CN111573220A - Express parcel sorting adjustment method based on Internet of things - Google Patents

Express parcel sorting adjustment method based on Internet of things Download PDF

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Publication number
CN111573220A
CN111573220A CN202010446820.9A CN202010446820A CN111573220A CN 111573220 A CN111573220 A CN 111573220A CN 202010446820 A CN202010446820 A CN 202010446820A CN 111573220 A CN111573220 A CN 111573220A
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coordinate
universal wheel
parcel
axis
distance
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CN111573220B (en
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林元模
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Putian University
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Putian University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0225—Orientation of the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses an express parcel sorting and adjusting method based on the Internet of things, which comprises the steps of controlling a conveying device to transmit a first parcel to an adjusting area; starting a camera and forming a first image; determining the head and four vertex coordinates of the first wrap; solving for the azimuth of the first parcel
Figure DDA0002506157110000011
Solving the distance L from the center of the first parcel to the origin of coordinates O; controlling a universal wheel to rotate along the direction of the Y axis to drive the first wrapping to translate along the Y axis; controlling the universal wheel to rotate along the tangential direction of a circle which is formed by taking the coordinate origin O as the center of a circle and taking the distance R as the radius; and controlling the universal wheel to continue rotating along the positive direction of the X axis. By the method, the express parcel direction can be adjusted in the express parcel transmission process, the express parcel identification accuracy is improved, and express parcels can be conveniently coded.

Description

Express parcel sorting adjustment method based on Internet of things
Technical Field
The invention relates to the technical field of logistics, in particular to an express parcel sorting adjustment method based on the Internet of things.
Background
At present, current express company when letter sorting express delivery parcel, sorts the classification to the express delivery parcel through transmission device, and traditional letter sorting classification method, in transmission process, the position and the orientation of express delivery parcel are mixed and disorderly, lead to like this when sorting or marking a yard mark express delivery parcel, improve the discernment error rate to the express delivery parcel, make mistakes easily, and then influence letter sorting or beat a yard efficiency, can not satisfy the demand of the express delivery trade that develops day by day.
Disclosure of Invention
In view of the defects in the prior art, the technical problem to be solved by the invention is to provide an express parcel sorting and adjusting method based on the internet of things, aiming at realizing the adjustment of the express parcel direction in the express parcel transmission process, improving the express parcel identification accuracy and facilitating the code printing of express parcels.
In order to achieve the purpose, the invention provides an express parcel sorting and adjusting method based on the internet of things, which comprises the following steps:
step S1, controlling the conveying device to transmit the first parcel to the adjustment area; a camera is arranged right above the conveying device; infrared geminate transistors are arranged on two sides of the conveying device; the conveying device consists of universal wheels; establishing a first rectangular coordinate system by taking a projection point of the camera in a plane of the conveying device as a coordinate origin O, taking the conveying direction of the conveying device as a positive X-axis direction and taking a straight line which is in the plane of the conveying device and perpendicular to the conveying direction of the conveying device as a Y-axis;
step S2, responding to the infrared geminate transistor detecting the first package, and starting the camera; controlling the camera to acquire the outline of the first package and the direction identification of the first package and form a first image; the direction mark is positioned on a first bottom surface of the first wrapping opposite to the camera;
step S3, determining the head of the first parcel and the coordinates of four vertexes of the first parcel according to the first image acquired by the camera; the vertex coordinate is arranged along a first coordinate A (x) in a counterclockwise direction1,y1) Second coordinate B (x)2,y2) The third coordinate C (x)3,y3) Fourth coordinate D (x)4,y4) The first coordinate A (x)1,y1) And the fourth coordinate D (x)4,y4) The head part of the first wrapping is positioned at the edge;
step S4, according to the first coordinate A (x)1,y1) The second coordinate B (x)2,y2)、The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving for the azimuth of the first parcel
Figure BDA0002506157090000021
Wherein the azimuth angle
Figure BDA0002506157090000022
The above-mentioned
Figure BDA0002506157090000023
The first coordinate A (x)1,y1) The corresponding vertex A and the fourth coordinate D (x)4,y4) The midpoint of the connecting line AD of the corresponding vertex D is E; the second coordinate B (x)2,y2) The corresponding vertex B and the third coordinate C (x)3,y3) The midpoint of the connecting line BC of the corresponding vertex C is F; the azimuth angle
