CN112700179B

CN112700179B - Method, device and system for tracking package and method and device for detecting package

Info

Publication number: CN112700179B
Application number: CN201911008474.XA
Authority: CN
Inventors: 尉越啸; 伍科宇; 孙正磊
Original assignee: Cainiao Smart Logistics Holding Ltd
Current assignee: Cainiao Smart Logistics Holding Ltd
Priority date: 2019-10-22
Filing date: 2019-10-22
Publication date: 2023-11-07
Anticipated expiration: 2039-10-22
Also published as: CN112700179A

Abstract

The embodiment of the application provides a method, a device and a system for tracking packages and a method and a device for detecting packages, which comprise the following steps: acquiring a face sheet image of at least one package shot by shooting equipment; at least one package is placed on the conveyor belt, and the face sheet image comprises face sheet content of the face sheet of the package; detecting the package according to the face sheet image; according to the application, when the package passes through the shooting area of the shooting equipment on the belt conveyor, the package on the belt conveyor can be accurately identified according to the face sheet image of the package shot by the shooting equipment, and the face sheet content in the face sheet image is checked, so that the purpose of detecting the package on the belt conveyor is achieved, and the collection efficiency and accuracy of the package in front of a warehouse are improved.

Description

Method, device and system for tracking package and method and device for detecting package

Technical Field

The present application relates to the field of computer technologies, and in particular, to a method, an apparatus, a system, a method, an apparatus, an electronic device, and a storage medium for package tracking.

Background

The pre-warehouse collection of the packages refers to scanning the packages after the packages are collected from the clients, conveying the packages to a warehouse for storage, and positioning and conveying the packages with wrong express information.

At present, most logistics manufacturers generally adopt a manual collecting mode before a warehouse of the package, specifically, the package is placed on a conveying line, each package on the conveying line is scanned by a manual hand-held scanning gun, and the packages on the conveying line are manually subjected to one-to-one check according to generated code scanning information, so that packages with wrong express information are found.

However, in the current scheme, code scanning and package checking are performed in a manual mode in the first mode, so that the efficiency is low and the error rate is high.

Content of the application

The embodiment of the application provides a package tracking method, a device, a system and a package detection method and a device, which can accurately identify packages on a belt conveyor according to a surface sheet image of the packages shot by shooting equipment and verify the surface sheet content in the surface sheet image, thereby achieving the purpose of detecting the packages on the belt conveyor and improving the collection efficiency and accuracy of the packages before a warehouse.

In order to solve the above problems, an embodiment of the present application discloses a package tracking method, which includes:

acquiring a face sheet image of at least one package shot by shooting equipment; the at least one package is placed on a conveyor belt, and the face sheet image comprises face sheet content of the face sheet of the package;

Acquiring a positioning signal sent by an encoder; the positioning signal of the encoder is generated in the rotating process of the pressing wheel of the encoder, and the pressing wheel of the encoder is contacted with the conveying belt;

tracking the package according to the positioning signal and the face sheet image.

The embodiment of the application discloses a package tracking method, which is applied to a package tracking system, wherein the package tracking system comprises the following steps: the device comprises a belt conveyor, a mounting bracket, shooting equipment, an encoder and computing equipment; the mounting bracket is arranged on the belt conveyor, the shooting equipment is arranged on the mounting bracket, and the shooting equipment faces to the conveying belt of the belt conveyor; the encoder includes: the encoder is arranged on the belt conveyor, and the pinch roller is in contact with the surface of the conveyor belt; the encoder, the shooting device and the computing device are in communication connection; the method comprises the following steps:

the shooting equipment shoots at least one face sheet image of the package and sends the face sheet image to the computing equipment; wherein the face sheet image includes the content of the wrapped face sheet;

the encoder sends a positioning signal generated by the rotation of the pinch roller to the computing device;

The computing device tracks the package based on the locating signal and the face sheet image.

The embodiment of the application discloses a parcel detection method, which comprises the following steps:

and detecting the package according to the face sheet image.

The embodiment of the application discloses a parcel tracking device, which comprises:

the first acquisition module is used for acquiring the face sheet image of at least one package shot by the shooting equipment; the at least one package is placed on a conveyor belt, and the face sheet image comprises face sheet content of the face sheet of the package;

the second acquisition module is used for acquiring the positioning signal sent by the encoder; the positioning signal of the encoder is generated in the rotating process of the pressing wheel of the encoder, and the pressing wheel of the encoder is contacted with the conveying belt;

and the tracking module is used for tracking the package according to the positioning signal and the face sheet image.

The embodiment of the application discloses a package detection device, which comprises:

a third acquisition module for acquiring a face sheet image of at least one package photographed by the photographing apparatus; the at least one package is placed on a conveyor belt, and the face sheet image comprises face sheet content of the face sheet of the package;

And the detection module is used for detecting the package according to the face sheet image.

The embodiment of the application also discloses an electronic device, which comprises: a processor; and a memory having executable code stored thereon that, when executed, causes the processor to perform the parcel tracking method as described in one or more of the embodiments of the application.

Embodiments of the present application also disclose one or more machine-readable media having executable code stored thereon that, when executed, cause a processor to perform a parcel tracking method as described in one or more of the embodiments of the present application.

The embodiment of the application also discloses an electronic device, which comprises: a processor; and a memory having executable code stored thereon that, when executed, causes the processor to perform the parcel detection method according to one or more of the embodiments of the application.

Embodiments of the present application also disclose one or more machine-readable media having executable code stored thereon that, when executed, cause a processor to perform a parcel detection method as described in one or more of the embodiments of the present application.

Compared with the prior art, the embodiment of the application has the following advantages:

in the embodiment of the application, a face sheet image of at least one package shot by shooting equipment is acquired; at least one package is placed on the conveyor belt, and the face sheet image comprises face sheet content of the face sheet of the package; detecting the package according to the face sheet image; according to the application, when the package passes through the shooting area of the shooting equipment on the belt conveyor, the package on the belt conveyor can be accurately identified according to the face sheet image of the package shot by the shooting equipment, and the face sheet content in the face sheet image is checked, so that the purpose of detecting the package on the belt conveyor is achieved, and the collection efficiency and accuracy of the package in front of a warehouse are improved. With packages in succession next to each other or next to each other side by side

Drawings

FIG. 1 is a schematic diagram of a package tracking system of the present application;

FIG. 2 is an assembled schematic view of a package tracking system of the present application;

FIG. 3 is an assembled schematic view of another package tracking system of the present application;

FIG. 4 is a schematic view of a partial assembly of a package tracking system of the present application;

FIG. 5 is a schematic diagram of another package tracking system of the present application;

FIG. 6 is a schematic illustration of a face sheet image of the present application;

FIG. 7 is a schematic diagram of another package tracking system of the present application;

FIG. 8 is a schematic diagram of another package tracking system of the present application;

FIG. 9 is a schematic diagram of another package tracking system of the present application;

FIG. 10 is a schematic diagram of another package tracking system of the present application;

FIG. 11 is an assembled schematic view of another package tracking system of the present application;

FIG. 12 is a top view of a conveyor belt of the present application;

FIG. 13 is a top view of another conveyor belt of the present application;

FIG. 14 is a flow chart of steps of a system-side parcel tracking method of the present application;

FIG. 15 is a flowchart illustrating steps of a method for computing device-side package tracking in accordance with the present application;

FIG. 16 is a flow chart of steps of a method of parcel detection of the present application;

FIG. 17 is a block diagram of a package tracking device of the present application;

FIG. 18 is a block diagram of a package detection device of the present application;

fig. 19 is a schematic view of the structure of the device provided by the present application.

Detailed Description

In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description.

Referring to FIG. 1, a schematic diagram of a package tracking system is shown, according to an embodiment of the present application.

In an embodiment of the present application, fig. 1 is a top view of a package tracking system, which may include: the belt conveyor 10, the mounting bracket 20, the photographing apparatus 30, the encoder 40, the computing apparatus 50, and the conveyor belt controller 90.

The belt conveyor 10 is a machine that is driven by friction to transport materials in a continuous manner, and is mainly composed of a frame, a conveyor belt 14, a carrier roller, a tensioner, a transmission, and the like. The belt conveyor 10 may deposit packages on a length of conveyor belt 14 to form a package transfer path from an initial loading point to a final unloading point.

Specifically, referring to fig. 2, a mounting bracket 20 is mounted on a side of the belt conveyor 10 facing away from the ground, and at least one set of photographing apparatus 30 and light source 60 is mounted on the mounting bracket 20.

