Visual palletizing method for logistics system, visual palletizing system, logistics system and computer readable storage medium
Patent Information
- Application Number
- CN202510315533.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-17
- Publication Date
- 2026-09-25
AI Technical Summary
[0003]在现有物流系统中，机械臂工作效率低，单个出口端对应一个机械臂，由于同一个出口端的物品的到达频率较低，这使得机械臂的码垛作业效率不高，机械臂大部分时间处于等待物品的状态
[0040]基于本公开的视觉码垛方法和视觉码垛系统，能够获得在物料系统中传送的各物品的单体图像，对各物品的单体图像添加相关的物流信息，对显示的物流信息进行图像识别，基于识别结果抓取相应物品并将其送到相应的码垛工位，以便后续转送到对应的目的地。
Smart Images
Figure CN122809215A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the technical field of logistics systems, and more particularly to visual palletizing methods, logistics systems, and computer-readable storage media. Background Technology
[0002] Currently, a single exit point in a logistics system typically corresponds to one courier station, making it impossible to allocate items from multiple courier stations from a single exit point. For a single exit point, the gripping mechanism, such as a robotic arm, can only palletize items to a predetermined palletizing station, such as a cage cart. Even if items at the exit point belong to two different destinations, such as courier stations, the robotic arm can only palletize items from both courier stations into the same cage cart. After palletizing, a transfer vehicle delivers the cage cart to one courier station.
[0003] In existing logistics systems, robotic arms are inefficient, with only one robotic arm corresponding to each exit point. Because the arrival frequency of items at the same exit point is low, the palletizing efficiency of the robotic arms is low, and the arms spend most of their time waiting for items. Furthermore, robotic arms occupy a large amount of space; each exit point corresponds to only one express delivery station, and one robotic arm can only handle a maximum of two exit points, thus requiring a large number of robotic arms. Summary of the Invention
[0004] To overcome the aforementioned technical deficiencies, this disclosure provides a visual palletizing method for a logistics system, comprising:
[0005] Acquire and display images of items awaiting palletizing that are being transported in the logistics system;
[0006] Perform image recognition on the item image and add the corresponding logistics information to the recognized item image; and
[0007] The logistics information is subjected to image recognition, and based on the recognition results, the items are picked up and transferred to the corresponding palletizing station, which corresponds to the destination to which the items are to be delivered.
[0008] In some embodiments, the visual palletizing method includes: obtaining an image of the item after the item is discharged from a sorting conveyor belt of a logistics system to a predetermined exit end, each of the exit ends corresponding to a plurality of the palletizing stations.
[0009] In some embodiments, the visual palletizing method includes:
[0010] Based on the destination of the item identified from the logistics information, and according to the correspondence between the destination and the export point, the predetermined export point to which the item is to be delivered is obtained; and
[0011] Based on the route length for transporting the item to the predetermined exit and the conveying speed of the sorting conveyor belt, the time it takes for the item to arrive at the predetermined exit is calculated, and an image of the item is obtained based on the time.
[0012] In some embodiments, the visual palletizing method includes: keeping the image of the item and the added logistics information substantially moving.
[0013] In some embodiments, the visual palletizing method includes:
[0014] Based on the identification results, the destination of the item is determined;
[0015] Based on the correspondence between destination and palletizing station, the predetermined palletizing station to which the item will be transferred is determined; and
[0016] The items are transferred to the designated palletizing station according to the coordinates of the designated palletizing station.
[0017] In some embodiments, the visual palletizing method includes: sequentially grabbing and transporting multiple items that have entered the same exit end to multiple palletizing stations, the multiple palletizing stations corresponding to different destinations.
[0018] On the other hand, this disclosure provides a visual palletizing system for a logistics system, comprising:
[0019] Sorting conveyor belts are used to transport items to be palletized in a logistics system;
[0020] Image acquisition device, used to acquire an image of the item;
[0021] Image display device for displaying an image of the item; and
[0022] The processor is configured to perform image recognition on the image of the item displayed on the image display device via the image acquisition device, add corresponding logistics information to the recognized image of the item, and perform image recognition on the added logistics information via the image acquisition device to obtain a palletizing station corresponding to the destination of the item; and
[0023] A gripping mechanism is used to grip and transport the items to the palletizing station.
[0024] In some embodiments, the visual palletizing system includes: multiple exit ends connected to the sorting conveyor belt for receiving items to be palletized discharged from the sorting conveyor belt so that the items can be picked up and transported to the palletizing station, each exit end corresponding to multiple palletizing stations, and the multiple palletizing stations corresponding to different destinations.
