CN214298136U - Goods separating single piece arranging device - Google Patents
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- CN214298136U CN214298136U CN202023064023.9U CN202023064023U CN214298136U CN 214298136 U CN214298136 U CN 214298136U CN 202023064023 U CN202023064023 U CN 202023064023U CN 214298136 U CN214298136 U CN 214298136U
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Abstract
Goods separation stick collating unit takes the previous back dispersion to pull open the interval, control the dispersion again and enlarge the interval, then based on the volume of using image recognition algorithm to discern every goods, position coordinate and adjacent relation are in order to confirm the order of successively carrying, realize the fast-speed separation of batch goods and single queue transport mode on adjustment goods state to the ascending basis of settlement direction, in order to realize directional arrangement, the design purpose of queue reposition of redundant personnel goods, for the follow-up crisscross area letter sorting that gets into of goods, bar code scanning provides and prepares fully, improve disposable single scanning success rate and letter sorting operating efficiency correspondingly. The single piece separating and arranging device comprises an upper line conveying device, a stacked piece separating device, a scattering separating device, a single piece separating device and a visual identification device which are sequentially connected along the conveying direction.
Description
Technical Field
The utility model relates to an implement goods dispersion and gesture adjustment in order to queue up leading-in device of setting for letter sorting passageway belongs to commodity circulation letter sorting field.
Background
In the logistics sorting operation field of the existing e-commerce and express industry, a front-end manual piece loading operation mode is generally adopted, and a large number of cargoes which are piled into a conveying line are manually separated so as to facilitate subsequent scanning and information input. At present, a plurality of field personnel are required to be configured in the front-end manual workpiece supply mode, sorting equipment generally runs at a high speed and cannot be stopped, accordingly, the requirement on the skill quality of manual workpiece feeding personnel is high, and the field labor intensity is high.
In case the problem that the processing speed of the upper piece of goods descends appears, a large amount of goods can appear in the short time and concentrate and get into follow-up scanning letter sorting process and cause the phenomenon that the backlog of goods is serious, both scanning and letter sorting operation pressure have been increased rapidly, will directly lead to a large amount of unidentified goods to circulate once more again and get into the upper piece and scanning process again to directly seriously influence the treatment effeciency of whole letter sorting operation, prolonged the reprocessing time of some processes, reduced whole logistics storage efficiency and ability.
Also as a domestic prior application patent disclosing the following scheme, application number cn201910162842.x, entitled side-by-side object separation method and device. This object separator side by side includes a plurality of bar conveyer belts, a plurality of motor and the control unit that sets up side by side, the motor with bar conveyer belt one-to-one. The method comprises the steps that when a first object and a second object are detected to be side by side, the control unit obtains first position information of the first object and second position information of the second object, and the first strip-shaped conveyor belt set and the second strip-shaped conveyor belt set are controlled to run at different conveying speeds through a motor, so that the first object is separated from the second object. The separating device is provided with spacing grooves between adjacent strip-shaped conveyor belts, photoelectric sensors are arranged in the spacing grooves, the spacing grooves are located at the upstream positions of the objects on the conveying paths of the strip-shaped conveyor belts, and the photoelectric sensors are connected with the control unit. Controlling the first set of linear conveyors to transport the first object at the first speed by a first set of motors, and controlling the second set of motors to transport the second object at a third speed, the third speed being less than the first speed.
