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CN-121988533-A - Package sorting method, system, electronic device and computer readable storage medium

CN121988533ACN 121988533 ACN121988533 ACN 121988533ACN-121988533-A

Abstract

The application discloses a parcel sorting method, a system, electronic equipment and a computer readable storage medium, which are applied to a sorting robot comprising a plurality of end execution tools, and comprise the steps of obtaining an area image corresponding to a target area, and determining parcel category and a face sheet detection result corresponding to a parcel by utilizing the area image; the method comprises the steps of selecting at least one target execution tool from all end execution tools based on a package type and a face sheet detection result, acquiring a package image corresponding to a package, determining face sheet information of the package by using the package image, acquiring the package image by an acquisition device at the target execution tool when the face sheet is detected, adjusting the package by the target execution tool when the face sheet is not detected, acquiring the package image by the acquisition device at a preset position, and delivering the package to a delivery area matched with the face sheet information by using the target execution tool. The scheme can improve the suitability for sorting nonstandard packages and the sorting efficiency.

Inventors

  • JI SHUAISHUAI
  • LIU DIYUAN
  • JI CHAO

Assignees

  • 安徽聆动通用机器人科技有限公司

Dates

Publication Date
20260508
Application Date
20260210

Claims (13)

  1. 1. A parcel sorting method, characterized by being applied to a sorting robot comprising a plurality of end-effector tools, the parcel sorting method comprising: Acquiring an area image corresponding to a target area, and determining a package type and a face sheet detection result corresponding to packages in the target area by utilizing the area image, wherein the package type is related to the package size and the package form of the packages; Selecting at least one target execution tool from all the end execution tools based on the package category and the sheet detection result; The method comprises the steps of acquiring a package image corresponding to a package, and determining the face sheet information of the package by utilizing the package image, wherein when the face sheet is detected, the package image is acquired by an acquisition device at a target execution tool, and when the face sheet is not detected, the target execution tool is used for adjusting the pose of the package, and the package image is acquired by the acquisition device at a preset position; and delivering the package to a delivery area matched with the face sheet information by using the target execution tool.
  2. 2. The parcel sorting method according to claim 1, wherein the acquiring an area image corresponding to a target area, determining a parcel category and a face sheet detection result corresponding to a parcel in the target area using the area image, comprises: acquiring an area image corresponding to the target area and matched depth information thereof, and acquiring a parcel center and parcel three-dimensional information corresponding to the parcel based on the area image and the matched depth information thereof; And based on the parcel center and the parcel three-dimensional information, obtaining a parcel sheet detection result of the parcel and parcel sizes and parcel forms corresponding to the parcel, and determining the parcel category related to the parcel sizes and the parcel forms.
  3. 3. The package sorting method according to claim 1, wherein the obtaining the sheet detection result of the package and the package size and package morphology corresponding to the package based on the package center and the package three-dimensional information includes: acquiring an area image corresponding to the target area and matched depth information thereof, and determining a prompt text matched with the area image; And inputting the region image, the matched depth information and the prompt text into a large language model to obtain packages in the target region output by the large language model, and package category and face sheet detection results corresponding to the packages, wherein the prompt text is used for indicating the large language model to identify the packages in the target region and the package categories corresponding to the packages, and detecting the face sheet of the packages.
  4. 4. The package sorting method of claim 1, wherein the sorting robot includes a plurality of robotic arms, and each of the robotic arms has at least one of the end effector thereon; The selecting at least one target execution tool from all the end execution tools based on the package category and the sheet detection result, comprising: Responding to the detection result of the menu to detect the menu, selecting at least one mechanical arm as a target mechanical arm based on the package type, and selecting the target execution tool from the end execution tools on the target mechanical arm; And responding to the detection result of the face sheet, namely, the face sheet is not detected, selecting a plurality of mechanical arms as target mechanical arms based on the package type, and respectively selecting the target execution tools from the end execution tools on the plurality of target mechanical arms.
  5. 5. The parcel sorting method according to claim 4, wherein the sorting robot is provided with mechanical arms on both sides thereof, a suction cup array is provided on the mechanical arm on one side as the end-effector, and a gripping jaw and suction cup are provided on the mechanical arm on the other side as the end-effector; The package type comprises a large package, a soft package, special-shaped packages and small and medium-sized packages, under the condition that a bill is detected, end execution tools on the mechanical arms at two sides are selected to serve as target execution tools when the package type is the large package, the sucker array is selected to serve as the target execution tools when the package type is the soft package, the clamping jaw is selected to serve as the target execution tools when the package type is the special-shaped package, and the sucker is selected to serve as the target execution tools when the package type is the medium and small package.