[0025] In some embodiments, the visual palletizing system includes a plurality of gripping mechanisms, each gripping mechanism corresponding to a plurality of exit ends.
[0026] In some embodiments, the visual palletizing system includes an information acquisition device for obtaining logistics information of items by scanning an identification code on an item package or reading an RFID tag on an item package, the information acquisition device being arranged adjacent to the sorting conveyor belt.
[0027] In some embodiments, the processor in the visual palletizing system is configured to perform:
[0028] After the item is discharged from the sorting conveyor belt to the outlet end, the image acquisition device is instructed to acquire an image of the item.
[0029] In some embodiments, the processor is configured to perform:
[0030] Based on the destination of the item identified from the logistics information, and according to the correspondence between the destination and the export end, the predetermined export end to which the item is to be delivered is obtained; and
[0031] Based on the route length between the item and the predetermined exit and the conveying speed of the sorting conveyor belt, the time it takes for the item to arrive at the predetermined exit is calculated, and based on the time, the image acquisition device obtains an image of the item.
[0032] In some embodiments, the processor is configured to perform actions that substantially keep the item image and the added logistics information flowing.
[0033] In some embodiments, the processor is configured to perform:
[0034] The destination of the goods is determined based on image recognition of the logistics information;
[0035] Based on the correspondence between destination and palletizing station, the predetermined palletizing station to which the item will be transferred is determined; and
[0036] Based on the coordinates of the predetermined palletizing station, the gripping mechanism is instructed to transfer the item to the predetermined palletizing station.
[0037] In some embodiments, the visual palletizing system includes a memory coupled to the processor for storing instructions that, when executed by the processor, cause the processor to perform steps of the visual palletizing method.
[0038] This disclosure also provides a logistics system including the above-described visual palletizing system.
[0039] This disclosure also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps of a visual palletizing method.
[0040] Based on the visual palletizing method and system disclosed herein, it is possible to obtain individual images of each item being transported in the material system, add relevant logistics information to the individual images of each item, perform image recognition on the displayed logistics information, and grab the corresponding item based on the recognition result and send it to the corresponding palletizing station for subsequent transfer to the corresponding destination.
[0041] This disclosure adds logistics information to the images of items at the export end, recognizes the logistics information through the images, and allocates items from the same export end to palletizing stations at different destinations based on the recognition results. It can also realize that one gripping mechanism corresponds to multiple export ends, can process items from multiple export ends, improves the palletizing efficiency of items, reduces the number of gripping mechanisms such as robotic arms required, and saves the space occupied by gripping mechanisms. Attached Figure Description
[0042] By convention, the various features in the following figures are not necessarily drawn to scale. The dimensions of the various features and elements in the figures may be enlarged or reduced to more clearly illustrate the embodiments of this disclosure.
[0043] Figure 1 A schematic diagram of a visual palletizing system according to an embodiment of this disclosure for application in a logistics system;
[0044] Figure 2 This is a flowchart of the steps of a visual palletizing method according to an embodiment of the present disclosure;
[0045] Figure 3 and 4 A schematic diagram illustrating the addition of logistics information to an image of an item at the export end using a visual palletizing method according to an embodiment of this disclosure; and
[0046] Figure 5 This is a diagram showing the component connections of a visual palletizing system according to an embodiment of the present disclosure.
[0047] Reference numerals: 11, sorting conveyor belt; 12, items to be palletized; 13, exit end; 14, image acquisition device; 15, image display device; 16, processor; 17, gripping mechanism; 18, palletizing station; 19, information acquisition device; 20, memory. Detailed Implementation
[0048] Referring to the accompanying drawings and by reading the following detailed description of the embodiments, those skilled in the art will understand the technical advantages of the various embodiments. The various embodiments discussed above, individually and in various combinations, are all within the scope of this disclosure.
[0049] This disclosure presents a visual palletizing method for logistics systems. Figure 1 The logistics system is shown. Figure 2 The following are the operational steps of a visual palletizing method according to some embodiments of this disclosure. Those skilled in the art can select... Figure 2 The steps shown can be combined or all of them, or the order can be changed or some steps can be omitted.
[0050] The visual palletizing method is implemented through a visual palletizing algorithm. It performs image recognition on the image of the items 12 discharged from the sorting conveyor belt 11 to the exit end 13, and adds the corresponding logistics information to the item image. Based on the recognition results, the grasping mechanism 17 sequentially transfers multiple items 12 discharged from the sorting conveyor belt 11 to their respective palletizing stations 18. The destinations of the multiple items 12 are different, and the multiple palletizing stations 18 correspond to different destinations. This reduces the trouble of having items with different destinations palletized at the same palletizing station and then being sorted again after being sent to the predetermined express station.
