CN-121974081-A - Object transportation dynamic adjustment method, electronic equipment and storage medium

CN121974081ACN 121974081 ACN121974081 ACN 121974081ACN-121974081-A

Abstract

The invention provides a dynamic adjustment method for object transportation, electronic equipment and a storage medium, wherein the method comprises the steps of determining the number of objects placed on a detection belt by acquiring visual characteristics on the detection belt; if the number of objects placed on the detection belt is greater than 1, the traveling direction of the detection belt and the buffer belt is adjusted according to detection information acquired by photoelectric detection sensors arranged at the input end and the output end of the detection belt, the input end and the output end of the buffer belt, two sides of the traveling direction of the buffer belt and between the buffer belt and the detection belt, so that the object conveying buffer system can dynamically adjust the positions of the conveyed objects, and the conveying efficiency of the objects is improved.

Inventors

FAN CHAO
Shen Zhenyun
LI RUI
BAI XINRU
ZHANG JIAHUI
WU LIN
XU KE

Assignees

中航信移动科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260401

Claims (10)

1. The object transportation dynamic adjustment method is characterized by being applied to an object transportation buffer system, wherein the object transportation buffer system comprises a steering belt, a buffer belt and a detection belt which are connected with each other, the buffer belt is arranged between the steering belt and the detection belt and is used for transporting the objects transported by the steering belt to the detection belt, the advancing direction of the steering belt, the advancing direction of the buffer belt and the advancing direction of the detection belt are the same, and the advancing length of the buffer belt is longer than that of the steering belt and the detection belt; The dynamic object transportation adjustment method comprises the following steps: Step S100, determining the number of objects placed on the detection belt by acquiring visual features on the detection belt; Step 200, if the number of objects placed on the detection belt is greater than 1, adjusting the detection belt and the traveling direction of the buffer belt according to detection information obtained by photoelectric detection sensors arranged at the input end and the output end of the detection belt, the input end and the output end of the buffer belt, two sides of the traveling direction of the buffer belt and between the buffer belt and the detection belt.
2. The method according to claim 1, wherein the step S200 includes: Step S210, if the number of objects placed on the detection belt is greater than 1, acquiring detection information acquired by each photoelectric detection sensor at the current moment on two sides of the travelling direction of the buffer belt; Step S220, if the detection information collected by any photoelectric detection sensor on two sides of the travelling direction of the buffer belt at the current moment is characterized in that no object is placed on the object placement position corresponding to the photoelectric detection sensor, controlling the detection belt to execute a retreating action; step S230, when detection information acquired by a photoelectric detection sensor arranged between the buffer belt and the detection belt is characterized in that an object passes through, the buffer belt is controlled to execute a backward movement; Step S240, when detection information acquired by a photoelectric detection sensor arranged between the buffer belt and the detection belt is characterized in that no object passes through, controlling the buffer belt to stop and controlling the detection belt to execute advancing action; And step S250, when the detection information acquired by the photoelectric detection sensor at the output end of the detection belt is characterized as that an object exists at the position of the photoelectric detection sensor, controlling the detection belt to stop.
3. The method of claim 2, wherein the object transfer buffer system further comprises a diverting device, a docking belt, and a return belt; The diverting device is arranged on a conveyor belt of the object turntable and is used for guiding objects placed on the object turntable to the connection belt; The connecting belt is arranged between the diverting device and the steering belt and is used for receiving the object guided by the diverting device and transmitting the object to the steering belt; The steering belt is arranged between the connection belt and the buffer belt and is used for conveying the objects conveyed by the connection belt to the buffer belt; The buffer belt is arranged between the steering belt and the detection belt and is used for conveying the objects conveyed by the steering belt to the detection belt; The detection belt is used for receiving the objects transported by the buffer belt, so that the carrying mechanism can grasp the objects on the detection belt to a target position; the output end of the backflow belt is connected with the object turntable, the position, at which the backflow belt is connected with the object turntable, of the object turntable is located in front of the position, at which the diversion device is located, of the object turntable, so that objects to be confirmed, which are transported by the carrying mechanism, are transported to the conveyor belt of the object turntable, the objects to be confirmed are objects which do not meet preset placement conditions of the target position, and the reference direction of the front is the advancing direction of the conveyor belt of the object turntable.
4. A method according to claim 3, characterized in that a diverting photosensor is provided on the conveyor belt of the object carousel behind the diverting device at a predetermined first length from the diverting device, the diverting photosensor being for detecting objects placed on the conveyor belt of the object carousel past the diverting photosensor, the predetermined first length being a movable length of a guide gate of the diverting device when opening and closing.
5. The method of claim 4, wherein photoelectric detection sensors are provided at the input and output ends of the docking belt, the input and output ends of the steering belt, the input and output ends of the buffer belt, both sides of the traveling direction of the buffer belt, the input and output ends of the detection belt, between the steering belt and the buffer belt, and between the buffer belt and the detection belt, and wherein each of the photoelectric detection sensors provided at both sides of the traveling direction of the buffer belt corresponds to one object placement position on the buffer belt.
6. The method according to claim 5, wherein the split-flow photoelectric sensor and each of the photoelectric detection sensors are connected with a split-flow device control system, and the split-flow device control system controls the open and closed states of the split-flow device through detection information acquired by the split-flow photoelectric sensor and each of the photoelectric detection sensors, wherein the open and closed states include a closed state and an open state; When the diverting device is in a closed state, an object placed on the object turntable and travelling to the diverting device can be guided onto the connection belt; When the diverting device is in an open state, an object placed on the object turntable and traveling to the diverting device is still on the object turntable after passing through the diverting device and follows the conveyor belt of the object turntable.
7. The method of claim 6, wherein the diversion device control system is configured to perform the steps of: step S300, if the shunt equipment is in an open state at the current moment, executing step S310, and if the shunt equipment is in a closed state at the current moment, executing step S330; step S310, acquiring detection information acquired by the current moment of the current-moment shunt photoelectric sensor; step S320, if the detection information acquired by the current time by the split photoelectric sensor is characterized in that an object is placed on the conveyor belt of the object turntable at a detection position corresponding to the split photoelectric sensor, controlling the split device to be in an on state, otherwise, executing step S330; step S330, acquiring detection information acquired by the photoelectric detection sensors on the connection belt at the current moment, detection information acquired by the photoelectric detection sensors on the steering belt at the current moment and detection information acquired by each photoelectric detection sensor on two sides of the travelling direction of the buffer belt at the current moment; Step S340, if the detection information collected by the photoelectric detection sensor on the connection belt at the current time is characterized in that no object is placed on the connection belt, or the detection information collected by the photoelectric detection sensor on the steering belt at the current time is characterized in that no object is placed on the steering belt, or the detection information collected by any one of the photoelectric detection sensors on two sides of the traveling direction of the buffer belt at the current time is characterized in that no object is placed on the object placement position corresponding to the photoelectric detection sensor, then the shunt device is controlled to be in a closed state, otherwise, the shunt device is controlled to be in an open state.
8. The method of claim 7, wherein each of the photoelectric detection sensors is connected to an object transfer control system for controlling the actions of the docking belt, the steering belt, the buffer belt, and the detection belt based on the detection information acquired by each of the photoelectric detection sensors; Wherein the object transfer control system is configured to perform the steps of: Step S400, acquiring detection information acquired by the photoelectric detection sensor on the connection belt at the current moment and detection information acquired by the photoelectric detection sensor on the steering belt at the current moment; Step S410, if the detection information collected by the photoelectric detection sensor at the input end of the connection belt at the current moment is characterized as that an object exists at the position of the photoelectric detection sensor, and the detection information collected by the photoelectric detection sensor at the input end of the steering belt at the current moment is characterized as that an object does not exist at the position of the photoelectric detection sensor, controlling the connection belt to execute advancing action; And step S420, when the detection information acquired by the photoelectric detection sensor at the input end of the steering belt is characterized in that an object exists at the position of the photoelectric detection sensor, controlling the steering belt to execute the forward motion, and controlling the connection belt to stop the forward motion.
9. A non-transitory computer readable storage medium having stored therein at least one instruction or at least one program, wherein the at least one instruction or the at least one program is loaded and executed by a processor to implement the method of any one of claims 1-8.
10. An electronic device comprising a processor and the non-transitory computer readable storage medium of claim 9.

