阅读说明：本技术 一种智慧物流的快递包裹方向调整系统 (Express delivery parcel direction adjustment system of wisdom commodity circulation ) 是由 林心 于 2020-06-17 设计创作，主要内容包括：本发明公开一种智慧物流的快递包裹方向调整系统,包括传送分拣装置、摄像头、红外对管、万向轮、直线传输控制模块、摄像头开启控制模块、图像采集模块、头部与顶点坐标确定模块、数据求解模块、直线传输停止控制模块、万向轮第一驱动控制模块、第一时间求解模块以及直线传输二次启动模块；数据求解模块包括方位角求解单元、直线方程求解单元以及交点坐标求解单元；系统还包括距离求解模块、万向轮第二驱动控制模块、调整不完全标记模块、方向标识采集模块以及朝向标记模块。通过本发明中系统各模块间的相互配合,在快递包裹传输过程中实现对快递包裹方向的调整,提高对快递包裹的识别正确率,方便对快递包裹进行打码。(The invention discloses an express parcel direction adjusting system for intelligent logistics, which comprises a conveying and sorting device, a camera, infrared geminate transistors, universal wheels, a linear transmission control module, a camera opening control module, an image acquisition module, a head and vertex coordinate determining module, a data solving module, a linear transmission stopping control module, a universal wheel first driving control module, a first time solving module and a linear transmission secondary starting module, wherein the camera opening control module is connected with the image acquisition module; the data solving module comprises an azimuth angle solving unit, a linear equation solving unit and an intersection point coordinate solving unit; the system further comprises a distance solving module, a universal wheel second driving control module, an incomplete adjustment marking module, a direction identification acquisition module and an orientation marking module. Through the mutual cooperation of all the modules of the system, the express parcel direction is adjusted in the express parcel transmission process, the express parcel identification accuracy is improved, and express parcels are conveniently coded.)

1. The utility model provides an express delivery parcel direction adjustment system of wisdom commodity circulation, a serial communication port, the system includes: the system comprises a conveying and sorting device, a camera, an infrared pair transistor, a universal wheel, a linear transmission control module, a camera opening control module, an image acquisition module, a head and vertex coordinate determination module, a data solving module, a linear transmission stopping control module, a universal wheel first driving control module, a first time solving module and a linear transmission secondary starting module;

the linear transmission control module is used for controlling the conveying and sorting device to transmit the packages to be adjusted to the adjustment area; the camera is arranged right above the conveying and sorting device; the infrared geminate transistors are arranged on two sides of the conveying and sorting device; the conveying and sorting device consists of universal wheels; establishing a first rectangular coordinate system by taking a projection point of the camera in a plane where the conveying and sorting device is located as a coordinate origin O, taking a linear conveying direction of the conveying and sorting device as a positive X-axis direction and taking a straight line which is in the plane where the conveying and sorting device is located and perpendicular to the conveying direction of the conveying and sorting device as a Y-axis;

the camera opening control module is used for responding to the infrared geminate transistor to detect the package to be adjusted and opening the camera;

the image acquisition module is used for controlling the camera to acquire the outline of the package to be adjusted and form a first image;

the head and vertex coordinate determination module is used for determining the head of the package to be adjusted and four vertex coordinates of the package to be adjusted according to the first image acquired by the camera; the vertex coordinates are arranged along the anticlockwise direction and are respectively a first coordinate A (x)₁,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 is positioned at the edge of the head part of the package to be adjusted;

the data solving module comprises:

an azimuth solving unit for solving the azimuth 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 azimuth angle of the parcel to be adjustedWherein the azimuth angleThe above-mentionedThe 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 angleAn acute angle formed by a first straight line on which the line segment EF is located and the X axis;

a linear equation solving unit for solving the linear equation 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 a first equation of the first straight line where the line segment EF is located; wherein the coordinates of the point E areThe coordinates of the point F are

An intersection coordinate solving unit for solving a first equation according to the first straight line