[0051] In some embodiments of this disclosure, the algorithm acquires an image of the item 12 to be palletized in the logistics system through the image acquisition device 14, and displays the item image through the image display device 15. The algorithm performs image recognition on the item image through the image acquisition device 14 and adds corresponding logistics information to the recognized item image. The logistics information includes at least the express tracking number and the destination. Then, the algorithm performs image recognition on the logistics information to obtain the destination. Based on the correspondence between the destination and the palletizing station, the algorithm instructs the gripping mechanism 17 to grip the item 12 and transfer it to the predetermined palletizing station 18 for palletizing. The predetermined palletizing station 18 corresponds to the destination of the item 12. The palletizing station may include, for example, a cage cart, and the destination may include, for example, an express delivery station. The cage cart is transported to the predetermined express delivery station by an express delivery vehicle, and the courier transfers the item from the express delivery station to the user. This achieves the labeling of logistics information on the image of the item entering the exit 13, making it easier to read the destination of the item through visual recognition.
[0052] In some embodiments of this disclosure, such as Figure 3 and 4 As shown, after item 12 enters the predetermined exit end 13B from the sorting conveyor belt 11, the predetermined exit end 13B corresponds to the destination of item 12. The algorithm instructs the image acquisition device 14 to obtain an image of item 12. The algorithm sequentially performs image recognition on the images of all items 12 that enter the same exit end 13B and adds relevant logistics information. This makes it possible for multiple items 12 coming out of the same exit end 13B to have their own logistics information in their images, which facilitates the differentiation of items to different destinations through visual recognition.
[0053] In some embodiments of this disclosure, while item 12 is being conveyed on sorting conveyor belt 11, the information acquisition device 19 obtains the logistics information of item 12, such as its destination, by scanning the identification code of the item package, such as a QR code, or by reading the FIRD tag on the item package. Based on the correspondence between the destination and the exit, the algorithm obtains the predetermined exit 13 corresponding to item 12 and the route length. Based on the route length and the conveying speed of sorting conveyor belt 11, the algorithm calculates the time when item 12 enters the predetermined exit 13. The algorithm instructs the image acquisition device 14 to acquire an image of the item at that time and display the image. In this way, an image of item 12 can be accurately obtained after item 12 enters the exit.
[0054] In some embodiments of this disclosure, such as Figure 4 As shown, the algorithm keeps the images of item 1 and item 2 and the added logistics information basically moving, which makes it easy for the algorithm to continuously track the item images and their logistics information through visual recognition, maintain the one-to-one correspondence between item images and item information, and avoid the problem of confusion caused by incorrect correspondence between item images and logistics information.
[0055] In some embodiments of this disclosure, the algorithm performs image recognition on logistics information. The algorithm uses an image acquisition device 14 to perform image recognition on the logistics information, obtains destination information from the logistics information, and, based on the correspondence between the destination and the palletizing station, determines the predetermined palletizing station to which the item 12 will be delivered. The algorithm sends the position coordinate information of the predetermined palletizing station 18 to the gripping mechanism 17, which grips the item 12 and transports it to the predetermined palletizing station 18 according to the coordinate information. This allows multiple items 12 from the same exit end 13 to be delivered to multiple palletizing stations 18 corresponding to different destinations, thereby improving the palletizing efficiency at the exit end.
[0056] On the other hand, this disclosure provides a visual palletizing system for a logistics system, such as Figure 1 As shown, the visual palletizing system includes a sorting conveyor belt 11 for conveying multiple items 12 to be palletized, multiple outlet ends 13 communicating with the sorting conveyor belt 11, an image acquisition device 14, an image display device 15, a processor 16, a gripping mechanism 17, and multiple palletizing stations 18. The sorting conveyor belt 11 is used to convey the items 12 to be palletized in the logistics system; the image acquisition device 14 is used to acquire images of the items 12 and may include a camera device; the image display device 15 is used to display the images of the items and may include a display screen; the gripping mechanism 17 is used to grip and transport the items 12 to the palletizing stations 18 and may be mobile on the site. Figure 5As shown, the processor 16 is signal-connected to the sorting conveyor belt 11, the image acquisition device 14, the image display device 15, and the gripping mechanism 17, and is capable of receiving information and sending instructions. The processor 16 executes a visual palletizing algorithm to perform image recognition on the item image displayed on the image display device 15 through the image acquisition device 14, adds corresponding logistics information to the recognized item image, and performs image recognition on the added logistics information through the image acquisition device 14 to obtain the palletizing station 18 corresponding to the destination of the item 12.