Figure BDA0002506157090000025
The acute angle is formed by the straight line of the line segment EF and the positive direction of the X axis;
step S5, according to the first coordinate A (x)1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving the distance L from the center of the first parcel to the origin of coordinates O; wherein the distance is
Figure BDA0002506157090000024
Step S6, collecting four vertex coordinates of the first package monitored by the camera in real time, and controlling the universal wheel to rotate along the Y-axis direction to drive the first package to translate along the Y-axis when the sum of the horizontal coordinates of at least one pair of diagonal points in the four vertex coordinates is zero and the distance L is not equal to 0; according to the distance L and the rotating speed v of the universal wheel, solving the first time t of the rotation of the universal wheel1(ii) a Wherein, the
Figure BDA0002506157090000031
When y is1+y2+y3+y4When the rotation direction of the universal wheel is more than 0, the rotation direction of the universal wheel is along the negative direction of the Y axis; when y is1+y2+y3+y4When the number is less than 0, the rotation direction of the universal wheel is along the positive direction of the Y axis;
step S7, responding to the rotation of the universal wheel along the Y-axis direction, obtaining the distance R between the universal wheel and the coordinate origin, and controlling the universal wheel to rotate along the tangential direction of a circle formed by taking the coordinate origin O as the center of a circle and the distance R as the radius; according to the azimuth angle
Figure BDA0002506157090000032
The distance R and the rotating speed v of the universal wheel are used for solving the second time t of the rotation of the universal wheel2(ii) a The rotation time of the universal wheel along the Y-axis direction is the first time t1(ii) a Wherein, the
Figure BDA0002506157090000033
When k is larger than 0, an angle formed by the rotation direction of the universal wheel and the negative direction of the Y axis is an acute angle; when the k is less than 0, an angle formed by the rotation direction of the universal wheel and the positive direction of the Y axis is an acute angle;
step S8, controlling the universal wheel to continue to rotate along the positive direction of the X axis in response to the end of the rotation of the universal wheel along the tangential direction of a circle which is formed by taking the coordinate origin O as the center of a circle and the distance R as the radius; the rotation time of the universal wheel along the tangential direction of a circle formed by taking the coordinate origin O as the center of a circle and the distance R as the radius is second time t2。
In the technical scheme, the camera is arranged right above the conveying device, so that the camera is opposite to the first package, the shooting angle is correct, the acquired first image of the first package is accurate, and the accuracy of data acquired from the first image is improved; through the stationSolving the azimuth of the first parcel with the four vertex coordinates
Figure BDA0002506157090000034
Increasing the found azimuth angle
Figure BDA0002506157090000035
The accuracy of (2); calculating the first time t of the universal wheel rotation according to the distance L and the rotating speed v of the universal wheel1Through said azimuth angle
Figure BDA0002506157090000041
The distance R and the rotating speed v of the universal wheel are used for solving the second time t of the rotation of the universal wheel2The rotating time precision of the universal wheel is effectively improved, and the precision of the first wrapping direction adjustment is further improved.
In a specific embodiment, the direction indicator is the orientation of the text on the first wrapper; determining the head of the first parcel and the four vertex coordinates of the first parcel according to the text orientation.
In a specific embodiment, the method further comprises:
according to the first coordinate A (X) in response to the universal wheel continuing to rotate in the positive X-axis direction1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving again the azimuth of the first parcel
Figure BDA0002506157090000042
When the azimuth angle
Figure BDA0002506157090000043
At this time, the first parcel is incompletely marked for adjustment.
In this solution, according to the azimuth angle
Figure BDA0002506157090000044
And adjusting the direction of the first parcel again to avoid making mistakes when the first parcel is marked with codes.
In a specific embodiment, the method further comprises:
orienting indicia of the orientation of the first parcel; when x is1+x4＞x2+x3When the first parcel is in the forward X-axis direction, the orientation of the first parcel is marked as X1+x4＜x2+x3The orientation of the first parcel is marked as negative along the X-axis.
In the technical scheme, the orientation of the first parcel is marked, so that the orientation of the first parcel is convenient to distinguish.
In a specific embodiment, the infrared pair transistors and the camera are sequentially arranged along the positive direction of the X axis, and the interval between the infrared pair transistors and the camera is larger than the imaging radius of the camera.
In a specific embodiment, the universal wheels are evenly distributed.