The photographing apparatus 30 may perform a code scanning operation on the sheet 71 of the package 70 on the belt conveyor 10, thereby acquiring sheet information of the package 70. The order information describes information such as the name, type, and destination of the package 70. The light source 60 can be turned on in a dark environment to improve the accuracy of identifying the face sheet 71 by the photographing apparatus 30.

Referring to fig. 3, an encoder 40 (encoder) may be provided on the belt conveyor 10, and with further reference to fig. 4, fig. 4 is an enlarged partial schematic view of region a in fig. 3, wherein the encoder 40 includes an encoder bracket 41 and a pinch roller 42, one end of the encoder bracket 41 is provided on the belt conveyor 10, the other end of the encoder bracket 41 is connected to the pinch roller 42, and the pinch roller 42 is in contact with the surface of the conveyor belt 14.

Specifically, the encoder 40 is a device that compiles and converts signals (such as bit streams) or data into a signal form that can be used for communication, transmission and storage, and the encoder 40 can convert the displacement into a periodic electrical signal, and then convert the electrical signal into counting pulses, where the number of pulses indicates the magnitude of the displacement, and the counting pulses are positioning signals in the embodiment of the present application.

In the embodiment of the present application, when the conveyor belt 14 moves, the pressing wheel 42 of the encoder 40 can be driven to rotate, and the encoder 40 can send the positioning signal generated by the rotation of the pressing wheel 42 to the computing device 50, so that the computing device 50 can calculate the distance of the travelling length of the conveyor belt 14 according to the positioning signal.

The computing device 50 may obtain a face sheet image including the face sheet 71 from the photographing device 30 and determine the position of the package 70 in the width direction of the conveyor belt from the face sheet image. The computing device 50 may also obtain the positioning signal sent by the encoder 40 from the encoder 40 to calculate the distance the package 70 moves on the conveyor belt, i.e., the position of the package 70 in the length direction of the conveyor belt, based on the positioning signal.

The conveyor controller 90 may control the conveyor 10 to start/stop based on the start/stop command.

Specifically, referring to fig. 1, three areas of a loading area 11, a discharging area 12 and an abnormal handling area 13 may be divided on the surface of a conveyor belt of the belt conveyor 10, the loading area 11 is disposed at one end of the conveyor belt, the discharging area 12 is disposed at the other end of the conveyor belt, the abnormal handling area 13 is disposed between the loading area 11 and the discharging area 12, and the mounting bracket 20 is disposed between the abnormal handling area 13 and the loading area 11. It should be noted that, in some cases, the exception handling area 13 may also be moved to overlap with the unloading area 12, which is not limited by the embodiment of the present application.

Further, when the package 70 is placed on the surface of the conveyor belt 14, the surface of the package 70 having the sheet 71 is required to be faced upwards, and when the package 70 moves to the shooting range of the shooting device 30, the shooting device 30 can identify the sheet 71 in the package 70, so as to realize code scanning and obtain the sheet information of the package.

In an embodiment of the present application, the package 70 is positioned as the package 70 is transported on the belt conveyor 10 to determine the location information of the package 70 on the conveyor belt 14 for tracking and positioning of the package 70. For example, if the belt conveyor 10 is transporting goods destined for Beijing, a package 70 is found to be destined for Shanghai after a sweep, then the location information of the package 70 on the conveyor 14 needs to be known so that the package 70 can be removed by a processor based on the location information before being transported to the discharge area 12.

In particular, the specific manner in which the present embodiments utilize the package tracking system to determine the location information of a package on the conveyor 14 is as follows:

referring to fig. 5, the package 70 is fixed in position in the width direction of the conveyor belt 14 while being transported on the conveyor belt 14. Assuming that the photographing visual range of the photographing apparatus 30 is an area B, which may contain the full width of the conveyor belt 14, when the sheet 71 on the package 70 is moved entirely into the area B, the photographing apparatus 30 may photograph a sheet image including the sheet 71 and the full width of the conveyor belt 14 and transmit the sheet image to the computing apparatus 50.

After receiving the face sheet image, the computing device 50 may perform a code scanning operation on the face sheet therein to obtain face sheet information of the package 70, and, because the area of the face sheet 71 is generally smaller, the computing device 50 may use the center point of the face sheet 71 as a location point of the package 70, and determine, through an image recognition processing technology, a first coordinate of the center point of the face sheet 71 in the width direction X of the conveyor belt 14, where the first coordinate may be an origin of coordinates on either side in the width direction of the conveyor belt 14.

Further, the computing device 50 may obtain a first positioning signal from the encoder 40 at a first time when receiving the face sheet image, and obtain a second positioning signal at a next second time, multiply a difference between the second positioning signal and the first positioning signal by a preset coefficient corresponding to the encoder 40, and obtain a distance between the first time and the second time when the package 70 moves on the conveyor belt 14, and obtain a second coordinate of the package 70 in the length direction of the conveyor belt according to the distance between the first time and the second time when the center point of the area B is used as the origin of coordinates. And over time, the value of the second coordinate will be updated as the package 70 continues to move on the conveyor belt 14.

Specifically, based on the size of puck 42 of encoder 40, each encoder 40 has a corresponding fixed mechanical change ratio and radius of rotation coefficient, and the predetermined coefficients include the fixed mechanical change ratio and radius of rotation coefficient of encoder 40. The difference between the second positioning signal and the first positioning signal is multiplied by a preset coefficient to obtain the moving distance of the package 70 in the length direction of the conveyor belt, and thus the second coordinate is obtained. And over time, the value of the second coordinate will be updated as the package 70 continues to move on the conveyor belt 14.

Based on the first and second coordinates, computing device 50 may obtain location information for the package on conveyor 14. And over time, the computing device 50 may continue to calculate new location information for the package 70 via the encoder 40 over time to achieve a continuous update of the location information for the package 70 on the conveyor belt 71.

In the embodiment of the application, in the process of package feeding, excessive labor is not required for the placement form of packages.

If a plurality of packages are placed next to each other in the width direction of the conveying belt, because the surface sheets with smaller areas in the packages are regarded as the position points of the packages in the embodiment of the application, the computing equipment determines the respective different width direction coordinates of each package through an image recognition processing technology based on the surface sheet images comprising the complete width of the conveying belt and the surface sheets corresponding to the plurality of packages, so as to distinguish the packages placed next to each other in the width direction.

In addition, if a plurality of packages are placed next to each other in the length direction of the conveying belt, the small area of the surface sheet image is regarded as the position point of the package, positioning signals output by the encoder at different moments are calculated, and the lengths of different distances of each package moving on the conveying belt from the shot surface sheet image can be calculated, so that the packages placed next to each other in the length direction are distinguished.

Therefore, in the embodiment of the application, when the package passes through the shooting area of the shooting equipment on the belt conveyor, the computing equipment can receive the face sheet image of the package shot by the shooting equipment and determine the position of the package in the width direction of the conveyor belt through an image recognition processing technology, and the computing equipment can determine the moving distance of the package on the conveyor belt in real time according to the positioning signal sent by the encoder in real time, so that the position of the package in the length direction of the conveyor belt is obtained, and the position information of the package on the conveyor belt can be accurately calculated by combining the two positions. The problems of low efficiency and high error rate in the manual collecting link are solved, and the cost of production equipment is reduced. In addition, in the feeding process of the packages, the arrangement mode of the packages on the conveying belt can be various, and even if the packages are continuously or side by side, the system can rapidly and accurately distinguish the position of each package. The placement form of the package is simplified, so that the loading personnel or equipment do not need to spend excessive time on the placement of the package, and the flexibility and the efficiency of the collection scheme are improved.

Referring to fig. 1, a package tracking system provided in an embodiment of the present application includes: belt conveyor 10, mounting bracket 20, photographing apparatus 30, encoder 40, and computing apparatus 50; the mounting bracket 20 is provided on the belt conveyor 10, the photographing apparatus 30 is provided on the mounting bracket 20, and the photographing apparatus 30 faces the conveyor belt 14 of the belt conveyor 10; the encoder 40 includes: pinch rollers 42, encoder 40 is disposed on belt conveyor 10, and pinch rollers 42 are in contact with the surface of conveyor belt 14; the encoder 40, the photographing device 30 and the computing device 50; the belt conveyor 10 is used for conveying the package 70 through the conveying belt 14 and driving the pinch roller 42 to rotate, and a surface sheet 71 is arranged on the surface of the package 70 facing the photographing device 30; the photographing device 30 is configured to photograph a face sheet image of at least one package 70 and send the face sheet image to the computing device 50; wherein the face sheet image comprises an image of a face sheet of the package 70; encoder 40 is configured to generate a positioning signal during rotation of puck 42 and transmit the positioning signal to computing device 50; the computing device 50 is configured to track the package 70 based on the locating signal and the face sheet image.