The straight line transmission stop control module is used for responding to the condition that the coordinate of the intersection point of the first straight line and the X axis is (0,0), namely when

the first universal wheel driving control module is used for responding to the stop of the rotation of the universal wheel along the X-axis direction, acquiring the distance R between the universal wheel and the origin of coordinates O, and controlling the universal wheel to rotate along the tangential direction of a circle formed by taking the origin of coordinates O as the center of a circle and taking the distance R as the radius to drive the package to be adjusted to rotate;

the first time solving module is used for solving the problem according to the azimuth angle

the linear transmission secondary starting module is used for responding 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, and controlling the universal wheel to continue rotating in the positive direction of the X axis; the rotation time 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 is the first time t₁。

2. The system of claim 1, wherein the system further comprises:

a distance solving module 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 parcel to be adjusted to the coordinate origin O; wherein the distance is

The universal wheel second driving control module is used for controlling the universal wheel to rotate along the Y-axis direction to drive the package to be adjusted to translate along the Y-axis; when x is₂+x₃＝x₁+x₄When the package to be adjusted is monitored by the camera in real time, four vertex coordinates of the package to be adjusted are collected, and 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, the universal wheel is controlled to rotate along the direction of the Y axis to drive the package to be adjusted to translate along the Y axis; according to the distance L andthe rotating speed v of the universal wheel, and the second time t of the rotation of the universal wheel₂(ii) a Wherein, the

the linear transmission secondary starting module is also used for responding to the end of the rotation of the universal wheel along the Y-axis direction and controlling the universal wheel to continue to rotate along the positive direction of the X-axis; the rotation time of the universal wheel along the Y-axis direction is a second time t₂。

3. The system of claim 1, wherein the system further comprises:

the adjustment incomplete marking module is used for carrying out adjustment incomplete marking on the to-be-adjusted packages; 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 the azimuth angle of the parcel to be adjusted again

When the azimuth angle

4. The system of claim 1, wherein the system further comprises:

the direction mark acquisition module is used for acquiring the direction mark of the parcel to be adjusted, and the direction mark is the character orientation on the parcel to be adjusted; determining the head of the parcel to be adjusted and the coordinates of four vertexes of the parcel to be adjusted according to the character orientation; the first coordinate A (x)₁,y₁) And said second coordinate B (x)₂,y₂) And the characters are positioned towards the corresponding edge.

5. The system of claim 1, wherein the system further comprises:

the orientation marking module is used for marking the orientation of the parcel to be adjusted; when x is₁+x₄＞x₂+x₃When the direction of the parcel to be adjusted is marked to be along the positive direction of the X axis, when the X axis is positive₁+x₄＜x₂+x₃And marking the orientation of the package to be adjusted as the negative direction along the X axis.

6. The express parcel direction adjusting system of intelligent logistics of claim 1, wherein the infrared pair tubes and the camera are arranged in sequence along the positive direction of the X axis, and the distance between the infrared pair tubes and the camera is larger than the imaging radius of the camera.

7. The system of claim 1, wherein the casters are evenly distributed.

Technical Field

The invention relates to the technical field of logistics, in particular to an express package direction adjusting system for intelligent logistics.

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 package direction adjusting system for intelligent logistics, and the express package direction adjusting system aims to adjust the express package direction in the express package transmission process.

In order to achieve the above object, the present invention provides an express parcel direction adjusting system for intelligent logistics, which comprises: the system comprises a conveying and sorting device, a camera, an infrared pair transistor, a universal wheel, a linear transmission control module, a camera opening control module, an image acquisition module, a head and vertex coordinate determination module, a data solving module, a linear transmission stopping control module, a universal wheel first driving control module, a first time solving module and a linear transmission secondary starting module;