The invention has the beneficial effects that: in the invention, the camera is arranged right above the conveying device, so that the camera is opposite to the first package, the shooting angle is correct, the acquired first image of the first package is accurate, and the accuracy of the data acquired from the first image is improved; solving the azimuth of the first parcel from the four vertex coordinates
Figure BDA0002506157090000053
Increasing the found azimuth angle
Figure BDA0002506157090000051
The accuracy of (2); calculating the first time t of the universal wheel rotation according to the distance L and the rotating speed v of the universal wheel1Through said azimuth angle
Figure BDA0002506157090000052
The distance R and the rotating speed v of the universal wheel are used for solving the second time t of the rotation of the universal wheel2The rotating time precision of the universal wheel is effectively improved, and the precision of the first wrapping direction adjustment is further improved; by the method, the express parcel direction can be adjusted in the express parcel transmission process, the express parcel identification accuracy is improved, and express parcels can be conveniently coded.
Drawings
Fig. 1 is a block flow diagram of an express package sorting adjustment method based on the internet of things according to an embodiment of the present invention;
fig. 2 is a system block diagram of an express package adjustment system based on the internet of things according to an embodiment of the present invention;
fig. 3 is a diagram of the position of a first package in relation to a conveyor in accordance with an embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
as shown in fig. 1, in a first embodiment of the present invention, there is provided a method for adjusting sorting of express packages based on the internet of things, the method including:
step S1, controlling the conveying device to transmit the first parcel to the adjustment area; a camera is arranged right above the conveying device; infrared geminate transistors are arranged on two sides of the conveying device; the conveying device consists of universal wheels; establishing a first rectangular coordinate system by taking a projection point of the camera in a plane of the conveying device as a coordinate origin O, taking the conveying direction of the conveying device as a positive X-axis direction and taking a straight line which is in the plane of the conveying device and perpendicular to the conveying direction of the conveying device as a Y-axis;
step S2, responding to the infrared geminate transistor detecting the first package, and starting the camera; controlling the camera to acquire the outline of the first package and the direction identification of the first package and form a first image; the direction mark is positioned on a first bottom surface of the first wrapping opposite to the camera;
step S3, determining the head of the first parcel and the coordinates of four vertexes of the first parcel according to the first image acquired by the camera; the vertex coordinate is arranged along a first coordinate A (x) in a counterclockwise direction1,y1) Second coordinate B (x)2,y2) The third coordinate C (x)3,y3) Fourth coordinate D (x)4,y4) The first coordinate A (x)1,y1) And the fourth coordinate D (x)4,y4) The head part of the first wrapping is positioned at the edge;
step S4, according to the first coordinate A (x)1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving for the azimuth of the first parcel
Figure BDA0002506157090000061
Wherein the azimuth angle
Figure BDA0002506157090000062
The above-mentioned
Figure BDA0002506157090000063
The first coordinate A (x)1,y1) The corresponding vertex A and the fourth coordinate D (x)4,y4) The midpoint of the connecting line AD of the corresponding vertex D is E; the second coordinate B (x)2,y2) The corresponding vertex B and the third coordinate C (x)3,y3) The midpoint of the connecting line BC of the corresponding vertex C is F; the azimuth angle
Figure BDA0002506157090000064
The acute angle is formed by the straight line of the line segment EF and the positive direction of the X axis;
step S5, according to the first coordinate A (x)1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving the distance L from the center of the first parcel to the origin of coordinates O; wherein the distance is
Figure BDA0002506157090000071
Step S6, collecting four vertex coordinates of the first package monitored by the camera in real time, and controlling the universal wheel to rotate along the Y-axis direction to drive the first package to translate along the Y-axis when the sum of the horizontal coordinates of at least one pair of diagonal points in the four vertex coordinates is zero and the distance L is not equal to 0; according to the distance L and the rotating speed v of the universal wheel, solving the first time t of the rotation of the universal wheel1(ii) a Wherein, the
Figure BDA0002506157090000072
When y is1+y2+y3+y4When the rotation direction of the universal wheel is more than 0, the rotation direction of the universal wheel is along the negative direction of the Y axis; when y is1+y2+y3+y4When the number is less than 0, the rotation direction of the universal wheel is along the positive direction of the Y axis;
step S7, responding to the rotation of the universal wheel along the Y-axis direction, obtaining the distance R between the universal wheel and the coordinate origin, and controlling the universal wheel to rotate along the tangential direction of a circle formed by taking the coordinate origin O as the center of a circle and the distance R as the radius; according to the azimuth angle
Figure BDA0002506157090000074
The distance R and the rotating speed v of the universal wheel are used for solving the second time t of the rotation of the universal wheel2(ii) a The rotation time of the universal wheel along the Y-axis direction is the first time t1(ii) a Wherein, the
Figure BDA0002506157090000073
When k is larger than 0, an angle formed by the rotation direction of the universal wheel and the negative direction of the Y axis is an acute angle; when k is less than 0, the rotation direction of the universal wheel and the Y axisThe angle formed by the positive direction is an acute angle;
step S8, controlling the universal wheel to continue to rotate along the positive direction of the X axis in response to the end of the rotation of the universal wheel along the tangential direction of a circle which is formed by taking the coordinate origin O as the center of a circle and the distance R as the radius; the rotation time of the universal wheel along the tangential direction of a circle formed by taking the coordinate origin O as the center of a circle and the distance R as the radius is second time t2。
In this embodiment, the direction identifier is the orientation of the text on the first wrapper; determining the head of the first parcel and the four vertex coordinates of the first parcel according to the text orientation.