The above-mentioned prior applications have the following significant drawbacks and disadvantages: 1. how do the goods to be detected and separated undergo limited spacing before entering the different strip conveyors formed by adjacent compartments? Or still adopt manual piece-splitting means for preprocessing? The prior application does not give sufficient explanation of the solution, but in any case does not mention how to solve the attitude adjustment step before the goods enter the sorting passage. In fact, after the goods enter the sorting channel at different directions and angles, the automatic bar code scanning device is difficult to identify and input information, generally, the goods directly enter the circulating channel to implement sorting and scanning identification again unless manual intervention and manual scanning are carried out, so that the scanning efficiency is low, and the sorting efficiency is difficult to improve. 2. The problems of position relation judgment and corresponding disposal between adjacent goods in the goods queue are not solved completely, so that the adjacent goods are not effectively pulled apart by enough distance in the longitudinal and transverse conveying directions, the operation time of subsequent sorting and bar code scanning is short, and the sorting and scanning difficulty is increased correspondingly. 3. This application separates the processing through sensor signal trigger mode, and processing speed is lower, is difficult to satisfy the field sorting operation demand of current high-speed, big goods in batches. 4. The separated goods are still in a disordered discrete state and do not form a single queue, the subsequent single code scanning operation is still not facilitated, and the omission ratio is still large. 5. The separated goods have different angles, and whether the subsequent goods can be correctly conveyed to the cross belt cannot be guaranteed.
In view of this, the present patent application is specifically proposed.
SUMMERY OF THE UTILITY MODEL
Goods separation stick collating unit, lie in solving the problem that above-mentioned prior art exists and take the dispersion back earlier and pull open the interval, control the dispersion again and enlarge the interval, then based on the volume of using image recognition algorithm to discern every goods, position coordinate and adjacent relation are in order to confirm the order of successively carrying, realize the fast-speed separation of goods and single queue transport mode in batches on adjustment goods state to setting for ascending basis of side, in order to realize directional arrangement, the design purpose of queue reposition of redundant personnel goods, for the follow-up crisscross area letter sorting that gets into of goods, the bar code scanning provides and prepares fully, improve disposable single scanning success rate and letter sorting operating efficiency correspondingly.
In order to achieve the design purpose, the cargo separation single piece arrangement device comprises an upper line conveying device, a stacked piece separation device, a scattering separation device, a single piece separation device and a visual identification device which are sequentially connected along the conveying direction; the stacked part separating device is provided with a plurality of belt conveyors which are sequentially connected along the gradient, a vertical guide plate is connected between every two adjacent belt conveyors, and each belt conveyor is driven by a separate servo motor; the scattering separation device comprises a plurality of belt conveyors arranged in a divergent state along the conveying direction, and each belt conveyor is driven by a separate servo motor; the single-piece separating device comprises a plurality of belt conveyors arranged in a matrix manner along the conveying direction, and each belt conveyor is driven by a separate servo motor; the belt conveyor matrix is provided with at least 1 longitudinal isolation area and at least 2 conveying channels; and arranging a visual recognition device vertically above the single piece separation device, wherein the visual recognition device comprises a plurality of 3D cameras.
In summary, the cargo separation single piece arrangement device has the following advantages and beneficial effects:
1. the full-automatic sorting machine can meet the requirement that large batches of goods automatically enter the separating device without manual intervention and pretreatment, is suitable for full-automatic operation of a high-speed sorting machine, and does not need the original manual workpiece feeding link.
2. The labor investment can be greatly reduced, the working intensity and the working amount of workers are reduced, and the requirement on the skill quality of field personnel is lowered.
3. The position relations of a plurality of adjacent goods can be identified and calculated simultaneously by adopting an image identification algorithm, so that the accuracy and the efficiency of processing the separation processing one by one are improved, and the execution reliability of the separation method is improved to the greatest extent.
4. The defects in the prior art are improved, and the full automation level of the sorting operation is improved.
5. The single-queue goods are separated one by one in a targeted manner, so that high-speed separation and single-queue conveying of batch goods are realized, the maximum speed of subsequent single-scanning operation is realized, the missing rate is reduced, and the sorting operation efficiency is improved.
6. Can carry out attitude adjustment effectively with the goods after the separation, the long limit of every goods can be parallel with direction of delivery to realize the goods arrangement according to follow-up bar code scanning demand, also can guarantee simultaneously that the goods is follow-up correctly be carried on the cross belt etc. sorting equipment, improve whole goods letter sorting efficiency.
Drawings
The invention will now be further described with reference to the following figures.