The belt conveyor 10 is a machine that is driven by friction to transport materials in a continuous manner, and is composed mainly of a frame, a conveyor belt 14, carrier rollers, tensioners, gears, and the like. The belt conveyor 10 may deposit packages on a length of conveyor belt 14 to form a package transfer path from an initial loading point to a final unloading point.

Referring to fig. 3, an encoder 40 may be provided on the belt conveyor 10, and further referring to fig. 4, fig. 4 is a partially enlarged schematic view of region a in fig. 3, wherein the encoder 40 includes an encoder bracket 41 and a pinch roller 42, one end of the encoder bracket 41 is provided on the belt conveyor 10, the other end of the encoder bracket 41 is connected to the pinch roller 42, and the pinch roller 42 is in contact with the surface of the conveyor belt 14.

Specifically, the encoder 40 is a device that compiles and converts signals (such as bit streams) or data into a signal form that can be used for communication, transmission and storage, and the encoder 40 can convert the displacement into a periodic electrical signal, and then convert the electrical signal into counting pulses, where the number of pulses indicates the magnitude of the displacement.

Referring to fig. 3, the computing device 50 may be a personal computer disposed under the belt conveyor 10, and the computing device 50 may be connected with the encoder 40 and the photographing device 30 by wire/wireless so as to acquire information transmitted from the encoder 40 and the photographing device 30. In addition, when the encoder 40 and the photographing device 30 have wireless data transmission functions, the computing device 50 may also be a remote server or a remote PC, and the computing device 50 may be wirelessly connected with the encoder 40 and the photographing device 30, so as to obtain information sent by the encoder 40 and the photographing device 30

The computing device 50 acquires a face sheet image including the face sheet 71 from the photographing device 30, and determines the position of the package 70 in the width direction of the conveyor belt from the face sheet image. The computing device 50 may also obtain the positioning signal sent by the encoder 40 from the encoder 40 to calculate the distance the package 70 moves on the conveyor belt, i.e., the position of the package 70 in the length direction of the conveyor belt, based on the positioning signal. And combining the position in the length direction and the position in the width direction to obtain the position information of the package on the conveying belt.

In summary, the package tracking system provided by the application comprises a belt conveyor, a mounting bracket, shooting equipment, an encoder and computing equipment; the mounting bracket is arranged on the belt conveyor, the shooting equipment is arranged on the mounting bracket, and the shooting equipment faces the conveying belt of the belt conveyor; the encoder includes: the pinch roller and the encoder are arranged on the belt conveyor, and the pinch roller is contacted with the surface of the conveyor belt; the encoder, the shooting device and the computing device are in communication connection; the shooting device is used for shooting at least one face sheet image of the package and sending the face sheet image to the computing device; wherein the face sheet image includes the contents of the wrapped face sheet; the encoder is used for generating a positioning signal in the rotating process of the pinch roller and sending the positioning signal to the computing equipment; the computing device is configured to track the package based on the locating signal and the face sheet image. According to the application, when the package passes through the shooting area of the shooting equipment on the belt conveyor, the computing equipment can receive the face sheet image of the package shot by the shooting equipment and determine the position of the package in the width direction of the conveyor belt through the image recognition processing technology, and the computing equipment can determine the moving distance of the package on the conveyor belt in real time according to the positioning signal sent by the encoder for the package in real time, so that the position of the package in the length direction of the conveyor belt is obtained, and the position of the package on the conveyor belt can be accurately calculated by combining the two positions, so that the tracking of the package is realized. The problems of low efficiency and high error rate in the manual collecting link are solved, and the cost of production equipment is reduced. In addition, in the feeding process of the packages, the arrangement mode of the packages on the conveying belt can be various, and even if the packages are continuously or side by side, the system can rapidly and accurately distinguish the position of each package. The placement form of the package is simplified, so that the loading personnel or equipment do not need to spend excessive time on the placement of the package, and the flexibility and the efficiency of the collection scheme are improved.

Optionally, referring to fig. 6, a schematic diagram of a face sheet image is shown in an embodiment of the present application. The computing device 50 includes: the face sheet checking module is used for acquiring package information according to the face sheet image 80 and determining whether the package information accords with preset conditions; a first tracking module is used to determine the location information of the package 70 on the conveyor 14 based on the positioning signals.

Alternatively, referring to FIG. 6, the drape image 80 includes a drape and a conveyor belt 14 having a full width; the first tracking module includes: a first coordinate determination unit for determining a first coordinate of the sheet in the width direction of the conveyor belt 14 based on the sheet image 80; a second coordinate determination unit configured to determine a second coordinate of the sheet in the length direction of the conveyor belt 14 based on the positioning signal; a position determining unit for determining position information of the package 70 on the conveyor 14 based on the first and second coordinates.

Specifically, referring to fig. 6, the direction Y is the longitudinal direction of the conveyor belt 14, and is also the transport direction of the packages 70 on the conveyor belt 14, and the direction X is the width direction of the conveyor belt 14. And because the area of the sheet 71 is generally small, the computing device 50 may take the center point of the sheet 71 as the location point of the package 70, and determine, by image recognition processing techniques, the first coordinate of the center point of the sheet 71 in the width direction X of the conveyor belt 14, which may be the origin of coordinates on either side of the width direction of the conveyor belt 14. Additionally, in some other cases, computing device 50 may also take entire sheet 71 as a location point for package 70.

Further, referring to fig. 5, at a first moment when the computing device 50 receives the face sheet image, a first positioning signal may be obtained from the encoder 40, and at a next second moment, a second positioning signal may be obtained, a difference between the second positioning signal and the first positioning signal is multiplied by a preset coefficient corresponding to the encoder 40, a distance between the first moment and the second moment, in which the package 70 moves on the conveyor belt 14 may be obtained, and a center point of the area B is taken as an origin of coordinates, and according to the distance between the first moment and the second moment, in which the package 70 moves on the conveyor belt 14, a second coordinate of the package 70 in the length direction of the conveyor belt may be obtained. And over time, the value of the second coordinate will be updated as the package 70 continues to move on the conveyor belt 14.

Based on the first and second coordinates, the computing device 50 may obtain information about the location of the package 70 on the conveyor belt 14. And the position of the package 70 in the width direction of the conveyor belt 14 remains fixed over time, the computing device 50 may continue to calculate new position information of the package 70 over time through the encoder 40 to achieve continuous updating of the position information of the package 70 on the conveyor belt 71.

Optionally, the position determining unit is specifically configured to obtain a first positioning signal at a first moment when the face-sheet image is shot; after the first positioning signal is acquired, acquiring a second positioning signal sent by an encoder; and multiplying the difference between the second positioning signal and the first positioning signal by a preset coefficient to obtain a second coordinate.

In the embodiment of the present application, the difference between the second positioning signal and the first positioning signal is the total number of pulses in the time period between the first time when the computing device 50 receives the face sheet image 80 and the second time when the package 70 is currently located. Specifically, based on the size of puck 42, each encoder 40 has a corresponding fixed mechanical change ratio and radius of rotation coefficient, and the predetermined coefficients comprise the fixed mechanical change ratio and radius of rotation coefficient of encoder 40. The difference between the second positioning signal and the first positioning signal is multiplied by a preset coefficient to obtain a second coordinate of the package 70 in the length direction of the conveyor belt. And over time, the value of the second coordinate will be updated as the package 70 continues to move on the conveyor belt 14.

Optionally, referring to fig. 2, the system further includes: a conveyor belt controller 90; the conveyor controller 90 is communicatively connected to the computing device 50; the computing device 50 is also for: and controlling the conveyor belt 14 to stop when the package information does not meet the preset condition and the position information of the package 70 on the conveyor belt 14 is at the first processing position.

The computing device 50 is specifically configured to send a stop instruction to the conveyor controller 90 of the conveyor 14; the conveyor controller 90 is used to control the movement of the conveyor belt 14 and to control the stopping of the conveyor belt 14 in accordance with a stop command.