In this embodiment, the method further includes:
according to the first coordinate A (X) in response to the universal wheel continuing to rotate in the positive X-axis direction1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving again the azimuth of the first parcel
Figure BDA0002506157090000087
When the azimuth angle
Figure BDA0002506157090000088
At this time, the first parcel is incompletely marked for adjustment.
In this embodiment, the method further includes:
orienting indicia of the orientation of the first parcel; when x is1+x4＞x2+x3When the first parcel is in the forward X-axis direction, the orientation of the first parcel is marked as X1+x4＜x2+x3The orientation of the first parcel is marked as negative along the X-axis.
In this embodiment, the infrared pair tubes and the camera are arranged in proper order along the positive direction of the X axis, and the infrared pair tubes and the interval of the camera are greater than the imaging radius of the camera.
In this embodiment, the casters are evenly distributed.
The equations involved in this example are derived as follows:
as shown in fig. 3, according to the first coordinate a (x)1,y1) And said fourth coordinate D (x)4,y4) Midpoint coordinates of available AD
Figure BDA0002506157090000081
According to the second coordinate B (x)2,y2) And the third coordinate C (x)3,y3) Center point coordinates of BC are obtained
Figure BDA0002506157090000082
According to the midpoint coordinate of the AD
Figure BDA0002506157090000083
And midpoint coordinates of the BC
Figure BDA0002506157090000084
The center point coordinate of EF can be obtained
Figure BDA0002506157090000085
Midpoint coordinates of the EF
Figure BDA0002506157090000086
The coordinates of the center of the first parcel;
the distance from the center of the first parcel to the origin of coordinates O can be obtained according to a distance formula between two points
Figure BDA0002506157090000091
The slope of the line segment EF is
Figure BDA0002506157090000092
The slope angle β of the line segment EF is related to the slope k
Figure BDA0002506157090000093
Then the azimuth angle
Figure BDA0002506157090000098
The rotating speed of the point of the first package in contact with the universal wheel is equal to the rotating speed v of the universal wheel, the rotating radius is the distance R, and then the rotating angular speed of the point
Figure BDA0002506157090000094
The rotational angular velocity ω and the second time t2And the azimuth angle
Figure BDA0002506157090000097
Satisfies the following relation:
Figure BDA0002506157090000095
the second time of the rotation of the universal wheel is obtained by simultaneous (1) and (2)
Figure BDA0002506157090000096
As shown in fig. 2, in a second embodiment of the present invention, there is provided an express delivery package adjusting system based on internet of things, the system including: the system comprises a transmission device, a camera, infrared geminate transistors, universal wheels, a linear transmission control module 100, a camera opening control module 200, an image acquisition module 300, a head and vertex coordinate determination module 400, a data solving module 500, a universal wheel driving module 600 and a linear transmission secondary starting module 700;
the linear transmission control module 100 is configured to control the conveying device to transmit the first parcel to the sorting area; the camera is arranged right above the conveying device; the infrared pair tubes are arranged on two sides of the conveying device; the conveying device consists of the universal wheels; establishing a first rectangular coordinate system by taking a projection point of the camera in a plane of the conveying device as a coordinate origin O, taking the conveying direction of the conveying device as a positive X-axis direction and taking a straight line which is in the plane of the conveying device and perpendicular to the conveying direction of the conveying device as a Y-axis;
the camera opening control module 200 is configured to open the camera in response to the infrared pair tube detecting the first package;
the image acquisition module 300 is configured to control the camera to acquire the outline of the first package and the direction identifier of the first package and form a first image; the direction mark is positioned on a first bottom surface of the first wrapping opposite to the camera;
