An express sorting system based on visual servo technology

Abstract

The utility model provides a kind of express sorting system based on visual servo technology, comprising: scanning module, data processing module, control module, data storage module, express carrying module and express storage module;Scanning module is used to scan express, obtains express information data, and will express information data transmission to data processing module, and express information data includes express size information and express single information;Data processing module is used to calculate the storage location information of express placed to express storage module according to express size information and express storage module's express occupancy information, and through control module control express carrying module carries express to the position specified by location information;Data storage module is used to store the express information data and storage location information transmitted by data processing module.

Description

Technical Field

[0001] This utility model relates to the field of intelligent express sorting technology, specifically to an express sorting system based on visual servo technology. Background Technology

[0002] With rapid economic development and rising living standards, busy work schedules have made online shopping a popular trend. The increasing number of online shoppers has led to a surge in package deliveries. This massive volume of deliveries puts immense pressure on logistics terminals. Due to limited staff and the reliance on manual sorting, these terminals are inefficient and prone to errors, failing to meet the demand for rapid and efficient sorting. Recipients often have to wait a long time for their packages to be sorted before they can collect them, severely impacting their shopping and delivery experience. Utility Model Content

[0003] The purpose of this invention is to provide a courier sorting system based on visual servo technology, which effectively saves labor costs and improves courier sorting efficiency and speed.

[0004] To address the aforementioned problems, this utility model discloses a parcel sorting system based on visual servoing technology, comprising: a scanning module, a data processing module, a control module, a data storage module, a parcel handling module, and a parcel storage module;

[0005] The scanning module is used to scan the express delivery, obtain express delivery information data, and transmit the express delivery information data to the data processing module. The express delivery information data includes express delivery size information and express delivery slip information.

[0006] The data processing module is used to calculate the storage location information of the express delivery in the express delivery storage module based on the express delivery size information and the express delivery occupancy information of the express delivery storage module, and to control the express delivery handling module to move the express delivery to the location specified by the location information through the control module.

[0007] The data storage module is used to store the express delivery information data transmitted from the data processing module and the storage location information.

[0008] Preferably, the express delivery size information includes the length, width, and height of the express delivery; the express delivery slip information includes the recipient's name, telephone number, address, and the tracking number of the express delivery.

[0009] Preferably, the express delivery storage module includes an express delivery shelf with multiple layers, and the data storage module pre-stores the length, width, and height dimensions of each layer of the express delivery shelf; the data processing module calculates the storage location information of the express delivery based on the dimension information of the express delivery shelf.

[0010] Preferably, the data storage module establishes a spatial coordinate system based on the size information of the express delivery shelf, and records the starting and ending coordinates of each express delivery placement, as well as the relationship between each express delivery, using an idle linked list algorithm.

[0011] Preferably, the scanning module includes a scanning camera, which scans the shape of the express delivery and the waybill to obtain the express delivery size information and the waybill information.

[0012] Preferably, it also includes a timing module, which controls the data processing module to periodically execute a fragment space organization task. The fragment space organization task includes the data processing module extracting the location information and size information of the express delivery from the express delivery storage module; the data processing module calculating the optimized location information of the express delivery based on the location information and the size information of the express delivery, and controlling the express delivery handling module through the control module to move the express delivery to the location specified by the location information; and the data storage module updating the location information of the express delivery.

[0013] Preferably, the fragment space defragmentation task in the timing module is triggered manually or automatically.

[0014] Preferably, the express delivery handling module includes a robotic arm, which moves the express delivery to the express storage module.

[0015] Preferably, it also includes an information sending module, which is used to send pickup information to the recipient, the pickup information including the courier's tracking number, telephone number, and name.

[0016] Beneficial effects:

[0017] This utility model provides a package sorting system based on visual servo technology, comprising: a scanning module, a data processing module, a control module, a data storage module, a package handling module, and a package storage module. The scanning module scans packages, acquires package information data, and transmits this data to the data processing module. The package information data includes package size information and waybill information. The data processing module calculates the storage location of the package in the package storage module based on the package size information and the package occupancy information in the storage module, and controls the package handling module via the control module to move the package to the specified location. The data storage module stores the package information data transmitted from the data processing module and the storage location information. This effectively saves on manual package sorting costs, improves package sorting efficiency and speed, shortens recipient pickup time, and enhances the recipient's package receiving experience. Attached Figure Description

[0018] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:

[0019] Figure 1 This is a schematic diagram of the process for storing express packages in the express sorting system disclosed in this utility model;

[0020] Figure 2 This is a flowchart illustrating the fragment space organization task of the express sorting system disclosed in this utility model.

[0021] Figure 3 This is a schematic diagram of the express sorting system disclosed in this utility model.

[0022] Explanation of reference numerals in the attached figures:

[0023] 10. Express sorting system; 11. Scanning module; 12. Data processing module; 13. Control module; 14. Express handling module; 15. Data storage module; 16. Information sending module; 17. Express storage module. Detailed Implementation

[0024] It should be understood that in the description of this utility model, the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0025] It should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "set," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0026] The technical solution of this utility model will be further illustrated below through specific embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. The content of the embodiments does not constitute a limitation on this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0027] The express sorting system 10 disclosed in this utility model is suitable for placement in express delivery terminals such as express stations and express collection and delivery points. This express sorting system 10 can not only autonomously assist express delivery terminals in sorting and placing express packages, but also automatically organize express packages on shelves to fully utilize shelf space. It saves labor costs and improves express sorting efficiency and speed.