In an embodiment of the present application, the conveyor controller 90 may control the start/stop of the conveyor 10 in accordance with the start/stop command. The start/stop instructions may be issued by the computing device 50 or by a remote controller. In addition, the conveyor controller 90 may be provided with a lever, and an operator may control the conveyor controller 90 to generate start/stop instructions through the lever.

Further, the computing device 50 may also have pre-stored therein pre-set package information, which may be associated with a warehouse in which the package tracking system is located. For example, the preset package information may be information of a destination, a commodity class, a specification, and the like. If the package information of the package is matched with the preset package information, the package information is considered to accord with the preset condition; if the package information of the package is not matched with the preset package information, the package information is considered to be inconsistent with the preset condition.

For example, if the current warehouse only delivers goods destined for the north-China area, the preset package information may include the names of the big cities in the north-China area by scanning the face sheets in the face sheet image of the package. The package information of the package can be extracted, the package information comprises the destination of the package, and when the destination of the package information of one package is not matched with the place name contained in the preset package information, the package can be considered as an abnormal package, and the package needs to be conveyed to an abnormal processing area of the conveying belt for processing.

Specifically, referring to fig. 1, coordinates in the anomaly handling zone 13 on the conveyor 14 may be a first processing location, and the computing device 50 may send a stop instruction to the conveyor controller 90 if the location information wrapped on the conveyor 14 is at the first processing location; the conveyor controller 90 is configured to control the stopping of the conveyor 14 in response to a stop command, and the operator may remove the abnormal parcel from the exception handling zone 13.

Optionally, referring to FIG. 7, a schematic diagram of another package tracking system of an embodiment of the present application is shown. A side-emitting light bar 100 is further arranged on the side edge of the conveying belt 14, and the side-emitting light bar 100 comprises a plurality of light sources 101; the side-emitting light bar 100 is connected with the conveyor belt controller 90; the conveyor controller 90 is configured to control the light source 101 corresponding to the first processing position in the side light-emitting light bar 100 to emit light when the conveyor 14 is controlled to stop according to the stop instruction.

In the embodiment of the present application, a side-emitting light bar 100 is further disposed in the long side edge of the conveyor belt 14, where the side-emitting light bar 100 includes a plurality of light sources 101, specifically, in an embodiment, the plurality of light sources 101 may be arranged in three rows and columns, where the conveyor belt 14 may be divided into three equal parts in the width direction, for three light sources 101 located in the same column in the side-emitting light bar 100, the light source 101 near the control conveyor belt 14 may be used to represent one non-middle area (e.g., the area 131 in the abnormality processing area 13) in the three equal parts, the light source 101 far from the control conveyor belt 14 may be used to represent another non-middle area (e.g., the area 133 in the abnormality processing area 13) in the middle light source 101 may be used to represent the middle area (e.g., the area 132 in the abnormality processing area 13) in the three equal parts.

The light sources 101 may be warning lights, which are used for playing a role in warning, and the coordinates in the abnormal handling area 13 on the conveyor belt 14 may include a first handling position, when the position information of the package 70 on the conveyor belt 14 is at the first handling position, the conveyor belt controller 90 may control the conveyor belt 14 to stop according to a stop instruction, and determine a row of light sources 101 corresponding to the side-emitting light bar 100 in the length direction according to the length direction coordinates in the position information of the package 70, and determine the light sources 101 corresponding to the width direction coordinates in the row of light sources 101 according to the width direction coordinates in the position information of the package 70, so as to control the light sources 101 corresponding to the width direction coordinates to emit light or continuously flash, so that an operator can quickly find abnormal packages at the first handling position, and improve the handling efficiency of the abnormal packages.

For example, referring to fig. 7, when an abnormal parcel D enters the zone 133 in the abnormal handling zone 13, the conveyor belt controller 90 may control the light source C corresponding to the position information of the abnormal parcel D to emit light or to continuously flash.

Optionally, the computing device is further configured to: acquiring first configuration information, wherein the first configuration information comprises: acquiring first configuration information, wherein the first configuration information comprises: a first courier identifier; determining a first target express party identifier corresponding to the package according to the package information; and sending the stopping instruction to the conveyor belt controller under the condition that the first target express party identifier is not matched with the first express party identifier and the position information of the package on the conveyor belt is at a second processing position.

In an application scenario, there may be packages for multiple couriers at a transfer point, and then each courier provides one of the systems. Or, in the package collecting and transporting process, each belt conveyor can have a corresponding express party identifier, that is, one belt conveyor is specified to be only used for transporting packages with the express party identifier corresponding to the belt conveyor, and if the package information of one package has other express party identifiers, the package is considered to be an abnormal package, and the package needs to be picked up from the belt conveyor. For example, if one express company uses one or more conveyor belts, a transport error may occur if a parcel of one express company a is placed on a conveyor belt of express company B. Therefore, the embodiment of the application carries out error reporting prompt on the situation.

In one case, the package information may correspond to an express party identifier of an express company, where the express party identifier may be a name of a merchant or a manufacturer, and then the express party identifier to which the transported package belongs may be determined according to the correspondence between the package information and the express party identifier. Specifically, for example, the computing device may upload the package information to the server, and the server queries the express delivery party identifier of the package information and then returns the express delivery party identifier to the computing device.

In another case, the package information of the package has the express party identifier of the express party to which the package belongs, and the express party identifier can be directly obtained according to the package information.

Specifically, the belt conveyor may receive, via the computing device, first configuration information for the belt conveyor prior to transporting the package, the first configuration information specifying what courier the belt conveyor may transport the package. In a specific transportation process, the computing equipment scans codes of the face sheets in the face sheet images of the packages. The package information of the packages can be extracted, and further according to the package information, a first target express party identifier corresponding to the packages is determined, when the first target express party identifier of one package is not matched with the first express party identifier, the packages can be considered to be packages of other express parties, are abnormal packages, and the packages need to be conveyed to an abnormal processing area of the conveying belt for processing. When the first target express party identifier of a package is matched with the first express party identifier, the package can be considered to be the package of the express party corresponding to the belt conveyor, and is a normal package, and the normal package is transported continuously.

Optionally, the computing device is further configured to: taking second configuration information, wherein the second configuration information comprises: a plurality of second courier identifiers, and a correspondence between the second courier identifiers and a third processing location; determining a second target express party identifier corresponding to the package according to the package information; when the second target express delivery party identifier is matched with a second express delivery party identifier corresponding to a third processing position and the position information wrapped on the conveying belt is at the third processing position, controlling a light source at the third processing position to display the first color; and under the condition that the second target express delivery party identifier is not matched with the second express delivery party identifier corresponding to the third processing position and the position information of the package on the conveying belt is at the third processing position, controlling the light source at the third processing position to display in the second color.

In addition, under another implementation condition, when the second target express party identifier is matched with the second express party identifier corresponding to the third processing position and the position information wrapped on the conveyer belt is in the third processing position, a first lamp source control instruction is sent to the conveyer belt controller; and sending a second lamp source control instruction to the conveyor belt controller under the condition that the second target express party identifier is not matched with the second express party identifier corresponding to the third processing position, and the position information of the package on the conveyor belt is located at a coordinate beyond the third processing position. The conveyor belt controller is also used for controlling the lamp sources corresponding to the third processing position of the package to display a first color according to the first lamp source control instruction; and controlling the light source corresponding to the current position information of the package to display a second color according to the second light source control instruction.

In another application scenario, a transfer point may have packages of multiple express companies, then the multiple express companies share a belt conveyor, the belt conveyor can transport packages of multiple express parties, namely, for multiple express parties, multiple corresponding processing areas can be divided on a conveyor belt of the belt conveyor, in a specific transportation process, a computing device can extract package information of the packages by scanning a face sheet in a face sheet image of the packages, and further extract a second target express party identifier of the packages in the package information.

When the second target express party identifier is matched with the second express party identifier of a third processing position, the computing device can send a first light source control instruction to the conveyor belt controller under the condition that the package is positioned at the third processing position corresponding to the express party identifier, so that the conveyor belt controller can control the light source corresponding to the third processing position of the package to display a first color according to the first light source control instruction, and the package is reminded of being processed by a collecting personnel nearby the third processing position.

When the second target express party identifier of a package is not matched with the second express party identifier of the third processing position, and the position information of the package on the conveying belt is in the third processing position, the package is not the package of the express party, and a reminding person nearby the third processing position is required to be reminded to remind the package taker not to process the package.

The first color and the second color may be different colors, for example, the first color is green and the second color is red.

