ultimately ensuring that the package accurately falls into the sorting slot while moving at high speed on a curved track, while simultaneously preventing the package from tipping over or slipping.

[0108] This application also provides a control device, the control device comprising: a memory, a processor, and a control program for a ring-shaped cross-belt sorting device stored in the memory and executable on the processor, the ring-shaped cross-belt sorting device being configured to implement the control method for the ring-shaped cross-belt sorting device as described above.

[0109] Optionally, the memory is configured to permanently store the control program containing the centrifugal offset value calculation model and speed control curve selection logic, ensuring stable invocation and fast retrieval of the sorting control strategy. For example, the memory can use a non-volatile storage medium, and the stored centrifugal offset value calculation model can include a preset friction coefficient table, geometric parameter database, and kinematic equations. The processor is configured to parse the physical property data of the package in real time, dynamically calculate the sorting trigger point, and precisely control the belt drive timing. For example, the processor can integrate a multi-core processing unit, with one core dedicated to performing real-time calculation of the centrifugal offset value and another core responsible for the selection of the speed control curve and the execution timing scheduling. The control program is configured to convert the dynamic parameter tuning algorithm based on the centrifugal offset value into executable machine instructions, enabling the processor to complete the triggering and control of the sorting action with a millisecond-level response speed.

[0110] Optionally, when a package enters a curved section, the processor retrieves a centrifugal offset calculation model from memory. Combining this with real-time acquired package weight, dimensions, and speed parameters, the processor performs parallel calculations of overturning torque and maximum static friction using a built-in physics engine. The calculation results are input to the speed control curve selection module, which matches the corresponding multi-segment speed control curve based on a preset offset threshold range. For example, if the centrifugal offset exceeds the second threshold, the processor retrieves the third speed control curve from memory and generates a corresponding acceleration command sequence. Subsequently, based on the travel distance output by the sorting trigger point calculation module, the processor precisely controls the start time of the belt drive mechanism using a hardware timer. Due to the collaborative design of the memory and processor, the control program can directly access the sensor data interface at the hardware level, avoiding the latency caused by traditional software stacks. Thus, the execution timing of the sorting action and the switching nodes of the multi-segment speed control curve are synchronized at the microsecond level, ensuring that the package accurately falls into the target compartment during high-speed curved movement without exceeding the preset threshold.

[0111] It is worth noting that since this control device is based on the control method of the above-mentioned circular cross-belt sorting equipment, the embodiments of the control device of this application include all the technical solutions of all embodiments of the control method of the above-mentioned circular cross-belt sorting equipment, and the technical effects achieved are exactly the same, so they will not be repeated here.

[0112] This application also provides a circular cross-belt sorting device, which includes the control device described above.

[0113] It is worth noting that since the circular cross-belt sorting equipment of this application is based on the above-mentioned control device, the embodiments of the circular cross-belt sorting equipment of this application include all the technical solutions of all the embodiments of the above-mentioned control device, and the technical effects achieved are exactly the same, so they will not be repeated here.

[0114] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no technical conflict, the various technical features mentioned in the various embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A control method for a circular cross-belt sorting device, characterized in that, The annular cross-belt sorting equipment includes an annular track, multiple cross-belt trolleys that circulate along the annular track, and multiple sorting slots located beside the track. The control method for the annular cross-belt sorting equipment includes: Packages whose target sorting compartments are located at the bends of the circular track are identified as bend-side packages to be sorted, and the physical attribute data of the bend-side packages to be sorted is obtained. The physical attribute data includes the external dimensions, weight information, and packaging material type of the packages to be sorted. Based on the physical property data and the speed of the cross-belt trolley along the circular track, the centrifugal offset value of the package to be sorted on the curved section of the circular track is determined. The centrifugal offset value is used to characterize the degree of tendency of the package to be sorted on the curved section to shift or overturn relative to the cross-belt trolley under the action of centrifugal force. Based on the centrifugal offset value and the preset maximum allowable impact force of the package, the unloading speed control curve of the cross-belt trolley where the package to be sorted on the bend is located is determined. Based on the distance between the package to be sorted on the curve and its target sorting grid, the speed of the cross-belt trolley along the circular track, and the unloading speed control curve, the sorting trigger point of the package to be sorted on the curve is determined. According to the sorting trigger point and the unloading speed control curve, the corresponding cross-belt trolley is controlled to perform the corresponding sorting action.

2. The control method for the annular cross-belt sorting equipment as described in claim 1, characterized in that, The circular cross-belt sorting equipment also includes a contour scanning device and an image recognition device located above the circular track, and a weight sensor is integrated under each cross-belt trolley; acquiring the physical attribute data of the packages to be sorted on the curved track includes: The weight sensor is used to obtain the weight information of the packages to be sorted at the bend. The contour scanning device acquires three-dimensional point data of the package to be sorted on the bend, and performs solid geometric modeling based on the three-dimensional point data to calculate the estimated centroid height of the package to be sorted on the bend and the effective support area of ​​its bottom surface. The image recognition device acquires image information of the packages to be sorted at the bend, and calls a pre-trained material classification model based on the image information to identify the image in the image information as one of the predefined categories, which include cardboard boxes, woven bags, and foam boxes.