the head and vertex coordinate determining module 400 is configured to determine, according to the first image acquired by the camera, four vertex coordinates of the head of the first package and the first package; the vertex coordinate is arranged along a first coordinate A (x) in a counterclockwise direction1,y1) Second coordinate B (x)2,y2) The third coordinate C (x)3,y3) Fourth coordinate D (x)4,y4) The first coordinate A (x)1,y1) And the fourth coordinate D (x)4,y4) The head part of the first wrapping is positioned at the edge;
the data solving module 500 includes:
an azimuth solving unit 501 for solving the first coordinate A (x) according to the first coordinate A1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving for the azimuth of the first parcel
Figure BDA0002506157090000101
Wherein the azimuth angle
Figure BDA0002506157090000102
The above-mentioned
Figure BDA0002506157090000103
The first isCoordinate A (x)1,y1) The corresponding vertex A and the fourth coordinate D (x)4,y4) The midpoint of the connecting line AD of the corresponding vertex D is E; the second coordinate B (x)2,y2) The corresponding vertex B and the third coordinate C (x)3,y3) The midpoint of the connecting line BC of the corresponding vertex C is F; the azimuth angle
Figure BDA0002506157090000104
The acute angle is formed by the straight line of the line segment EF and the positive direction of the X axis;
a distance solving unit 502 for solving the distance according to the first coordinate A (x)1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving the distance L from the center of the first parcel to the origin of coordinates O; wherein the distance is
Figure BDA0002506157090000111
The universal wheel drive module 600 includes:
the first universal wheel driving unit 601 is configured to collect four vertex coordinates of the first package monitored by the camera in real time, and when the sum of horizontal coordinates of at least one pair of diagonal points in the four vertex coordinates is zero and a distance L is not equal to 0, control the universal wheel to rotate in the direction of the Y axis to drive the first package to translate along the Y axis; according to the distance L and the rotating speed v of the universal wheel, solving the first time t of the rotation of the universal wheel1(ii) a Wherein, the
Figure BDA0002506157090000112
When y is1+y2+y3+y4When the rotation direction of the universal wheel is more than 0, the rotation direction of the universal wheel is along the negative direction of the Y axis; when y is1+y2+y3+y4When the number is less than 0, the rotation direction of the universal wheel is along the positive direction of the Y axis;
a second universal wheel drive unit 602 for controlling the universal wheel rim to seat onThe standard origin O is used as the center of a circle, and the circle formed by the distance R as the radius rotates in the tangential direction; responding to the end of the rotation of the universal wheel along the Y-axis direction, acquiring the distance R between the universal wheel and a coordinate origin, and controlling the universal wheel to rotate along the tangential direction of a circle which takes the coordinate origin O as the center of a circle and the distance R as the radius; according to the azimuth angle
Figure BDA0002506157090000114
The distance R and the rotating speed v of the universal wheel are used for solving the second time t of the rotation of the universal wheel2(ii) a The rotation time of the universal wheel along the Y-axis direction is the first time t1(ii) a Wherein, the
Figure BDA0002506157090000113
When k is larger than 0, an angle formed by the rotation direction of the universal wheel and the negative direction of the Y axis is an acute angle; when the k is less than 0, an angle formed by the rotation direction of the universal wheel and the positive direction of the Y axis is an acute angle;
the linear transmission secondary starting module 700 is configured to start the linear transmission control module 100 for the second time; controlling the universal wheel to continue rotating in the positive direction of the X axis in response to the end of the rotation of the universal wheel in the tangential direction of a circle formed by taking the coordinate origin O as the center of a circle and the distance R as the radius; the rotation time of the universal wheel along the tangential direction of a circle formed by taking the coordinate origin O as the center of a circle and the distance R as the radius is second time t2。
In this embodiment, the direction identifier is the orientation of the text on the first wrapper; determining the head of the first parcel and the four vertex coordinates of the first parcel according to the text orientation.