the linear transmission control module is used for controlling the conveying and sorting device to transmit the packages to be adjusted to the adjustment area; the camera is arranged right above the conveying and sorting device; the infrared geminate transistors are arranged on two sides of the conveying and sorting device; the conveying and sorting device consists of universal wheels; establishing a first rectangular coordinate system by taking a projection point of the camera in a plane where the conveying and sorting device is located as a coordinate origin O, taking a linear conveying direction of the conveying and sorting device as a positive X-axis direction and taking a straight line which is in the plane where the conveying and sorting device is located and perpendicular to the conveying direction of the conveying and sorting device as a Y-axis;

the camera opening control module is used for responding to the infrared geminate transistor to detect the package to be adjusted and opening the camera;

the image acquisition module is used for controlling the camera to acquire the outline of the package to be adjusted and form a first image;

the head and vertex coordinate determination module is used for determining the head of the package to be adjusted and four vertex coordinates of the package to be adjusted according to the first image acquired by the camera; the vertex coordinates are arranged along the anticlockwise direction and are respectively a first coordinate A (x)₁,y₁) Second coordinate B (x)₂,y₂) The third coordinate C (x)₃,y₃) Fourth coordinate D (x)₄,y₄) What is, what isThe first coordinate A (x)₁,y₁) And the fourth coordinate D (x)₄,y₄) The head part is positioned at the edge of the head part of the package to be adjusted;

the data solving module comprises:

an azimuth solving unit for solving the azimuth 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 azimuth angle of the parcel to be adjusted

Wherein the azimuth angleThe above-mentioned

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

An acute angle formed by a first straight line on which the line segment EF is located and the X axis;

a linear equation solving unit for solving the linear equation 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 a first equation of the first straight line where the line segment EF is located; wherein the coordinates of the point E areThe coordinates of the point F are

The first equation of the first straight line is

An intersection coordinate solving unit for solving a first equation according to the first straight lineAnd a second equation of the straight line of the X axis, and solving the intersection point coordinate (X) of the first straight line and the X axis₀,y₀) (ii) a Wherein, the second equation of the straight line where the X axis is located is that y is 0; the above-mentioned

Said y₀＝0；

The straight line transmission stop control module is used for responding to the condition that the coordinate of the intersection point of the first straight line and the X axis is (0,0), namely whenWhen the universal wheel rotates, the rotation of the universal wheel along the X-axis direction is stopped;

the first universal wheel driving control module is used for responding to the stop of the rotation of the universal wheel along the X-axis direction, acquiring the distance R between the universal wheel and the origin of coordinates O, and controlling the universal wheel to rotate along the tangential direction of a circle formed by taking the origin of coordinates O as the center of a circle and taking the distance R as the radius to drive the package to be adjusted to rotate;

the first time solving module is used for solving the problem according to the azimuth angleThe distance R and the rotating speed v of the universal wheel solve the first time t of the rotation of the universal wheel₁(ii) a Wherein, the

When said k > 0The 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, 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 is used for responding 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, and controlling the universal wheel to continue rotating in the positive direction of the X axis; the rotation time 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 is the first time t₁。

In the technical scheme, the camera is arranged right above the conveying device, so that the camera is opposite to the parcel to be adjusted, the shooting angle is correct, the acquired first image of the parcel to be adjusted is accurate, and the accuracy of data acquired from the first image is improved; solving the azimuth angle of the parcel to be adjusted through the four vertex coordinates

Increasing the found azimuth angleThe accuracy of (2); through said azimuth angle

The distance R and the rotating speed v of the universal wheel solve the first time t of the rotation of the universal wheel₁The rotating time precision of the universal wheel is effectively improved, and the precision of the adjustment of the direction of the package to be adjusted is further improved; when the coordinate of the intersection point of the first straight line and the X axis is (0,0), controlling the universal wheel to rotate along the tangential direction of a circle formed by taking the origin of coordinates O as the center of a circle and the distance R as the radius to drive the package to be adjusted to rotate; the adjustment of the direction of the parcel to be adjusted is realized, so that the orientation of the parcel to be adjusted is consistent with the positive direction of the X axis.