[0057] In some embodiments of this disclosure, such as Figure 1 As shown, the visual palletizing system includes multiple exit ends 13 connected to the sorting conveyor belt 11, used to receive items 12 to be palletized discharged from the sorting conveyor belt 11. A gripping mechanism 17 grips and transports the items from the exit ends 13 to the palletizing stations 18. Each exit end 13 corresponds to multiple palletizing stations 18, each corresponding to a different destination. This ensures that multiple items 12 from the same exit end 13 with different destinations are transferred to different palletizing stations. This avoids the problem of multiple items 12 with different destinations being sent to the same palletizing station and then transported to the same destination.
[0058] In some embodiments of this disclosure, such as Figure 1 As shown, the visual palletizing system includes multiple gripping mechanisms 17, each of which corresponds to multiple exit ends 13, enabling one gripping mechanism 17 to grip and transfer items from multiple exit ends 13. This improves gripping and transfer efficiency, reduces the number of gripping mechanisms, and saves the space occupied by the gripping mechanisms.
[0059] In some embodiments of this disclosure, such as Figure 1 As shown, the visual palletizing system includes an information acquisition device 19 arranged adjacent to the sorting conveyor belt 11, and the information acquisition device 19 is signal-connected to the processor 16. During the transport of items 12 on the sorting conveyor belt 11, the information acquisition device 19 obtains the item's logistics information by scanning the identification code on the item package or reading the RFID tag on the item package. Based on the logistics information, the destination of the item is determined. Based on the preset correspondence between the destination and the exit, the processor 16 executes an algorithm to obtain the item's route length and the time it takes to enter the exit. This allows for precise control of the item's entry time into the exit, enabling accurate acquisition of item images.
[0060] In some embodiments of this disclosure, after the item 12 is discharged from the sorting conveyor belt 11 to the outlet end 13, the processor 16 instructs the image acquisition device 14 to acquire an image of the item 12.
[0061] In some embodiments of this disclosure, based on the visual palletizing algorithm, the processor 16 calculates the predetermined exit point to which the item 12 is to be delivered, based on the destination of the item 12 identified from the logistics information and the predetermined correspondence between the destination and the exit point, and calculates the time when the item 12 arrives at the predetermined exit point 13 based on the route length between the current item 12 and the predetermined exit point and the conveying speed of the sorting conveyor belt 11, and the image acquisition device 14 instructs the image acquisition device 14 to acquire an image of the item at the time point.
[0062] In some embodiments of this disclosure, according to the visual palletizing algorithm, the processor 16 keeps the item image and the added logistics information basically moving, so that the item image and the added logistics information always maintain a corresponding relationship and avoid confusion.
[0063] In some embodiments of this disclosure, according to a visual palletizing algorithm, the processor 16 obtains the destination of the item 12 based on image recognition of the logistics information, obtains the predetermined palletizing station 18 corresponding to the destination of the item 12 according to the predetermined correspondence between the destination and the palletizing station, and instructs the gripping mechanism 17 to transfer the item 12 to the predetermined palletizing station 18 according to the coordinates of the predetermined palletizing station 18.
[0064] In some embodiments of this disclosure, the visual palletizing system includes a memory 20 and a processor 16 coupled to the memory 20, the processor 16 being configured to execute the visual palletizing method of any of the embodiments of this disclosure based on instructions stored in the memory 20.
[0065] This disclosure also provides a logistics system that includes the above-described visual palletizing system.
[0066] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0067] The foregoing description of this disclosure illustrates and describes some exemplary embodiments. Various additions, modifications, alterations, etc., may be made to these exemplary embodiments without departing from the spirit and scope of this disclosure. All content contained in the foregoing description or shown in the accompanying drawings is intended to be illustrative and not restrictive. Furthermore, this disclosure shows and describes only selected embodiments of the disclosure; however, within the scope of the inventive concept expressed herein, in proportion to the foregoing teachings, and / or within the skill or knowledge of those skilled in the art, this disclosure can be used and modified in various other combinations, modifications, and environments. Moreover, certain features and characteristics of each embodiment may be optionally interchanged and applied to other illustrated and non-illustrated embodiments of this disclosure.
Claims
1. A visual palletizing method for a logistics system, comprising: Obtain and display images of items (12) to be palletized in the logistics system; The image of the item is subjected to image recognition, and the corresponding logistics information is added to the recognized image of the item. as well as The logistics information is image-recognized, and the item (12) is picked up and transferred to the corresponding palletizing station (18) based on the recognition result. The corresponding palletizing station (18) corresponds to the destination to which the item (12) is to be delivered.