  6. 6. The package sorting method according to claim 4, wherein the acquiring the package image corresponding to the package, and determining the sheet information of the package using the package image, includes: Responding to the detection result of the face sheet to detect the face sheet, and acquiring a package image corresponding to the package towards the face sheet by utilizing an acquisition device on the target mechanical arm; Responding to the detection result of the face sheet that the face sheet is not detected, adjusting the pose of the package by using all the target mechanical arms and corresponding target executing tools, and collecting package images corresponding to the package by using a collecting device at a preset position; and carrying out the face sheet identification on the package image to obtain the face sheet information of the package.
  7. 7. The package sorting method according to any one of claims 1-6, wherein the package sorting process comprises a rough sorting stage of delivering the package to a placement frame in a rough sorting area and a fine sorting stage of delivering the package to a delivery grid in a fine sorting area, wherein a target area of the rough sorting stage corresponds to the rough sorting area, a delivery area of the rough sorting stage corresponds to the placement frame, a target area of the fine sorting stage corresponds to the fine sorting area, and a delivery area of the fine sorting stage corresponds to the delivery grid.
  8. 8. The parcel sorting method of claim 7, wherein upon the transition of the coarse stage to the fine stage, the method further comprises: And generating a moving execution track based on the pose of the placement frame, the rough division area and the subdivision area, and controlling the sorting robot to transfer the placement frame from the rough division area to the subdivision area by using the moving execution track.
  9. 9. The parcel sorting method according to claim 7, wherein one side of the placement frame is provided with a slope; in the rough sorting stage, delivering the package to a delivery area matched with the face sheet information by using the target execution tool comprises the following steps: acquiring a placement frame matched with the face sheet information, and determining a slope at one side of the placement frame; And generating a rough executing track based on the slope and the position of the package, controlling the target executing tool by using the rough executing track, and delivering the package to the slope on one side of the placement frame.
  10. 10. The package sorting method according to claim 7, wherein a movable barrier is provided at one side of the delivery pocket, and the barrier in the initial position has an inclination angle with respect to a reference plane, and in the case where a plurality of delivery pockets are arranged up and down, the inclination angle of the barrier located above is larger than that of the barrier located below; In the subdivision stage, delivering the package to a delivery area matched with the face sheet information by using the target execution tool comprises the following steps: acquiring a delivery grid matched with the face sheet information, and determining a baffle plate at one side of the delivery grid; Generating a subdivision execution track based on the positions of the baffle plate and the package, and controlling the target execution tool to deliver the package to the baffle plate on one side of the delivery grid by using the subdivision execution track, wherein after the package is placed on the baffle plate, the baffle plate rotates from the initial position to one side close to the delivery grid so as to deliver the package to the delivery grid and return to the initial position.
  11. 11. A package sortation system, for use with a sortation robot including a plurality of end effector tools, the package sortation system comprising: The determining module is used for acquiring an area image corresponding to a target area, and determining a package type and a face sheet detection result corresponding to packages in the target area by utilizing the area image, wherein the package type is related to the package size and the package form of the packages; A selection module for selecting at least one target execution tool from all the end execution tools based on the package category and the sheet detection result; The acquisition module is used for acquiring a parcel image corresponding to the parcel, and determining the face sheet information of the parcel by utilizing the parcel image, wherein when the face sheet is detected, the parcel image is acquired by the acquisition device at the target execution tool, and when the face sheet is not detected, the target execution tool is used for adjusting the pose of the parcel, and the parcel image is acquired by the acquisition device at a preset position; And the execution module is used for delivering the package to a delivery area matched with the face sheet information by utilizing the target execution tool.
  12. 12. An electronic device comprising a memory and a processor coupled to each other, wherein the memory stores program data and the processor invokes the program data to perform the method of any of claims 1-10.
  13. 13. A computer readable storage medium having stored thereon program data, which when executed by a processor implements the method of any of claims 1-10.