FIG. 1 is a schematic view of a separation diversion apparatus using a cargo separation single piece alignment apparatus according to the present application;
FIG. 2 is a schematic structural view of an in-line conveying and stack separating belt conveyor;
FIG. 3 is a schematic view of a configuration of a scatter separation, visual recognition and singleton alignment apparatus;
FIG. 4 is a schematic flow chart of a cargo separation singleton alignment method according to the present application;
FIG. 5 is a schematic diagram of a control module for the method of aligning separate pieces of cargo according to the present application;
FIG. 6 is a schematic view of a belt conveyor matrix layout of the single-piece collating device shown in FIG. 3;
fig. 6-1 and 6-2 are schematic diagrams respectively illustrating rotation control of the belt conveyor matrix for cargoes in different areas.
Detailed Description
The stacked part separating device 2 is provided with a plurality of belt conveyors which are sequentially connected along the gradient, vertical guide plates 21 are connected between every two adjacent belt conveyors, the vertical guide plates 21 form vertical height difference between the two belt conveyors, and each belt conveyor is driven by an independent servo motor.
The scattering and separating device 3 comprises a plurality of belt conveyors arranged in a divergent state along the conveying direction, and each belt conveyor is driven by a separate servo motor.
The single-piece separating device 4 comprises a plurality of belt conveyors arranged in a matrix along the conveying direction, each belt conveyor is driven by a single servo motor, the belt conveyor matrix is provided with 1 longitudinal isolation area 40 and 2 conveying channels 41, and the conveying channels 41 are butted with subsequent independent bar code scanning and sorting equipment.
The visual recognition device 5 is arranged vertically above the single-piece separation device 4, the visual recognition device 5 comprises a plurality of 3D cameras 51, and the 3D cameras 51 are installed vertically downwards along the conveying direction of the goods.
By applying the cargo separation single piece arrangement device, the cargoes piled in batches are guided to the stacking separation device 2 by the online conveying device 1, and the cargoes are separated into different intervals along the conveying direction by utilizing the conveying height difference and the speed difference among a plurality of belt conveyors of the stacking separation device 2;
then, the goods sequentially reach the scattering and separating device 3, and are dispersed along the extending included angle between the belt and the conveying direction, namely, the adjacent goods are separated into different intervals along the transverse direction;
then, the goods enter the single piece separating device 4, and information identification is carried out on each goods by using the visual identification device 5 so as to obtain the three-dimensional size and real-time position coordinate data; during this time, the conveyor speed of the front row 4-1 (front four rows) of the conveyor matrix is increased gradually, so that the longitudinal spacing of the goods in this region increases continuously.
Finally, in the process that the goods enter a rear row area 4-2 (a rear three rows of belt conveyors) in the belt conveyor matrix, the conveying speed of the belt conveyor in the area where the goods are located is adjusted according to a sorting rule so as to realize single-piece arrangement conveying of the goods along the conveying direction; during this time, according to the identification of the visual identification device 5, the belt conveyors in the area of the cargo in the isolation area 40 perform different conveying speeds to divert the cargo to the adjacent conveying channel 41; according to the recognition result of the visual recognition device 5, the longest edge of the outermost peripheral edge of the goods is not parallel to the conveying direction, and different conveying speeds are executed on the plurality of belt conveyors in the area where the goods are located so as to adjust the rotation of the belt conveyors until the longest edge of the outermost peripheral edge is parallel to the conveying direction.
As shown in fig. 4 to 6-2, the cargo separation single piece arrangement method described in the present application includes the following implementation steps:
1) longitudinal separation
In the process of conveying the batch of cargos along the stacking separation device 2, the cargos are separated into intervals along the conveying direction by utilizing the height difference and the speed difference of conveying planes among the belt conveyors;
2) transverse dispersion
The goods reaching the scattering and separating device 3 are dispersed along an extending included angle between the belt and the conveying direction, and adjacent goods are separated from each other in the transverse direction of the equipment to form a space;
3) detection recognition
Identifying each cargo by using a visual identification device 5 to acquire the three-dimensional size and real-time position coordinate data and define the size coordinate of the outermost periphery of the cargo along the conveying direction as the current position of the cargo;
4) separation of
Defining a sorting rule among the identified adjacent cargos, and executing the sorting rule through the speed difference among a plurality of belt conveyors in the region where the positions of the cargos are located to realize single-piece arrangement conveying among the cargos along the conveying direction;
5) flow diversion
The belt conveyor matrix defining the single-piece separating device 4 has at least 1 isolation zone 40 and at least 2 conveying channels 41; according to the identification of the visual identification device 5, the plurality of belt conveyors in the area where the goods are located execute different conveying speeds to transfer the goods to the adjacent conveying channel.