2. The visual palletizing method according to claim 1, comprising: After the item (12) is discharged from the sorting conveyor belt (11) of the logistics system to a predetermined exit end (13), an image of the item is obtained, each of the exit ends (13) corresponding to a plurality of the palletizing stations (18).
3. The visual palletizing method according to claim 2, comprising: Based on the destination of the item (12) identified from the logistics information, and according to the correspondence between the destination and the exit, the predetermined exit to which the item (12) is to be delivered and the route length of the item (12) are obtained; and Based on the route length and the conveying speed of the sorting conveyor belt (11), the time when the item (12) arrives at the predetermined exit end (13) is calculated, and an image of the item is obtained based on the time.
4. The visual palletizing method according to claim 1, comprising: The image of the item and the added logistics information remain largely updated.
5. The visual palletizing method according to claim 1, comprising: Based on the identification results, the destination of the item (12) is obtained; Based on the correspondence between the destination and the palletizing station, the predetermined palletizing station to which the item (12) will be transferred is determined; and According to the coordinates of the predetermined palletizing station (18), the item (12) is transferred to the predetermined palletizing station (18).
6. The visual palletizing method according to any one of claims 1-5, comprising: Multiple items (12) entering the same exit end (13) are sequentially grabbed and transported to multiple palletizing stations (18), each of which corresponds to a different destination.
7. A visual palletizing system for a logistics system, comprising: Sorting conveyor belt (11) is used to transport items to be palletized (12) in the logistics system; Image acquisition device (14) is used to acquire an image of the item (12); Image display device (15) for displaying an image of the item; as well as The processor (16) is configured to perform image recognition on the image of the item displayed on the image display device (15) via the image acquisition device (14), add corresponding logistics information to the recognized image of the item, and perform image recognition on the added logistics information via the image acquisition device (14) to obtain a palletizing station (18) corresponding to the destination of the item (12); and A gripping mechanism (17) is used to grip and transport the item (12) to the palletizing station (18).
8. The visual palletizing system according to claim 7, comprising: Multiple exit ends (13) are connected to the sorting conveyor belt (11) to receive palletized items (12) discharged from the sorting conveyor belt (11) so that the items can be picked up and transported to the palletizing station (18). Each exit end (13) corresponds to multiple palletizing stations (18), and the multiple palletizing stations (18) correspond to different destinations.
9. The visual palletizing system according to claim 7, comprising a plurality of gripping mechanisms (17), each gripping mechanism (17) corresponding to a plurality of exit ends (13).
10. The visual palletizing system according to claim 7, comprising an information acquisition device (19) for obtaining logistics information of an item by scanning an identification code on the item package or reading an RFID tag on the item package, the information acquisition device (19) being arranged adjacent to the sorting conveyor belt (11).
11. The visual palletizing system of claim 7, wherein the processor (16) is configured to perform: After the item (12) is discharged from the sorting conveyor belt (11) to the outlet end (13), the image acquisition device (14) is instructed to acquire an image of the item.
12. The visual palletizing system of claim 11, wherein the processor (16) is configured to perform: Based on the destination of the item (12) identified from the logistics information, and according to the correspondence between the destination and the export end, the predetermined export end to which the item (12) is to be delivered is obtained; and Based on the route length between the item (12) and the predetermined exit end and the conveying speed of the sorting conveyor belt (11), the time when the item (12) arrives at the predetermined exit end (13) is calculated, and based on the time, the image acquisition device (14) obtains an image of the item.
13. The visual palletizing system of claim 7, wherein the processor (16) is configured to perform substantially follow-up on the image of the item and the added logistics information thereon.
14. The visual palletizing system of claim 7, wherein the processor (16) is configured to perform: Based on image recognition of the logistics information, the destination of the item (12) is obtained; Based on the correspondence between the destination and the palletizing station, the predetermined palletizing station (18) to which the item (12) will be transferred is determined; and Based on the coordinates of the predetermined palletizing station (18), the gripping mechanism (17) is instructed to transfer the item (12) to the predetermined palletizing station (18).
15. The visual palletizing system of claim 7, comprising a memory (20) coupled to the processor (16) for storing instructions that, when executed by the processor (16), cause the processor to perform the steps of the visual palletizing method of any one of claims 1-6.
16. A logistics system comprising the visual palletizing system according to any one of claims 7-15.
17. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps of the visual palletizing method according to any one of claims 1-6.