In this embodiment, the system further includes:
an incomplete adjustment marking module 800 configured to perform incomplete adjustment marking on the first parcel; according to the first coordinate A (X) in response to the universal wheel continuing to rotate in the positive X-axis direction1,y1) The second coordinate B(x2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving again for the azimuth of the first parcel
Figure BDA0002506157090000122
When the azimuth angle
Figure BDA0002506157090000123
At this time, the first parcel is incompletely marked for adjustment.
In this embodiment, the system further includes:
an orientation marking module 900 for orientation marking an orientation of the first parcel; when x is1+x4＞x2+x3When the first parcel is in the forward X-axis direction, the orientation of the first parcel is marked as X1+x4＜x2+x3The orientation of the first parcel is marked as negative along the X-axis.
In this embodiment, the infrared pair tubes and the camera are arranged in proper order along the positive direction of the X axis, and the infrared pair tubes and the interval of the camera are greater than the imaging radius of the camera.
In this embodiment, the casters are evenly distributed.
The equations involved in this example are derived as follows:
as shown in fig. 3, according to the first coordinate a (x)1,y1) And said fourth coordinate D (x)4,y4) Midpoint coordinates of available AD
Figure BDA0002506157090000121
According to the second coordinate B (x)2,y2) And the third coordinate C (x)3,y3) Center point coordinates of BC are obtained
Figure BDA0002506157090000131
According to said AMidpoint coordinates of D
Figure BDA0002506157090000132
And midpoint coordinates of the BC
Figure BDA0002506157090000133
The center point coordinate of EF can be obtained
Figure BDA0002506157090000134
Midpoint coordinates of the EF
Figure BDA0002506157090000135
The coordinates of the center of the first parcel;
the distance from the center of the first parcel to the origin of coordinates O can be obtained according to a distance formula between two points
Figure BDA0002506157090000136
The slope of the line segment EF is
Figure BDA0002506157090000137
The slope angle β of the line segment EF is related to the slope k
Figure BDA0002506157090000138
β ═ arctank;
then the azimuth angle
Figure BDA0002506157090000139
The rotating speed of the point of the first package in contact with the universal wheel is equal to the rotating speed v of the universal wheel, the rotating radius is the distance R, and then the rotating angular speed of the point
Figure BDA00025061570900001310
The rotational angular velocity ω and the second time t2And the azimuth angle
Figure BDA00025061570900001313
Satisfies the following relation:
Figure BDA00025061570900001311
the second time of the rotation of the universal wheel is obtained by simultaneous (1) and (2)
Figure BDA00025061570900001312
Specific embodiments of the present invention have been described above in detail. It is to be understood that the specific embodiments of the present invention are not exclusive and that modifications and variations may be made by one of ordinary skill in the art in light of the spirit of the present invention, within the scope of the appended claims. Therefore, technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the embodiments of the present invention should be within the scope of protection defined by the claims.

Claims (6)

1. An express parcel sorting adjustment method based on the Internet of things is characterized by comprising the following steps:
step S1, controlling the conveying device to transmit the first parcel to the adjustment area; a camera is arranged right above the conveying device; infrared geminate transistors are arranged on two sides of the conveying device; the conveying device consists of universal wheels; establishing a first rectangular coordinate system by taking a projection point of the camera in a plane of the conveying device as a coordinate origin O, taking the conveying direction of the conveying device as a positive X-axis direction and taking a straight line which is in the plane of the conveying device and perpendicular to the conveying direction of the conveying device as a Y-axis;
step S2, responding to the infrared geminate transistor detecting the first package, and starting the camera; controlling the camera to acquire the outline of the first package and the direction identification of the first package and form a first image; the direction mark is positioned on a first bottom surface of the first wrapping opposite to the camera;
step S3, determining the first bag according to the first image collected by the cameraA wrap head and four vertex coordinates of the first wrap; the vertex coordinate is arranged along a first coordinate A (x) in a counterclockwise direction1,y1) Second coordinate B (x)2,y2) The third coordinate C (x)3,y3) Fourth coordinate D (x)4,y4) The first coordinate A (x)1,y1) And the fourth coordinate D (x)4,y4) The head part of the first wrapping is positioned at the edge;
step S4, according to the first coordinate A (x)1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving for the azimuth of the first parcel