In a specific embodiment, the system further comprises:

a distance solving module 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 parcel to be adjusted to the coordinate origin O; wherein the distance is

The universal wheel second driving control module is used for controlling the universal wheel to rotate along the Y-axis direction to drive the package to be adjusted to translate along the Y-axis; when x is₂+x₃＝x₁+x₄When the package to be adjusted is monitored by the camera in real time, four vertex coordinates of the package to be adjusted are collected, and 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, the universal wheel is controlled to rotate along the direction of the Y axis to drive the package to be adjusted to translate along the Y axis; according to the distance L and the rotating speed v of the universal wheel, solving the second time t of the rotation of the universal wheel₂(ii) a Wherein, the

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;

the linear transmission secondary starting module is also used for responding to the end of the rotation of the universal wheel along the Y-axis direction and controlling the universal wheel to continue to rotate along the positive direction of the X-axis; the rotation time of the universal wheel along the Y-axis direction is a second time t₂。

In a specific embodiment, the system further comprises:

an incomplete adjustment marking module for marking the incomplete adjustmentMaking incomplete adjustment marks on the packages; 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 the azimuth angle of the parcel to be adjusted again

When the azimuth angle

And when the package to be adjusted is not completely adjusted, the package to be adjusted is marked.

In this solution, according to the azimuth angle

And marking the packages to be adjusted incompletely, and adjusting the direction of the packages to be adjusted again when the packages to be adjusted are coded, so that errors are avoided.

In a specific embodiment, the system further comprises:

the direction mark acquisition module is used for acquiring the direction mark of the parcel to be adjusted, and the direction mark is the character orientation on the parcel to be adjusted; determining the head of the parcel to be adjusted and the coordinates of four vertexes of the parcel to be adjusted according to the character orientation; the first coordinate A (x)₁,y₁) And said second coordinate B (x)₂,y₂) And the characters are positioned towards the corresponding edge.

In a specific embodiment, the system further comprises:

the orientation marking module is used for marking the orientation of the parcel to be adjusted; when x is₁+x₄＞x₂+x₃When the direction of the parcel to be adjusted is marked to be along the positive direction of the X axis, when the X axis is positive₁+x₄＜x₂+x₃To the said to be adjustedThe orientation of the package is marked as negative along the X-axis.

In the technical scheme, the orientation of the to-be-adjusted packages is conveniently distinguished by marking the orientation of the to-be-adjusted packages.

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 parcel to be adjusted, the shooting angle is correct, the collected first image of the parcel to be adjusted is accurate, and the accuracy of the data acquired from the first image is improved; solving the azimuth angle of the parcel to be adjusted through the four vertex coordinates

Increasing the found azimuth angleThe accuracy of (2); through said azimuth angle

The distance R and the rotating speed v of the universal wheel solve the first time t of the rotation of the universal wheel₁The rotating time precision of the universal wheel is effectively improved, and the precision of the adjustment of the direction of the package to be adjusted is further improved; when the coordinate of the intersection point of the first straight line and the X axis is (0,0), controlling the universal wheel to rotate along the tangential direction of a circle formed by taking the origin of coordinates O as the center of a circle and the distance R as the radius to drive the package to be adjusted to rotate; the adjustment of the direction of the parcel to be adjusted is realized, so that the direction of the parcel to be adjusted is consistent with the positive direction of the X axis; through the mutual cooperation of all modules of the system, the express package is transmitted in the process of express package transmissionThe realization is to the adjustment of express delivery parcel direction, improves the discernment correct rate to the express delivery parcel, conveniently beats the sign indicating number to the express delivery parcel.