[0028] This utility model discloses a courier sorting system 10 based on visual servoing technology, such as... Figure 1 and Figure 3 As shown, it includes: a scanning module 11, a data processing module 12, a control module 13, a data storage module 15, a package handling module 14, and a package storage module 17.

[0029] The scanning module 11 is used to scan the express delivery and acquire express delivery information data, including the express delivery's dimensions and the waybill information. Therefore, the scanning module 11 needs to scan not only the express delivery's shape but also the waybill. The express delivery information data is then transmitted to the data processing module 12.

[0030] Specifically, when scanning a package, the scanning module 11 can either manually pick up the package for scanning, or place it in a designated location with the waybill facing the scanning module 11 for scanning. The scanning module 11 can be positioned above or to the side of the package. Alternatively, the package handling module 14 can hold the package and move it in front of the scanning module 11 for scanning. To ensure a complete and comprehensive scan, the package handling module 14 can rotate automatically with the package during the scanning process to assist in completing the scan. The scanning module 11 can also be configured to be fixed or movable as needed.

[0031] Preferably, the scanning module 11 includes a scanning camera that scans the shape of the package and the waybill to obtain the package's dimensions and the waybill information. The resolution of the scanning camera is not specifically limited and can be set according to actual needs. One or multiple scanning cameras can be used. Their specific locations can be set according to actual needs.

[0032] Specifically, the package size information includes the package's length, width, and height. The tracking information includes the recipient's name, phone number, address, and tracking number. Of course, you can also scan to obtain more information as needed, such as the sender's name, phone number, address, and any additional notes or comments.

[0033] The data processing module 12 is used to calculate the storage location information of the express delivery in the express storage module 17 based on the express delivery size information (i.e., the length, width and height of the express delivery) and the express delivery occupancy information of the express delivery storage module 17 (i.e. the size information of the express delivery already stored in the express delivery storage module 17). After the calculation is completed, the data processing module 12 sends the storage location information of the express delivery to the control module 13. The control module 13 controls the express delivery handling module 14 to move the express delivery to the location specified by the storage location information.

[0034] After the package is moved to the designated location, the data processing module 12 sends the package information data and storage location information to the data storage module, and the data storage module 15 stores the package information data and storage location information transmitted from the data processing module 12.

[0035] Specifically, the express delivery storage module 17 includes an express delivery shelf with a multi-layer structure to make full use of limited space and accommodate more express deliveries. The data storage module 15 pre-stores the length, width, and height dimensions of each layer of the express delivery shelf. The data processing module 12 combines the dimensions of the express delivery shelf, i.e., the length, width, and height of each layer, to calculate the storage location information of the express deliveries.

[0036] Furthermore, the data storage module 15 establishes a spatial coordinate system based on the size information of the express delivery shelf. This spatial coordinate system covers all layers of the shelf. The data storage module 15 uses a free list algorithm to record the starting and ending coordinates of each package, as well as the relationships between the preceding and following nodes. This allows for accurate tracking of package locations and triggers the merging of adjacent free spaces after a package is retrieved—by updating the predecessor and successor pointers of the linked list, disparate small spaces are integrated into a continuous area, reserving sufficient space for storing larger packages. Moreover, the express delivery shelf layers are separated within the spatial coordinate system; a package cannot be partially placed on an upper layer and partially on a lower layer. A package can only be placed on one layer, and the data storage module 15 records the occupancy of each package on the X, Y, and Z axes of the spatial coordinate system.

[0037] In practical applications, when the data processing module 12 calculates that there is no suitable place for the current package on the parcel shelf, the current package storage fails, and the parcel handling module 14 places the current package aside and takes the next package to continue the above placement steps.

[0038] When the data processing module 12 calculates that there is a suitable place to put the current express delivery on the express shelf, the express delivery placement steps described above will be executed, which will not be repeated here.

[0039] Preferred, such as Figure 2 As shown, the express sorting system 10 disclosed in this utility model also includes a timing module, which controls the data processing module 12 to perform fragment space sorting tasks at regular intervals.

[0040] The purpose of the fragmented space organization task is as follows: After packages are placed on the parcel shelf, recipients will come to pick them up. Different recipients will pick up different packages, causing the parcel shelf to become cluttered and scattered after a period of time. At this point, if new packages need to be placed, the limited space makes it impossible to achieve optimal placement. Therefore, regularly performing fragmented space organization tasks will consolidate the packages on the shelf, bringing them together for easier placement of new packages.

[0041] The fragmented space organization task includes: the data processing module 12 extracts the location information and size information of the remaining packages from the package storage module 17. Based on the location information and size information, the data processing module 12 calculates the optimized location information of the packages. The data processing module 12 sends the optimized location information to the control module 13. The control module 13 controls the package handling module 14 to move the packages to the location specified in the optimized location information. After the package handling is completed, the data processing module 12 transmits the latest package location information to the data storage module 15, and the data storage module 15 updates the package location information.