3. The control method for the annular cross-belt sorting equipment as described in claim 1, characterized in that, Based on the physical property data and the speed of the cross-belt trolley along the circular track, the centrifugal offset value of the package to be sorted on the curved section of the circular track is determined, including: Based on the weight information, the external dimensions, the type of packaging material, the radius of curvature of the curved section, and the speed of the cross-belt trolley, the overturning moment of the package to be sorted on the curved section under centrifugal force is determined. Based on the packaging material type and the weight information, determine the maximum static friction between the curved package to be sorted and the surface of the cross-belt trolley. The quotient obtained by dividing the overturning moment by the maximum static friction force is determined as the centrifugal offset value.

4. The control method for the annular cross-belt sorting equipment as described in claim 3, characterized in that, The determination of the overturning moment of the packages to be sorted on the curved track under centrifugal force, based on the weight information, the external dimensions, the type of packaging material, the radius of curvature of the curved section of the circular track, and the movement speed of the cross-belt trolley, includes: The first product is obtained by multiplying the weight of the packages to be sorted on the curve by the square of the speed of the cross-belt trolley. The second product is obtained by multiplying the first product by the centroid height of the package to be sorted on the bend. Divide the second product by the radius of curvature of the curved section of the circular track to obtain a first quotient, and determine the first quotient as the overturning moment; The determination of the maximum static friction between the curved package to be sorted and the surface of the cross-belt trolley's belt, based on the packaging material type and weight information, includes: Based on the packaging material type and the preset friction coefficient table, determine the static friction coefficient corresponding to the package to be sorted on the curved track. The static friction coefficient corresponding to the package to be sorted on the bend is multiplied by the weight of the package to be sorted on the bend to obtain a third product, and the third product is determined as the maximum static friction force.

5. The control method for the annular cross-belt sorting equipment as described in claim 1, characterized in that, The process of determining the unloading speed control curve of the cross-belt trolley where the package to be sorted on the curve is located, based on the centrifugal offset value and the preset maximum permissible impact force of the package, includes: The centrifugal offset value is compared with a set of preset offset threshold intervals; Based on the offset threshold range where the centrifugal offset value is located, one of the pre-stored speed control curves is selected as the unloading speed control curve of the cross-belt trolley where the package to be sorted on the bend is located, so that the impact force between the package to be sorted on the bend and the sorting grid during the sorting process is less than the preset impact threshold.

6. The control method for the annular cross-belt sorting equipment as described in claim 5, characterized in that, The step of selecting one of a series of pre-stored speed control curves from the offset threshold range of the centrifugal offset value to determine the unloading speed control curve for the cross-belt trolley where the package to be sorted on the curve is located includes: When the centrifugal offset value is not less than the first threshold and less than the second threshold, the second speed control curve is selected from the multiple pre-stored speed control curves as the unloading speed control curve of the cross belt trolley where the package to be sorted is located in the bend, so as to control the belt of the cross belt trolley to increase the acceleration after running at the first acceleration for a first preset time when the cross belt trolley is in the bend section. When the centrifugal offset value is not less than the second threshold, a third speed control curve is selected from a plurality of pre-stored speed control curves as the unloading speed control curve for the cross-belt trolley where the package to be sorted on the curve is located. This is used to control the belt of the cross-belt trolley to pre-move with a second acceleration when the cross-belt trolley is in the position of the straight section of the circular track close to the curve section, and to control the belt of the cross-belt trolley to run with a first acceleration for a second preset time and then increase the acceleration when the cross-belt trolley enters the position of the curve section, wherein the second acceleration is less than the first acceleration.

7. The control method for the annular cross-belt sorting equipment as described in claim 1, characterized in that, The method of determining the sorting trigger point for the package to be sorted on the curve based on the distance between the package to be sorted on the curve and its target sorting slot, the speed of the cross-belt trolley along the circular track, and the unloading speed control curve includes: Based on the unloading speed control curve, calculate the complete unloading time required from the start of the sorting action to the complete removal of the package from the cross-belt trolley. Based on the current real-time speed of the cross-belt trolley and the complete cargo throwing time, calculate the travel distance that the sorting action needs to be started in advance. Using the position of the target sorting compartment as a reference point, the sorting trigger point is determined by offsetting the travel distance upstream along the circular track.

8. The control method for the annular cross-belt sorting equipment as described in claim 1, characterized in that, The step of controlling the corresponding cross-belt trolley to perform the corresponding sorting action according to the sorting trigger point and the unloading speed control curve includes: When the cross-belt trolley reaches the sorting trigger point, a start command is sent to the belt drive mechanism of the cross-belt trolley. The belt movement of the cross-belt trolley is controlled according to the unloading speed control curve.

9. A control device, characterized in that, The control device includes: a memory, a processor, and a control program for a ring-shaped cross-belt sorting device stored in the memory and executable on the processor, the ring-shaped cross-belt sorting device being configured to implement the control method for the ring-shaped cross-belt sorting device as described in any one of claims 1 to 8.

10. A circular cross-belt sorting device, characterized in that, The circular cross-belt sorting equipment includes the control device as described in claim 9.

Images