Drawings

Fig. 1 is a system block diagram of an express parcel direction adjusting system for intelligent logistics according to an embodiment of the present invention;

fig. 2 is a block diagram of a flow of an intelligent logistics express direction adjustment method based on universal wheel sorting according to an embodiment of the present invention;

fig. 3 is a diagram illustrating the positional relationship between the packages to be adjusted and the conveying and sorting device according to 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 an intelligent logistics express parcel direction adjusting system, comprising: the system comprises a conveying and sorting device, a camera, an infrared pair tube, a universal wheel, 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 linear transmission stopping control module 600, a universal wheel first driving control module 700, a first time solving module 800 and a linear transmission secondary starting module 900;

the linear transmission control module 100 is configured to control the conveying and sorting device to transmit the parcels to be adjusted to an adjustment area; the camera is arranged right above the conveying and sorting device; the infrared geminate transistors are arranged on two sides of the conveying and sorting device; the conveying and sorting device consists of universal wheels; establishing a first rectangular coordinate system by taking a projection point of the camera in a plane where the conveying and sorting device is located as a coordinate origin O, taking a linear conveying direction of the conveying and sorting device as a positive X-axis direction and taking a straight line which is in the plane where the conveying and sorting device is located and perpendicular to the conveying direction of the conveying and sorting device as a Y-axis;

the camera opening control module 200 is configured to open the camera in response to the infrared pair transistor detecting the package to be adjusted;

the image acquisition module 300 is configured to control the camera to acquire the outline of the package to be adjusted and form a first image;

the head and vertex coordinate determining module 400 is configured to determine, according to the first image acquired by the camera, a head of the package to be adjusted and four vertex coordinates of the package to be adjusted; the vertex coordinates are arranged along the anticlockwise direction and are respectively a first coordinate A (x)₁,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 is positioned at the edge of the head part of the package to be adjusted;

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 the azimuth angle of the parcel to be adjustedWherein the azimuth angleThe above-mentionedThe 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 angleAn acute angle formed by a first straight line on which the line segment EF is located and the X axis;

a linear equation solving unit 502 for solving the linear equation 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 a first equation of the first straight line where the line segment EF is located; wherein the coordinates of the point E areThe coordinates of the point F are

The first equation of the first straight line is

An intersection coordinate solving unit 503 for solving a first equation according to the first straight lineAnd a second equation of the straight line of the X axis, and solving the intersection point coordinate (X) of the first straight line and the X axis₀,y₀) (ii) a Wherein, the second equation of the straight line where the X axis is located is that y is 0; the above-mentioned

Said y₀＝0；

The straight line transmission stop control module 600 is configured to respond to a case where the coordinate of the intersection of the first straight line and the X-axis is (0,0), i.e., whenWhen the universal wheel rotates, the rotation of the universal wheel along the X-axis direction is stopped;

the first universal wheel driving control module 700 is configured to respond to a stop of rotation of the universal wheel along the X-axis direction, obtain a distance R between the universal wheel and the origin of coordinates O, and control the universal wheel to rotate along a tangential direction of a circle formed by taking the origin of coordinates O as a center of a circle and taking the distance R as a radius to drive the package to be adjusted to rotate;

the first time solution module 800 is configured to solve the problem according to the azimuth angleThe distance R and the rotating speed v of the universal wheel solve the first time t of the rotation of the universal wheel₁(ii) a Wherein, the

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, 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 900 is configured to control the universal wheel to continue to rotate in the positive direction of the X axis in response to the end of rotation of the universal wheel in the tangential direction of a circle formed by taking the origin of coordinates O as a center of a circle and the distance R as a radius; the rotation time 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 is the first time t₁。

In this embodiment, the system further includes:

a distance solving module 1000 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 parcel to be adjusted to the coordinate origin O; wherein the distance is

The universal wheel second driving control module 1100 is used for controlling the universal wheel to rotate along the direction of the Y axis to drive the package to be adjusted to translate along the Y axis; when x is₂+x₃＝x₁+x₄When the package to be adjusted is monitored by the camera in real time, four vertex coordinates of the package to be adjusted are collected, and 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, the universal wheel is controlled to rotate along the direction of the Y axis to drive the package to be adjusted to translate along the Y axis; according to the distance L and the rotating speed v of the universal wheel, solving the second time t of the rotation of the universal wheel₂(ii) a Wherein, the

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;

the linear transmission secondary start module 900 is further configured to control the universal wheel to continue to rotate in the positive X-axis direction in response to the rotation of the universal wheel in the Y-axis direction ending; the rotation time of the universal wheel along the Y-axis direction is a second time t₂。

In this embodiment, the system further includes:

an incomplete adjustment marking module 1200, configured to perform incomplete adjustment marking on the parcel to be adjusted; 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 the azimuth angle of the parcel to be adjusted again

When the azimuth angleAnd when the package to be adjusted is not completely adjusted, the package to be adjusted is marked.