[0042] When performing fragmented space organization tasks, if an "isolated package" is detected on the shelf, that is, a single occupied node causes scattered space in front or behind, it will be moved to a shelf layer with less remaining space, or adjusted to the starting position within the same layer. For fragmented areas formed by frequent access in the overall shelf layout, all packages will be moved forward according to the principle of compact arrangement to eliminate redundant intervals in the middle, avoid the waste of space by segmentation, and ultimately achieve efficient and orderly package storage.

[0043] In practical implementation, the fragmented space organization task in the timed module can be set to manual triggering, automatic triggering, or a combination of both. Manual triggering allows for the setting of a trigger button, enabling courier terminal network managers to initiate the task as needed, providing convenience and speed. Automatic triggering allows for automatic execution at a set time, preventing managers from forgetting due to busy schedules, improving work efficiency, and reducing labor costs. When executing a fragmented space organization task under either manual or automatic triggering, if the data processing module 12 calculates that all packages on the current courier shelf are in optimal positions—meaning no packages need to be moved—the task is terminated directly, and no packages require further movement.

[0044] In this embodiment, the express delivery handling module 14 includes a robotic arm, which includes a robotic arm and a gripper. The robotic arm can extend, retract, and rotate as needed, and the gripper can grab and release express packages. The express packages are then transported to the express storage module 17 by the robotic arm.

[0045] Preferred, such as Figure 3As shown, the express sorting system 10 also includes an information sending module 16. When an express package is placed on the express shelf, the control module 13 controls the information sending module 16 to send a pickup information message to the recipient. The pickup information is sent via SMS and includes the package's tracking number, phone number, and name. Alternatively, a pickup address can be entered in the pickup information as needed. After receiving the pickup information, the recipient goes to the designated location to pick up the package. The recipient can provide the last four digits of their phone number or tracking number to the manager. After the manager enters the corresponding information into the express sorting system 10, the package's location will be displayed, such as the layer and package number. Once the package is successfully shipped, the corresponding package is marked as shipped in the data storage module 15, and the space occupied by that package in the coordinate system is released to facilitate the placement of new packages or to organize the shelf space using fragmented space management tasks.

[0046] The applicant declares that the above are only specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Those skilled in the art should understand that any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model fall within the protection and disclosure scope of this utility model.

Claims

1. A parcel sorting system based on visual servoing technology, characterized in that, include: The package includes a scanning module, a data processing module, a control module, a data storage module, a package handling module, and a package storage module. The scanning module is used to scan the express delivery, obtain express delivery information data, and transmit the express delivery information data to the data processing module. The express delivery information data includes express delivery size information and express delivery slip information. The data processing module is used to calculate the storage location information of the express delivery in the express delivery storage module based on the express delivery size information and the express delivery occupancy information of the express delivery storage module, and to control the express delivery handling module to move the express delivery to the location specified by the location information through the control module. The data storage module is used to store the express delivery information data transmitted from the data processing module and the storage location information.

2. The express sorting system based on visual servoing technology according to claim 1, characterized in that, The express delivery size information includes the length, width, and height of the express delivery; the express delivery slip information includes the recipient's name, phone number, address, and the tracking number of the express delivery.

3. The express sorting system based on visual servoing technology according to claim 1, characterized in that, The express delivery storage module includes an express delivery shelf with multiple layers. The data storage module pre-stores the length, width, and height dimensions of each layer of the express delivery shelf. The data processing module calculates the storage location information of the express delivery based on the dimension information of the express delivery shelf.

4. The express sorting system based on visual servoing technology according to claim 3, characterized in that, The data storage module establishes a spatial coordinate system based on the size information of the express delivery shelf, and records the starting and ending coordinates of each express delivery placement, as well as the relationship between each express delivery, using an idle linked list algorithm.

5. A package sorting system based on visual servoing technology according to claim 1, characterized in that, The scanning module includes a scanning camera, which scans the shape of the express delivery and the waybill to obtain the size information of the express delivery and the waybill information.

6. The express sorting system based on visual servoing technology according to claim 1, characterized in that, It also includes a timing module, which controls the data processing module to periodically execute a fragment space reorganization task. The fragment space reorganization task includes the data processing module extracting the location information and size information of the express delivery from the express delivery storage module; the data processing module calculating the optimized location information of the express delivery based on the location information and the size information of the express delivery, and controlling the express delivery handling module through the control module to move the express delivery to the location specified by the location information; and the data storage module updating the location information of the express delivery.

7. A package sorting system based on visual servoing technology according to claim 6, characterized in that, The fragment space defragmentation task in the timing module can be triggered manually or automatically.

8. A package sorting system based on visual servoing technology according to claim 1, characterized in that, The express delivery handling module includes a robotic arm, which moves the express delivery to the express storage module.

9. A package sorting system based on visual servoing technology according to claim 2, characterized in that, It also includes an information sending module, which is used to send pickup information to the recipient, including the courier's tracking number, telephone number, and name.

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