Figure FDA0002506157080000011
Wherein the azimuth angle
Figure FDA0002506157080000012
The above-mentioned
Figure FDA0002506157080000013
The first coordinate A (x)1,y1) The corresponding vertex A and the fourth coordinate D (x)4,y4) The midpoint of the connecting line AD of the corresponding vertex D is E; the second coordinate B (x)2,y2) The corresponding vertex B and the third coordinate C (x)3,y3) The midpoint of the connecting line BC of the corresponding vertex C is F; the azimuth angle
Figure FDA0002506157080000014
The acute angle is formed by the straight line of the line segment EF and the positive direction of the X axis;
step S5, according to the first coordinate A (x)1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving for the distance L from the center of the first parcel to the origin of coordinates O(ii) a Wherein the distance is
Figure FDA0002506157080000021
Step S6, collecting four vertex coordinates of the first package monitored by the camera in real time, and controlling the universal wheel to rotate along the Y-axis direction to drive the first package to translate along the Y-axis when the sum of the horizontal coordinates of at least one pair of diagonal points in the four vertex coordinates is zero and the distance L is not equal to 0; according to the distance L and the rotating speed v of the universal wheel, solving the first time t of the rotation of the universal wheel1(ii) a Wherein, the
Figure FDA0002506157080000022
When y is1+y2+y3+y4When the rotation direction of the universal wheel is more than 0, the rotation direction of the universal wheel is along the negative direction of the Y axis; when y is1+y2+y3+y4When the number is less than 0, the rotation direction of the universal wheel is along the positive direction of the Y axis;
step S7, responding to the rotation of the universal wheel along the Y-axis direction, obtaining the distance R between the universal wheel and the coordinate origin, and controlling the universal wheel to rotate along the tangential direction of a circle formed by taking the coordinate origin O as the center of a circle and the distance R as the radius; according to the azimuth angle
Figure FDA0002506157080000023
The distance R and the rotating speed v of the universal wheel are used for solving the second time t of the rotation of the universal wheel2(ii) a The rotation time of the universal wheel along the Y-axis direction is the first time t1(ii) a Wherein, the
Figure FDA0002506157080000024
When k is larger than 0, an angle formed by the rotation direction of the universal wheel and the negative direction of the Y axis is an acute angle; when the k is less than 0, an angle formed by the rotation direction of the universal wheel and the positive direction of the Y axis is an acute angle;
step S8, soundControlling the universal wheel to continue rotating along the positive direction of the X axis after the rotation of the universal wheel along the tangential direction of a circle formed by taking the coordinate origin O as the center of a circle and the distance R as the radius is finished; the rotation time of the universal wheel along the tangential direction of a circle formed by taking the coordinate origin O as the center of a circle and the distance R as the radius is second time t2。
2. The method for adjusting sorting of express parcels based on the internet of things according to claim 1, wherein the direction identifier is a text orientation on the first parcel; determining the head of the first parcel and the four vertex coordinates of the first parcel according to the text orientation.
3. The express parcel sorting adjustment method based on the internet of things of claim 1, wherein the method further comprises the following steps:
according to the first coordinate A (X) in response to the universal wheel continuing to rotate in the positive X-axis direction1,y1) The second coordinate B (x)2,y2) The third coordinate C (x)3,y3) The fourth coordinate D (x)4,y4) Solving again the azimuth of the first parcel
Figure FDA0002506157080000031
When the azimuth angle
Figure FDA0002506157080000032
At this time, the first parcel is incompletely marked for adjustment.
4. The express parcel sorting adjustment method based on the internet of things of claim 1, wherein the method further comprises the following steps:
orienting indicia of the orientation of the first parcel; when x is1+x4＞x2+x3At the time, the orientation of the first parcel is markedIn the positive X-axis direction, when X1+x4＜x2+x3The orientation of the first parcel is marked as negative along the X-axis.
5. The express parcel sorting and adjusting method based on the internet of things as claimed in claim 1, wherein the infrared pair tubes and the camera are sequentially arranged in the positive direction of an X axis, and the interval between the infrared pair tubes and the camera is larger than the imaging radius of the camera.
6. The express parcel sorting adjustment method based on the internet of things as claimed in claim 1, wherein the universal wheels are uniformly distributed.
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