According to the method for arranging the separated single goods, the space is dispersedly opened after the previous process, and then the space is dispersedly enlarged left and right, the size, the position coordinates and the adjacent relation of each goods are identified and marked based on the application of an image identification algorithm technology, so that the conveying sequence of a plurality of adjacent goods is determined, the specification and the arrangement of the separation and single-row conveying queues in the conveying direction are finally completed, a good forward moving foundation is provided for the goods to sequentially enter the procedures of cross belt sorting, bar code scanning and the like at high speed and orderly, and the one-time scanning success rate and the sorting efficiency of the large-batch goods can be effectively improved.
As shown in fig. 5, the application control module of the cargo separation single piece arrangement method includes an upper computer, a PLC, a vision controller, and a servo driver, where the servo driver drives each belt conveyor of the single piece separation device 4. In the control communication of the whole separation single piece arrangement process, the PLC sends an instruction to the upper computer and the visual controller, the PLC sends an instruction to the servo driver to drive and control each belt conveyor to operate at a corresponding rotating speed, and meanwhile, the PLC also sends an instruction to the visual controller to trigger the 3D camera to take pictures.
When the goods are on the single piece separating device 4, the vision controller can obtain the current position coordinates and the size information through the 3D camera. For the goods which are preferentially conveyed, the PLC can send out corresponding running instructions with different conveying speeds to the belt conveyor servo driver in the area where the goods are located so as to realize the conveying speed difference between the adjacent belt conveyors, the separation between the goods can be realized through the speed difference, and the attitude rotation adjustment can be realized aiming at the area where a certain goods is located or the included angle between the area and the conveying direction.
In order to improve the accuracy of the identification information and improve the identification result to reflect the real-time state and physical parameter data of the goods more truly and effectively, further, in the step 3), the visual identification device 5 performs edge detection on the goods image, and screens out the outermost edge information of the goods to correspondingly generate three-dimensional size and position coordinate information.
In order to increase the longitudinal and transverse distances between adjacent goods during the conveying process and further provide sufficient time intervals for subsequent bar code scanning and one-time successful sorting, further, in the step 4), the goods sorting rule can be that the real-time position of the goods is judged firstly according to the recognition result of the visual recognition device 5, and the goods are conveyed with priority in the front position; if the real-time positions are the same, comparing the peripheral size data of the goods, and preferentially conveying the goods with larger volume; and so on;
the belt conveyor in the area of the preferentially conveyed goods runs at a faster conveying speed until the preferentially conveyed goods completely pass the other goods in the conveying direction.
In order to expand the range of viewing angles required for information collection and calculation of the identification area, further, in the above steps 4) to 5), a visual identification device 5 is arranged vertically above the single piece separation device 4, and the visual identification device 5 comprises a plurality of 3D cameras; the 3D camera identifies cargo information vertically downward in the cargo conveying direction.
In order to maximize the success rate of the subsequent one-time scanning and the sorting efficiency, further, in the above step 4) and step 5), according to the recognition result of the visual recognition device 5, the longest edge of the outermost peripheral edge of the goods is not parallel to the conveying direction, and different conveying speeds are performed on the plurality of belt conveyors in the area where the goods are located so as to adjust the rotation of the belt conveyors until the longest edge of the outermost peripheral edge is parallel to the conveying direction.