Description

Object transportation dynamic adjustment method, electronic equipment and storage medium Technical Field The present invention relates to the field of object transportation, and in particular, to a method for dynamically adjusting object transportation, an electronic device, and a storage medium. Background The object picking up on the existing object conveying system (such as a baggage transportation turntable) is mostly realized by a picking up robot, when the picking up robot is to pick up baggage on the object conveying system, the object conveying system is stopped to carry out conveying action, so that the object placed on the object conveying system is in a static state, the picking up robot is used for grabbing the object to a target position according to the pose of the placed object, and the object conveying system is required to stop conveying action in the working process of the picking up robot. Disclosure of Invention Aiming at the technical problems, the invention adopts the following technical scheme: According to one aspect of the application, a dynamic adjustment method for object transportation is provided, which is applied to an object transportation buffer system, wherein the object transportation buffer system comprises a steering belt, a buffer belt and a detection belt which are mutually connected, the buffer belt is arranged between the steering belt and the detection belt and is used for transporting the objects transported by the steering belt to the detection belt, and the travelling direction of the steering belt, the travelling direction of the buffer belt and the travelling direction of the detection belt are the same direction, and the travelling length of the buffer belt is longer than that of the steering belt and the detection belt; The dynamic object transportation adjustment method comprises the following steps: step S100, determining the number of objects placed on a detection belt by acquiring visual features on the detection belt; Step 200, if the number of objects placed on the detection belt is greater than 1, adjusting the traveling direction of the detection belt and the buffer belt according to detection information acquired by photoelectric detection sensors arranged at the input end and the output end of the detection belt, the input end and the output end of the buffer belt, two sides of the traveling direction of the buffer belt and between the buffer belt and the detection belt. According to another aspect of the present application, there is provided a non-transitory computer readable storage medium having stored therein at least one instruction or at least one program loaded and executed by a processor to implement the aforementioned method of dynamic adjustment of object transportation. According to yet another aspect of the present application, there is provided an electronic device comprising a processor and the aforementioned non-transitory computer-readable storage medium. The invention has at least the following beneficial effects: According to the object transportation dynamic adjustment method, the number of objects placed on the detection belt is determined by acquiring the visual characteristics on the detection belt, and if the number of the objects placed on the detection belt is greater than 1, the detection belt and the traveling direction of the buffer belt are adjusted according to detection information acquired by photoelectric detection sensors arranged at the input end and the output end of the detection belt, the input end and the output end of the buffer belt and between the buffer belt and the detection belt, so that the object transportation buffer system can dynamically adjust the positions of the transported objects to improve the object transportation efficiency. Drawings In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Fig. 1 is a schematic structural diagram of an object transfer buffer system according to an embodiment of the present invention; fig. 2 is a flowchart of a method for dynamically adjusting object transportation according to an embodiment of the present invention. Detailed Description The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall withi