In addition, the second light source control instruction may be sent to the conveyor belt controller when the package identifier and the express party identifier in the package information are matched with the corresponding relationship, and the position information of the package on the conveyor belt is located at a coordinate beyond a third processing position corresponding to the package. When the correspondence between the second target express party identifier of a package and a certain express party identifier in the second configuration information is matched, but the package is not located at the third processing position corresponding to the express party identifier, the computing device may send a second light source control instruction to the conveyor belt controller, so that the conveyor belt controller controls the light source corresponding to the current location information of the package to display the second color according to the second light source control instruction. To alert the receiving personnel in the vicinity of the package that the package has not arrived at the processing area and to wait.

In addition, the conveyor belt controller can control the lamp source corresponding to the third processing position of the package to light according to the first lamp source control instruction; and controlling the light source corresponding to the current position information of the package to turn off the light according to the second light source control instruction, which is not limited in the embodiment of the application.

For example, referring to fig. 8, assuming that the belt conveyor 10 can transport packages of the courier 1 and the courier 2, a first processing area 141 for processing the packages of the courier 1 may be provided on the conveyor belt 14, and a second processing area 142 for processing the packages of the courier 2 may be provided at another position of the conveyor belt 14.

When the package E belonging to the express delivery party 1 enters the first processing area 141, according to the position information of the package E, the light source F in the side-emitting light bar 100 can be displayed according to the first color corresponding to the first light source control instruction, so as to remind the collecting personnel near the first processing area 141 to process the package E.

When the package H belonging to the express delivery party 2 enters the second processing area 142, according to the position information of the package H, the light source G in the side-emitting light bar 100 can be displayed according to the first color corresponding to the first light source control instruction, so as to remind the collecting personnel near the second processing area 142 to process the package H.

When a package I is not in the first processing area 141 and the second processing area 142, according to the position information of the package I, the light sources J in the side-emitting light bar 100 can be displayed according to the second color corresponding to the second light source control instruction, so as to remind the receiving personnel near the package I that the package I has not reached the corresponding processing area, and wait.

Optionally, the computing device is further configured to: obtaining boxing information corresponding to the filling boxes, wherein the boxing information comprises: package information for one or more packages to be boxed; extracting package information in the face sheet image, matching the package information with the boxing information, and sending a stop instruction to a conveyor belt controller under the condition that the package information does not exist in the boxing information and the position information of the package on the conveyor belt is at a fourth processing position;

the conveyor belt controller is also used for controlling the movement of the conveyor belt and controlling the stop of the conveyor belt according to the stop instruction.

In one practical scenario, referring to fig. 9, a belt conveyor 10 is required to transport a plurality of smaller packages 70 belonging to the same batch of orders, the plurality of packages 70 being placed in sequence in a loading zone 11, and after the packages 70 reach an unloading zone 12, they are collectively packed into a larger tote K for delivery to the order requester.

In the embodiment of the application, the computing device may acquire the boxing information corresponding to the filling box, where the boxing information includes: package information for one or more packages to be boxed; from the bin packing information, it is known which packages are to be packed into the packing bin.

In one implementation manner of the embodiment of the application, before transporting a plurality of packages, the computing device may acquire the boxing information corresponding to the filling boxes from the remote server, after acquiring the boxing information corresponding to the filling boxes, may place the packages on the conveyor belt for transportation, during the transportation, the computing device extracts the package information in the face sheet image of each package, matches the package information with the boxing information, determines that the package is an abnormal package and cannot be filled into the filling boxes if the package information does not exist in the boxing information, and sends a stop instruction to the conveyor belt controller when the position information of the package on the conveyor belt is at a fourth processing position (coordinates in the area L) so as to control the conveyor belt to stop, so that a receiving person can remove the abnormal package from the conveyor belt.

In another implementation of the embodiment of the present application, before the packages are transported, the filling box with the order attached thereto may be placed on the conveyor belt for transportation, and after the other packages are placed on the filling box, the filling box includes the box filling information in the order. In the conveying process, the computing equipment can firstly acquire an order image of a filling box, can acquire boxing information corresponding to the filling box after scanning codes of the order image of the filling box, then, the computing equipment extracts package information in the face order image of each package, matches the package information with the boxing information, determines that the package is an abnormal package and cannot be filled into the filling box when the package information does not exist in the boxing information, and sends a stop instruction to a conveyor controller when the position information of the package on the conveyor belt is at a fourth processing position (coordinates in an area L) so as to control the conveyor belt to stop, so that a collecting person can move the abnormal package out of the conveyor belt.

For the two implementations, if package information of the package exists in the boxing information, the conveyer belt normally transports the package, and the transportation of the package is continued.

Alternatively, the number of the belt conveyors 10 and the encoders 40 is plural, and the number of the belt conveyors 10 and the encoders 40 is the same; a plurality of belt conveyors 10 are connected.

For example, referring to FIG. 10, a schematic diagram of another package tracking system of an embodiment of the present application is shown. The parcel tracking system comprises a first belt conveyor 15, a second belt conveyor 16 and a third belt conveyor 17, wherein a first encoder 401 and a mounting bracket 20 are arranged on the first belt conveyor 15, a shooting device 30 and a light source 60 are arranged on the mounting bracket 20, a second encoder 402 is arranged on the second belt conveyor 16, and a third encoder 403 is arranged on the third belt conveyor 17. A diverting belt conveyor 110 is arranged between the output end of the first belt conveyor 15 and the input ends of the second belt conveyor 16 and the third belt conveyor 17, and a communication connection is arranged between the general control computing device 501 and the general control conveyor controller 901, and the photographing device 30, the first encoder 401, the second encoder 402, the third encoder 403 and the general control computing device 501 are in communication connection. The system may control the operation of the first belt conveyor 15, the second belt conveyor 16, and the third belt conveyor 17 through the master computing device 501 and the master conveyor controller 901.

Specifically, it is assumed that after a package 70 passes through the photographing device 30 and photographs an image of a surface sheet on the first belt conveyor 15, the master control computing device 501 determines that the package 70 needs to be conveyed to the second belt conveyor 16 according to the processing of the image of the surface sheet, at this time, the master control computing device 501 continuously receives the positioning signal returned by the first encoder 401, calculates the real-time position of the package 70 on the first belt conveyor 15 (i.e. the distance the package 70 moves from the photographing device 30), and when the package 70 reaches the output end of the first belt conveyor 15, the real-time position of the package 70 on the first belt conveyor 15 is the position information of the output end, at this time, the first belt conveyor 15 may push the package 70 to the steering belt conveyor 110, and the master control belt controller 901 controls the steering belt conveyor 110 to adjust the conveying direction of the package 70 to be conveyed to the second belt conveyor 16, and then the master control computing device 501 continuously receives the positioning signal returned by the second encoder 402, and calculates the real-time position of the package 70 on the second belt conveyor 16 until the package 70 is conveyed to the completion.

Optionally, referring to fig. 2, the system further includes: a light source 60; the light source 60 is disposed on the mounting bracket 20 with the light source 60 facing the conveyor belt of the belt conveyor 10. The light source 60 can be turned on in a dark environment of the system to improve the accuracy of recognizing the face sheet 71 by the photographing apparatus 30. The light source 60 may be a normally-bright light source or a flash light source based on a certain frequency.

Optionally, referring to fig. 2, the system further includes: a support bracket 120 and a plurality of universal wheels 121; the supporting bracket is arranged on one surface of the belt conveyor 10, which is away from the conveying belt 14, and the universal wheels 121 are arranged on one surface of the supporting bracket 120, which is away from the belt conveyor 10; the computing device 50 is disposed on a side of the support bracket 120 facing away from the belt conveyor 10.

In the embodiment of the present application, the support bracket 120 is used to support the belt conveyor 10, and to maintain the belt conveyor 10 at a certain height for easy loading. A plurality of universal wheels 121 may be provided on the side of the support bracket 120 facing away from the belt conveyor 10 to facilitate flexible motorized movement of the belt conveyor 10 to the operative position by an operator. Positioning the computing device 50 on the side of the support bracket 120 facing away from the belt conveyor 10 may increase the compactness of the overall system and reduce the footprint of the system.

Optionally, referring to fig. 2, the system further includes: a touch screen 130; the touch screen 130 is disposed on the mounting bracket 20; a communication connection between touch screen 130 and computing device 50; the touch screen 130 is used to receive location information transmitted by the computing device 50 and to display the location information.