In this embodiment, the system further includes:

a direction identifier collecting module 1300, configured to collect a direction identifier of the package to be adjusted, where the direction identifier is a direction of a character on the package to be adjusted; determining the head of the parcel to be adjusted and the coordinates of four vertexes of the parcel to be adjusted according to the character orientation; the first coordinate A (x)₁,y₁) And said second coordinate B (x)₂,y₂) And the characters are positioned towards the corresponding edge.

In this embodiment, the system further includes:

an orientation marking module 1400, configured to mark an orientation of the parcel to be adjusted; when x is₁+x₄＞x₂+x₃When the direction of the parcel to be adjusted is marked to be along the positive direction of the X axis, when the X axis is positive₁+x₄＜x₂+x₃And marking the orientation of the package to be adjusted as the negative direction along the X axis.

In this embodiment, infrared geminate transistors with the camera is followed X axle positive direction arranges in proper order, just infrared geminate transistors with the interval of camera is greater than the formation of image radius of 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

According to the second coordinate B (x)₂,y₂) And the third coordinate C (x)₃,y₃) Center point coordinates of BC are obtained

The slope of the line segment EF isThe relationship between the inclination angle β of the segment EF and the slope k is k tan β, i.e., β arctank;

then the azimuth angle

Two points are available from the linear equation: the first equation of the first straight line where the line segment EF is located is

Will y₀Substitution into 0The following can be obtained:

the rotating speed of the point of contact between the package to be adjusted and 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

The rotational angular velocity ω and the first time t₁And the azimuth angleSatisfies the following relation:

the first time of the rotation of the universal wheel is obtained by simultaneous (1) and (2)

According to the midpoint coordinate of the AD

And midpoint coordinates of the BC

The center point coordinate of EF can be obtainedMidpoint coordinates of the EFThe coordinates of the center of the parcel to be adjusted are obtained;

the distance from the center of the parcel to be adjusted to the origin of coordinates O can be obtained according to a distance formula between two points

As shown in fig. 2, in a second embodiment of the present invention, there is provided an intelligent logistics express delivery direction adjusting method based on universal wheel sorting, the method comprising the following steps:

step S1, controlling the conveying and sorting device to convey the packages to be adjusted to the adjustment area; a camera is arranged right above the conveying and sorting device; infrared geminate transistors are arranged on two sides of the conveying and sorting device; the conveying and sorting device consists of universal wheels; establishing a first rectangular coordinate system by taking a projection point of the camera in a plane where the conveying and sorting device is located as a coordinate origin O, taking a linear conveying direction of the conveying and sorting device as a positive X-axis direction and taking a straight line which is in the plane where the conveying and sorting device is located and perpendicular to the conveying direction of the conveying and sorting device as a Y-axis;

step S2, responding to the infrared geminate transistor to detect the package to be adjusted, and starting the camera; controlling the camera to collect the outline of the package to be adjusted and forming a first image;

step S3, determining the head of the parcel to be adjusted and the coordinates of four vertexes of the parcel to be adjusted according to the first image acquired by the camera; the vertex coordinates are arranged along the anticlockwise direction respectivelyIs a first coordinate A (x)₁,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 is positioned at the edge of the head part of the package to be adjusted;

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 the azimuth angle of the parcel to be adjusted

Wherein the azimuth angleThe above-mentioned

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 angleAn acute angle formed by a first straight line on which the line segment EF is located and 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 a first equation of the first straight line where the line segment EF is located; wherein the coordinates of the point E areThe coordinates of the point F are