Specifically, as shown in fig. 6, the upper left corner of the outermost peripheral edge of the goods is marked as the origin, the conveying direction is the X axis, and the vertical direction is the Y axis, so that the rear row area 4-2 of the belt conveyor matrix of the single piece separating device 4 (the rear three rows of belt conveyors, including 1 isolation area 40 and 2 conveying channels 41, form a coordinate system. correspondingly, the 3D camera 51 of the visual recognition device 5 can recognize the real-time coordinates of any point in the coordinate system and the dimension information of the outermost peripheral edge of the goods.
As shown in fig. 6-1, the 58# and 59# belt conveyors stop running after cargo enters the rear row area 4-2 at a speed of 1.2m/s, for example. The 3D camera 51 locates the center coordinates of the goods and four vertex angle coordinate data U1, U2, U3 and U4 of the outermost peripheral edge, calculates the length L and width W sizes according to the coordinates, identifies the included angle alpha of the long edge L of the outermost peripheral edge of the goods relative to the X axis, determines the rotation direction of the goods to be clockwise and the rotation angle alpha, and rotates the goods in the clockwise direction and rotates the goods in the alpha angle by taking U2(X2 and Y2) as a fixed point through the speed difference (the conveying speed of the No. 58 belt conveyor is faster) between the No. 58 and No. 59 belt conveyors of the area where the goods are located. In the rotation process, the visual recognition device 5 always performs photographing recognition. When goods are turned to the right position, the belt conveyors 58# and 59# are started to convey forwards at the same speed of 2 m/s.
As shown in fig. 6-2, the middle two rows of belts of the belt matrix defining the single separation device 4 form an isolation zone 40. For the goods partially in the isolation area, the long side of the outermost peripheral edge has an angle β with respect to the X-axis according to the recognition by the visual recognition device 5.
At this time, the 65# and 66# belt conveyors stop running, and since the goods are in the middle area in a crossing mode, the goods need to rotate anticlockwise to be far away from the middle area. I.e., rotate counterclockwise by β with U8(X4, Y4) as a fixed point. The goods are adjusted to be parallel to the X axis through the speed difference between the 64# belt conveyor and the 66# belt conveyor. When goods are turned to the right position, the 64# belt conveyor and the 65# belt conveyor are started to convey forwards at the same speed of 2 m/s.
In summary, the embodiments presented in connection with the figures are only preferred. It is obvious to those skilled in the art that other alternative structures according to the design concept of the present invention can be derived directly from the above teachings, and the present invention shall also fall within the scope of the present invention.
Claims (2)
1. A cargo separation single piece arrangement device is characterized in that: the device comprises an online conveying device, a stacked piece separating device, a scattering separating device, a single piece separating device and a visual identification device which are sequentially connected along the conveying direction;
the stacked part separating device is provided with a plurality of belt conveyors which are sequentially connected along the gradient, a vertical guide plate is connected between every two adjacent belt conveyors, and each belt conveyor is driven by a separate servo motor;
the scattering separation device comprises a plurality of belt conveyors arranged in a divergent state along the conveying direction, and each belt conveyor is driven by a separate servo motor;
the single-piece separating device comprises a plurality of belt conveyors arranged in a matrix manner along the conveying direction, and each belt conveyor is driven by a separate servo motor; the belt conveyor matrix is provided with at least 1 longitudinal isolation area and at least 2 conveying channels;
and arranging a visual recognition device vertically above the single piece separation device, wherein the visual recognition device comprises a plurality of 3D cameras.
2. The cargo separation single piece alignment apparatus of claim 1, wherein: the 3D camera is installed vertically downwards along the goods conveying direction;
the belt conveyor matrix of the single-piece separating device comprises a front row area and a rear row area.
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| CN202023064023.9U CN214298136U (en) | 2020-12-18 | 2020-12-18 | Goods separating single piece arranging device |
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| CN202023064023.9U CN214298136U (en) | 2020-12-18 | 2020-12-18 | Goods separating single piece arranging device |
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| CN214298136U true CN214298136U (en) | 2021-09-28 |
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