In the embodiment of the present application, in order to improve the visual operation degree of the package tracking system, a touch screen 130 may be further installed on the installation support 20, and the touch screen 130 may display the current position information of each package 70 on the conveyor belt 14 in real time, so that the operator can intuitively know the information.

In addition, the touch screen 130 may be further in communication with the conveyor controller 90, and the touch screen 130 may display a corresponding operation interface, through which an operator may control the conveyor controller 90 to generate start/stop instructions.

Optionally, referring to fig. 11, the system further includes: a light shield 140; the light shield 140 is disposed on the mounting bracket 20.

In the embodiment of the present application, the light shielding cover 140 made of opaque material may be disposed on the mounting bracket 20, and the photographing device 30 and the light source 60 disposed on the mounting bracket 20 are disposed inside the light shielding cover 140, where the light shielding cover 140 is mainly used to ensure that the photographing device 30 is in a darker working environment, and avoid injury of the light source 60 to eyes of an operator.

Optionally, referring to fig. 12, the at least one package 70 includes: a plurality of packages 70 are serially linked back and forth along the conveying direction of the conveyor 14. Wherein a plurality of packages 70 may be connected adjacent one another in sequence along the direction of conveyance of conveyor 14 with the facesheets of each package 70 facing upwardly.

With further reference to fig. 13, the at least one package includes: at least one of a plurality of packages connected side by side along the non-conveying direction of the conveying belt. Wherein a plurality of packages 70 may be connected adjacent one another in sequence along the width of the conveyor 14 with the facesheets of each package 70 facing upwardly.

In summary, the package tracking system provided by the present application includes: the device comprises a belt conveyor, a mounting bracket, shooting equipment, an encoder and computing equipment; the mounting bracket is arranged on the belt conveyor, the shooting equipment is arranged on the mounting bracket, and the shooting equipment faces the conveying belt of the belt conveyor; the encoder includes: the pinch roller and the encoder are arranged on the belt conveyor, and the pinch roller is contacted with the surface of the conveyor belt; the encoder, the shooting device and the computing device are in communication connection; the shooting device is used for shooting at least one face sheet image of the package and sending the face sheet image to the computing device; wherein the face sheet image includes the contents of the wrapped face sheet; the encoder is used for generating a positioning signal in the rotating process of the pinch roller and sending the positioning signal to the computing equipment; the computing device is configured to track the package based on the locating signal and the face sheet image. In the technical scheme, the position coordinates of each package on the conveying line are detected through the line laser transmitters, the line laser transmitters can detect whether packages exist on the conveying line or not and output the position coordinates of the packages, but the line laser transmitters cannot identify the packages which are continuously adjacent to each other, so that the problem of high missing rate is solved; in another technical scheme, a multi-section distance pulling machine can be adopted, the multi-section distance pulling machine can separate the distance between the adjacent packages by pulling the plurality of packages, so that the packages can obtain the position coordinates of the packages on the conveying line after the code scanning, but the multi-section distance pulling machine can only enable the packages to be placed in a single row, and the scheme has the problems of high cost and poor flexibility. In the embodiment of the application, when the package passes through the shooting area of the shooting equipment on the belt conveyor, the computing equipment can receive the face sheet image of the package shot by the shooting equipment and determine the position of the package in the width direction of the conveyor belt through an image recognition processing technology, and the computing equipment can determine the moving distance of the package on the conveyor belt in real time according to the positioning signal sent by the encoder for the package in real time, so that the position of the package in the length direction of the conveyor belt is obtained, and the position information of the package on the conveyor belt can be accurately calculated by combining the two positions, so that the tracking of the package is realized. The problems of low efficiency and high error rate in the manual collecting link are solved, and the cost of production equipment is reduced. And in the feeding process of the package, the setting mode of the package on the conveyer belt can be multiple, even the package is continuous or is close to each other side by side, the system can rapidly and accurately distinguish the position of each package, the package can be placed at will, only one side of the surface is required to face the camera, the placing mode of the package is simplified, the feeding personnel or equipment is not required to put the package with excessive effort, the tracking accuracy is improved, and the flexibility and the efficiency of the collecting scheme are improved.

Referring to fig. 14, a flowchart of steps of one system-side package tracking method embodiment of the present application is shown.

Step 201, the shooting device shoots at least one face sheet image of a package and sends the face sheet image to the computing device; wherein the face sheet image includes the contents of the wrapped face sheet.

In the embodiment of the present application, referring to fig. 2, the photographing apparatus 30 may perform photographing operation on the sheet 71 of the package 70 on the belt conveyor 10, thereby acquiring a sheet image of the package 70. The face sheet image describes information such as the name, type, destination, etc. of the package 70. The light source 60 disposed near the photographing apparatus 30 may be turned on in a dark environment to improve the accuracy of recognition of the face sheet 71 by the photographing apparatus 30.

Step 202, the encoder sends a positioning signal generated by the rotation of the puck to the computing device.

In the embodiment of the application, when the conveyer belt moves, the pinch roller of the encoder can be driven to rotate, and the encoder can send a positioning signal generated by the rotation of the pinch roller to the computing equipment so that the computing equipment can calculate the walking length distance of the conveyer belt according to the positioning signal.

In step 203, the computing device tracks the package according to the positioning signal and the menu image.

In the embodiment of the application, the computing device can acquire the face sheet image comprising the face sheet from the shooting device and determine the position of the package in the width direction of the conveying belt according to the face sheet image. The computing device can also acquire the positioning signal sent by the encoder from the encoder, so as to calculate the distance length of the package moving on the conveyor belt, namely the position of the package in the length direction of the conveyor belt, according to the positioning signal.

According to the positions of the conveying belt in the width direction and the length direction, the computing equipment can obtain the position information of the package on the conveying belt. And according to the time lapse, the computing equipment can continuously calculate new position information of the package in the time lapse process through the encoder so as to continuously update the position information of the package on the conveying belt.

In summary, the package tracking method provided by the application includes: shooting at least one parcel sheet image by shooting equipment, and sending the parcel sheet image to the computing equipment; wherein the face sheet image includes the content of the wrapped face sheet; the encoder sends a positioning signal generated by the rotation of the pinch roller to the computing device; the computing device tracks the package based on the locating signal and the face sheet image. According to the application, when the package passes through the shooting area of the shooting equipment on the belt conveyor, the computing equipment can receive the face sheet image of the package shot by the shooting equipment and determine the position of the package in the width direction of the conveyor belt through the image recognition processing technology, and the computing equipment can determine the moving distance of the package on the conveyor belt in real time according to the positioning signal sent by the encoder for the package in real time, so that the position of the package in the length direction of the conveyor belt is obtained, and the position information of the package on the conveyor belt can be accurately calculated by combining the two positions. The problems of low efficiency and high error rate in the manual collecting link are solved, and the cost of production equipment is reduced. In addition, in the feeding process of the packages, the arrangement mode of the packages on the conveying belt can be various, and even if the packages are continuously or side by side, the system can rapidly and accurately distinguish the position of each package. The placement form of the package is simplified, so that the loading personnel or equipment do not need to spend excessive time on the placement of the package, and the flexibility and the efficiency of the collection scheme are improved.

Referring to FIG. 15, a flowchart of steps of a method embodiment of a package tracking method of the present application is shown, which may be applied to a computing device in a package tracking system.

Step 301, acquiring a face sheet image of at least one package shot by shooting equipment; the at least one parcel is placed on a conveyor belt, and the face sheet image includes face sheet content of a face sheet of the parcel.

In an embodiment of the present application, referring to fig. 2, the photographing apparatus 30 may perform a photographing operation on the sheet 71 of the package 70 on the belt conveyor 10, thereby acquiring a sheet image of the package 70, and transmitting the sheet image to the computing apparatus 50. The face sheet image describes information such as the name, type, destination, etc. of the package 70. The light source 60 disposed near the photographing apparatus 30 may be turned on in a dark environment to improve the accuracy of recognition of the face sheet 71 by the photographing apparatus 30.

Step 302, obtaining a positioning signal sent by an encoder; the positioning signal of the encoder is generated in the rotation process of the pressing wheel of the encoder, and the pressing wheel of the encoder is contacted with the conveying belt.

Step 303, tracking the package according to the positioning signal and the face sheet image.