The first equation of the first straight line is

Step S6, a first equation based on the first straight lineAnd a second equation of the straight line of the X axis, and solving the intersection point coordinate (X) of the first straight line and the X axis₀,y₀) (ii) a Wherein, the second equation of the straight line where the X axis is located is that y is 0; the above-mentionedSaid y₀＝0；

Step S7, in response to the coordinate of the intersection point of the first straight line and the X axis being (0,0), namely when

When the universal wheel rotates, the rotation of the universal wheel along the X-axis direction is stopped;

step S8, responding to the stop of the rotation of the universal wheel along the X-axis direction, obtaining the distance R between the universal wheel and the coordinate origin O, 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 taking the distance R as the radius to drive the parcel to be adjusted to rotate;

step S9, according to the azimuth angle

The distance R and the rotating speed v of the universal wheel solve the first time t of the rotation of the universal wheel₁(ii) a Wherein, the

When k is greater than 0, the rotation direction of the universal wheel and the Y axisThe angle formed by the negative direction of (a) is an acute angle; when 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 S10, 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 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 is the first time t₁。

In this embodiment, the method further includes:

according to said 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 parcel to be adjusted to the coordinate origin O; wherein the distance is

When x is₂+x₃＝x₁+x₄When the package to be adjusted is monitored by the camera in real time, four vertex coordinates of the package to be adjusted are collected, and 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, the universal wheel is controlled to rotate along the direction of the Y axis to drive the package to be adjusted to translate along the Y axis; according to the distance L and the rotating speed v of the universal wheel, solving the second time t of the rotation of the universal wheel₂(ii) a Wherein, theWhen 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;

responsive to rotation of the castor in the Y-axis directionAfter the movement is finished, controlling the universal wheel to continuously rotate along the positive direction of the X axis; the rotation time of the universal wheel along the Y-axis direction is a second time t₂。

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 the azimuth angle of the parcel to be adjusted again

When the azimuth angleAnd when the package to be adjusted is not completely adjusted, the package to be adjusted is marked.

In this embodiment, the method further includes:

collecting a direction identifier of the parcel to be adjusted, wherein the direction identifier is the direction of characters on the parcel to be adjusted; determining the head of the parcel to be adjusted and the coordinates of four vertexes of the parcel to be adjusted according to the character orientation; the first coordinate A (x)₁,y₁) And said second coordinate B (x)₂,y₂) And the characters are positioned towards the corresponding edge.

In this embodiment, the method further includes:

marking the orientation of the parcel to be adjusted; when x is₁+x₄＞x₂+x₃When the direction of the parcel to be adjusted is marked to be along the positive direction of the X axis, when the X axis is positive₁+x₄＜x₂+x₃And marking the orientation of the package to be adjusted as the negative direction along the X axis.

In this embodiment, infrared geminate transistors with the camera is followed X axle positive direction arranges in proper order, just infrared geminate transistors with the interval of camera is greater than the formation of image radius of 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

According to the second coordinate B (x)₂,y₂) And the third coordinate C (x)₃,y₃) Center point coordinates of BC are obtained

The slope of the line segment EF is

The relationship between the inclination angle β of the segment EF and the slope k is k tan β, i.e., β arctank;

then the azimuth angle

Two points are available from the linear equation: the first equation of the first straight line where the line segment EF is located is

Will y₀Substitution into 0

The following can be obtained:

the rotating speed of the point of the package to be adjusted, which is in contact with the universal wheel, is equal to the rotating speed v of the universal wheel, the rotating radius is the distance R,the angular velocity of rotation of that point

The rotational angular velocity ω and the first time t₁And the azimuth angleSatisfies the following relation:

the first time of the rotation of the universal wheel is obtained by simultaneous (1) and (2)

According to the midpoint coordinate of the AD

And midpoint coordinates of the BC

The center point coordinate of EF can be obtainedMidpoint coordinates of the EFThe coordinates of the center of the parcel to be adjusted are obtained;

the distance from the center of the parcel to be adjusted to the origin of coordinates O can be obtained according to a distance formula between two points

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.