Description

Package sorting method, system, electronic device and computer readable storage medium Technical Field The present application relates to the field of logistics sorting technology, and in particular, to a package sorting method, system, electronic device, and computer readable storage medium. Background With the continuous development of the logistics industry, a large number of packages need to be sorted every day at a transfer site. In order to save human resources, the sorting robot is gradually applied, and in a practical scene, the sorting robot can sort standard packages with fixed shapes and sizes more accurately, but manual sorting is still relied on for nonstandard packages with different shapes and sizes, so that sorting efficiency is lower. In view of this, how to improve the suitability for sorting nonstandard packages and the sorting efficiency is a problem to be solved. Disclosure of Invention The application mainly solves the technical problem of providing a package sorting method, a system, electronic equipment and a computer readable storage medium, which can improve the suitability for sorting nonstandard packages and the sorting efficiency. In order to solve the technical problems, the first aspect of the application provides a parcel sorting method which is applied to a sorting robot and comprises a plurality of end execution tools, wherein the parcel sorting method comprises the steps of obtaining an area image corresponding to a target area, determining a parcel type and a face order detection result corresponding to a parcel in the target area by using the area image, wherein the parcel type is related to the parcel size and the parcel form of the parcel, selecting at least one target execution tool from all the end execution tools based on the parcel type and the face order detection result, obtaining a parcel image corresponding to the parcel, determining face order information of the parcel by using the parcel image, obtaining the parcel image by an acquisition device at the target execution tool when the face order is detected, adjusting the position and the posture of the parcel by using the target execution tool when the face order is not detected, obtaining the parcel image by the acquisition device at a preset position, and delivering the parcel to a delivery area matched with the face order information by using the target execution tool. In order to solve the technical problems, the second aspect of the application provides a parcel sorting system which is applied to a sorting robot and comprises a plurality of end execution tools, wherein the sorting robot comprises a determining module, a selecting module, an acquiring module and an executing module, the determining module is used for acquiring an area image corresponding to a target area, the area image is used for determining parcel types and a face order detection result corresponding to parcels in the target area, the parcel types are related to parcel sizes and parcel forms of the parcels, the selecting module is used for selecting at least one target executing tool from all the end execution tools based on the parcel types and the face order detection result, the acquiring module is used for acquiring parcel images corresponding to the parcels and determining face order information of the parcels by utilizing the parcel images, when a face order is detected, the parcel images are acquired by an acquisition device at the target executing tool, when the face order is not detected, the target executing tool is used for adjusting the position of the parcels, the parcel images are acquired by a device at a preset position, and the executing module is used for delivering the face order to the delivery area by utilizing the target executing tool. In order to solve the technical problem, a third aspect of the application provides an electronic device, which comprises a memory and a processor, wherein the memory and the processor are mutually coupled, the memory stores program data, and the processor calls the program data to execute the method in the first aspect. To solve the above technical problem, a fourth aspect of the present application provides a computer-readable storage medium having stored thereon program data which, when executed by a processor, implements the method described in the first aspect. The method has the advantages that the method is different from the situation in the prior art, the regional image corresponding to the target region is obtained, the regional image is analyzed, the package type and the face sheet detection result corresponding to the package in the target region are obtained, the package type is related to the package size and the package form corresponding to the package detected in the target region, the nonstandard package is classified according to the package size and the package form, and whether the face sheet is detected is determined from the regional image. And selecting at le