In the embodiment of the application, the computing device can acquire the face sheet image comprising the face sheet from the shooting device and determine the position of the package in the width direction of the conveying belt according to the face sheet image. The computing equipment can also acquire the positioning signal sent by the encoder from the encoder, so as to calculate the moving distance length of the package on the conveying belt, namely the position of the package in the length direction of the conveying belt, according to the positioning signal, and realize the tracking of the package.

Optionally, step 303 may specifically include:

step 3031, acquiring package information according to the face sheet image, and determining whether the package information meets preset conditions.

The specific implementation process of this step may refer to the description related to the sheet checking module in the package tracking system, which is not described herein.

Step 3032, determining location information of the package on the conveyor belt according to the positioning signal.

The specific implementation process of this step may refer to the description related to the first tracking module in the package tracking system, which is not described herein.

Optionally, at least one of a plurality of packages placed along the conveying direction of the conveying belt and a plurality of packages placed along the non-conveying direction of the conveying belt.

The specific implementation process of this step may refer to the descriptions related to fig. 12 and fig. 13 in the above package tracking system, which are not repeated here.

Optionally, the sheet image includes the sheet content and the conveyor belt having a full width; step 3032 may specifically include:

step 30321, determining a first coordinate of the sheet in the width direction of the conveyor belt according to the sheet image.

Step 30322, determining a second coordinate of the sheet in the length direction of the conveyor belt according to the positioning signal.

Step 30323, determining location information of the package on the conveyor belt according to the first coordinate and the second coordinate.

Optionally, the substep 30332 may also obtain a first positioning signal at a first moment when the face-sheet image is captured; after the first positioning signal is acquired, acquiring a second positioning signal sent by the encoder; and multiplying the difference between the second positioning signal and the first positioning signal by a preset coefficient to obtain the second coordinate.

The substeps 30321 to 30323 may refer to the description of the above embodiment of the package tracking system, and are not repeated here.

And step 304, controlling the conveyor belt to stop under the condition that the package information does not meet the preset condition and the position information of the package on the conveyor belt is at the first processing position.

And under the condition that the package information is not matched with the preset package information and the position information of the package on the conveyor belt is at the first processing position, the computing equipment can send a stop instruction to a conveyor belt controller of the conveyor belt so that the conveyor belt controller can control the conveyor belt to stop according to the stop instruction.

In summary, the package tracking method provided by the application includes: acquiring a face sheet image of at least one package shot by shooting equipment; the at least one package is placed on a conveyor belt, and the face sheet image comprises face sheet content of the face sheet of the package; acquiring a positioning signal sent by an encoder; the positioning signal of the encoder is generated in the rotating process of the pressing wheel of the encoder, and the pressing wheel of the encoder is contacted with the conveying belt; tracking the package according to the positioning signal and the face sheet image. According to the application, when the package passes through the shooting area of the shooting equipment on the belt conveyor, the position of the package in the width direction of the conveyor belt can be determined through an image recognition processing technology and the face sheet image of the package, and the moving distance of the package on the conveyor belt can be determined in real time according to the positioning signal sent by the encoder in real time for the package, so that the position of the package in the length direction of the conveyor belt is obtained, and the position information of the package on the conveyor belt can be accurately calculated by combining the two positions. The problems of low efficiency and high error rate in the manual collecting link are solved, and the cost of production equipment is reduced. In addition, in the feeding process of the packages, the arrangement mode of the packages on the conveying belt can be various, and even if the packages are continuously or side by side, the system can rapidly and accurately distinguish the position of each package. The placement form of the package is simplified, so that the loading personnel or equipment do not need to spend excessive time on the placement of the package, and the flexibility and the efficiency of the collection scheme are improved.

Referring to FIG. 16, a flowchart of steps of an embodiment of a package detection method of the present application is shown, which may be applied to a computing device in a package tracking system.

Step 401, acquiring a face sheet image of at least one package shot by shooting equipment; the at least one parcel is placed on a conveyor belt, and the face sheet image includes face sheet content of a face sheet of the parcel.

And step 402, detecting the package according to the face sheet image.

In the embodiment of the application, the computing device can also pre-store preset package information, and the preset package information can be related to a warehouse where the package tracking system is located. For example, the preset package information may be information of a destination, a commodity class, a specification, and the like. If the package information of the package is matched with the preset package information, the package information is considered to accord with the preset condition; if the package information of the package is not matched with the preset package information, the package information is considered to be inconsistent with the preset condition, and the package can be detected according to the corresponding judging condition, so that the purpose of checking the package on the belt conveyor is achieved.

Optionally, the method further comprises:

a1, acquiring a positioning signal sent by a positioning device; the positioning device is arranged corresponding to the conveying belt.

Optionally, the positioning device is an encoder, and the positioning signal is generated by a pinch roller of the encoder in a rotation process.

Optionally, the at least one package comprises: at least one of a plurality of packages placed in a conveying direction of the conveying belt and a plurality of packages placed in a non-conveying direction of the conveying belt.

And A2, determining the position information of the package on the conveyor belt according to the positioning signal.

Optionally, the sheet image includes the sheet content and the conveyor belt having a full width; the step A2 may specifically include:

And A21, determining a first coordinate of the sheet in the width direction of the conveying belt according to the sheet image.

And step A22, determining a second coordinate of the sheet in the length direction of the conveying belt according to the positioning signal.

And A23, determining the position information of the package on the conveying belt according to the first coordinate and the second coordinate.

Optionally, step a23 may specifically include acquiring a first positioning signal at a first moment when the face sheet image is captured; after the first positioning signal is acquired, acquiring a second positioning signal sent by the encoder; and multiplying the difference between the second positioning signal and the first positioning signal by a preset coefficient to obtain the second coordinate.

The details of step a21 to step a23 may refer to the related content of the package tracking system, and will not be described herein.

Optionally, after step A2, the method may further include:

and A3, controlling the conveyor belt to stop under the condition that the package information does not meet the preset condition and the position information of the package on the conveyor belt is at the first processing position. Of course, other manners, such as voice reminding or marking reminding, may be used for reminding that the package information does not meet the preset condition, besides the manner of stopping the conveyor belt.

The specific content of step A1 to step A2 may refer to the related content of the package tracking system, and will not be described herein.

Optionally, the at least one package includes: at least one of a plurality of packages placed in a conveying direction of the conveying belt and a plurality of packages placed in a non-conveying direction of the conveying belt.

The specific implementation process may refer to the descriptions related to fig. 12 and fig. 13 in the above package tracking system, which are not repeated herein.

In summary, the method for detecting packages provided by the present application includes: acquiring a face sheet image of at least one package shot by shooting equipment; the at least one package is placed on a conveyor belt, and the face sheet image comprises face sheet content of the face sheet of the package; acquiring a positioning signal sent by an encoder; the positioning signal of the encoder is generated in the rotating process of the pressing wheel of the encoder, and the pressing wheel of the encoder is contacted with the conveying belt; tracking the package according to the positioning signal and the face sheet image. According to the application, when the package passes through the shooting area of the shooting equipment on the belt conveyor, the package on the belt conveyor can be accurately identified according to the face sheet image of the package shot by the shooting equipment, and the face sheet content in the face sheet image is checked, so that the purpose of detecting the package on the belt conveyor is achieved, and the collection efficiency and accuracy of the package in front of a warehouse are improved.

Referring to fig. 17, a block diagram of a package tracking device of the present application is shown. The device comprises:

a first obtaining module 501, configured to obtain a face sheet image of at least one package captured by a capturing device; the at least one package is placed on a conveyor belt, and the face sheet image comprises face sheet content of the face sheet of the package;

a second obtaining module 502, configured to obtain a positioning signal sent by the encoder; the positioning signal of the encoder is generated in the rotating process of the pressing wheel of the encoder, and the pressing wheel of the encoder is contacted with the conveying belt;

and the tracking module 503 is configured to track the package according to the positioning signal and the menu image.

In summary, the package tracking device provided by the present application includes: the first acquisition module is used for acquiring the face sheet image of at least one package shot by the shooting equipment; the at least one package is placed on a conveyor belt, and the face sheet image comprises face sheet content of the face sheet of the package; the second acquisition module is used for acquiring the positioning signal sent by the encoder; the positioning signal of the encoder is generated in the rotating process of the pressing wheel of the encoder, and the pressing wheel of the encoder is contacted with the conveying belt; and the tracking module is used for tracking the package according to the positioning signal and the face sheet image. According to the application, when the package passes through the shooting area of the shooting equipment on the belt conveyor, the computing equipment can receive the face sheet image of the package shot by the shooting equipment and determine the position of the package in the width direction of the conveyor belt through the image recognition processing technology, and the computing equipment can determine the moving distance of the package on the conveyor belt in real time according to the positioning signal sent by the encoder for the package in real time, so that the position of the package in the length direction of the conveyor belt is obtained, and the position information of the package on the conveyor belt can be accurately calculated by combining the two positions. The problems of low efficiency and high error rate in the manual collecting link are solved, and the cost of production equipment is reduced. In addition, in the feeding process of the packages, the arrangement mode of the packages on the conveying belt can be various, and even if the packages are continuously or side by side, the system can rapidly and accurately distinguish the position of each package. The placement form of the package is simplified, so that the loading personnel or equipment do not need to spend excessive time on the placement of the package, and the flexibility and the efficiency of the collection scheme are improved.

Referring to fig. 18, a block diagram of a package detection device of the present application is shown. The device comprises:

a third acquiring module 601, configured to acquire a face sheet image of at least one package shot by a shooting device; the at least one package is placed on a conveyor belt, and the face sheet image comprises face sheet content of the face sheet of the package;

and the detection module 602 is configured to detect the package according to the sheet image.

In summary, the package detecting device provided by the present application includes: acquiring a face sheet image of a face sheet comprising a package, wherein the package is placed on a conveying belt of a belt conveyor; acquiring a positioning signal generated by the rotation of a pressing wheel of an encoder, wherein the pressing wheel is contacted with the surface of the conveying belt; and determining the position information of the package on the conveyor belt according to the face sheet image and the positioning signal. According to the application, when the package passes through the shooting area of the shooting equipment on the belt conveyor, the computing equipment can receive the face sheet image of the package shot by the shooting equipment and determine the position of the package in the width direction of the conveyor belt through the image recognition processing technology, and the computing equipment can determine the moving distance of the package on the conveyor belt in real time according to the positioning signal sent by the encoder for the package in real time, so that the position of the package in the length direction of the conveyor belt is obtained, and the position information of the package on the conveyor belt can be accurately calculated by combining the two positions. The problems of low efficiency and high error rate in the manual collecting link are solved, and the cost of production equipment is reduced. In addition, in the feeding process of the packages, the arrangement mode of the packages on the conveying belt can be various, and even if the packages are continuously or side by side, the system can rapidly and accurately distinguish the position of each package. The placement form of the package is simplified, so that the loading personnel or equipment do not need to spend excessive time on the placement of the package, and the flexibility and the efficiency of the collection scheme are improved.

The embodiment of the application also provides a non-volatile readable storage medium, in which one or more modules (programs) are stored, where the one or more modules are applied to a device, and the device can execute instructions (instructions) of each method step in the embodiment of the application.

Embodiments of the application provide one or more machine-readable media having instructions stored thereon that, when executed by one or more processors, cause an electronic device to perform a method as described in one or more of the above embodiments. In the embodiment of the application, the electronic equipment comprises a server (cluster), mobile equipment, terminal equipment and the like.

Embodiments of the present disclosure may be implemented as an apparatus for performing a desired configuration using any suitable hardware, firmware, software, or any combination thereof, which may include a server (cluster), mobile device, terminal device, etc., electronic device. Fig. 19 schematically illustrates an exemplary apparatus 1000 that may be used to implement various embodiments described in the present disclosure.

For one embodiment, fig. 19 illustrates an example apparatus 1000 having one or more processors 1002, a control module (chipset) 1004 coupled to at least one of the processor(s) 1002, a memory 1006 coupled to the control module 1004, a non-volatile memory (NVM)/storage 1008 coupled to the control module 1004, one or more input/output devices 1010 coupled to the control module 1004, and a network interface 1012 coupled to the control module 1006.

The processor 1002 may include one or more single-core or multi-core processors, and the processor 1002 may include any combination of general-purpose or special-purpose processors (e.g., graphics processors, application processors, baseband processors, etc.). In some embodiments, the apparatus 1000 can be used as a server (cluster), a mobile device, a terminal device, or the like in the embodiments of the present application.

In some embodiments, the apparatus 1000 can include one or more computer-readable media (e.g., memory 1006 or NVM/storage 1008) having instructions 1004 and one or more processors 1002 combined with the one or more computer-readable media configured to execute the instructions 1004 to implement the modules to perform the actions described in this disclosure.

For one embodiment, the control module 1004 may include any suitable interface controller to provide any suitable interface to at least one of the processor(s) 1002 and/or any suitable device or component in communication with the control module 1004.

The control module 1004 may include a memory controller module to provide an interface to the memory 1006. The memory controller modules may be hardware modules, software modules, and/or firmware modules.

Memory 1006 may be used to load and store data and/or instructions 1004 for device 1000, for example. For one embodiment, the memory 1006 may include any suitable volatile memory, such as a suitable DRAM. In some embodiments, the memory 1006 may comprise a double data rate type four synchronous dynamic random access memory (DDR 4 SDRAM).

For one embodiment, the control module 1004 may include one or more input/output controllers to provide an interface to the NVM/storage 1008 and the input/output device(s) 1000.

For example, NVM/storage 1008 may be used to store data and/or instructions 1004. NVM/storage 1008 may include any suitable nonvolatile memory (e.g., flash memory) and/or may include any suitable nonvolatile storage device(s) (e.g., one or more Hard Disk Drives (HDDs), one or more Compact Disc (CD) drives, and/or one or more Digital Versatile Disc (DVD) drives).

NVM/storage 1008 may include storage resources that are physically part of the device on which apparatus 1000 is installed, or may be accessible by the device without necessarily being part of the device. For example, NVM/storage 1008 may be accessed over a network via input/output device(s) 1000.

Input/output device(s) 1000 may provide an interface for apparatus 1000 to communicate with any other suitable device, input/output device 1000 may include communication components, audio components, sensor components, and the like. The network interface 1002 may provide an interface for the device 1000 to communicate over one or more networks, and the device 1000 may communicate wirelessly with one or more components of a wireless network according to any of one or more wireless network standards and/or protocols, such as accessing a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G, etc., or a combination thereof.

For one embodiment, at least one of the processor(s) 1002 may be packaged together with logic of one or more controllers (e.g., memory controller modules) of the control module 1004. For one embodiment, at least one of the processor(s) 1002 may be packaged together with logic of one or more controllers of the control module 1004 to form a System In Package (SiP). For one embodiment, at least one of the processor(s) 1002 may be integrated on the same mold as logic of one or more controllers of the control module 1004. For one embodiment, at least one of the processor(s) 1002 may be integrated on the same die with logic of one or more controllers of the control module 1004 to form a system on chip (SoC).

In various embodiments, the apparatus 1000 may be, but is not limited to being: a server, a desktop computing device, or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet, a netbook, etc.), among other terminal devices. In various embodiments, device 1000 may have more or fewer components and/or different architectures. For example, in some embodiments, the apparatus 1000 includes one or more cameras, a keyboard, a Liquid Crystal Display (LCD) screen (including a touch screen display), a non-volatile memory port, multiple antennas, a graphics chip, an Application Specific Integrated Circuit (ASIC), and a speaker.

The embodiment of the application provides a server, which comprises: one or more processors; and one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the management device to perform the data processing method according to one or more of the embodiments of the present application.

The embodiment of the application provides electronic equipment, which comprises: one or more processors; and executable code stored thereon that, when executed, causes the processor to perform a package tracking method.

Embodiments of the present application provide one or more machine-readable media having executable code stored thereon that, when executed, cause a processor to perform a package tracking method.

The embodiment of the application provides electronic equipment, which comprises: one or more processors; and executable code stored thereon that, when executed, causes the processor to perform a parcel detection method.

Embodiments of the present application provide one or more machine-readable media having executable code stored thereon that, when executed, cause a processor to perform a parcel detection method.

For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the application.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.

The foregoing has described in detail the methods, apparatuses and systems for tracking packages, and methods, apparatuses and systems for detecting packages, an electronic device and a storage medium, and specific examples have been used herein to illustrate the principles and embodiments of the present application, and the above examples are only for aiding in the understanding of the methods and core ideas of the present application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

1. A method of parcel tracking, comprising:

tracking the package according to the positioning signal and the face sheet image;

the tracking of the package according to the positioning signal and the face sheet image comprises:

acquiring package information according to the face sheet image, and determining whether the package information accords with preset conditions;

determining the position information of the package on the conveyor belt according to the positioning signal;

and controlling the conveyor belt to stop under the condition that the package information does not meet the preset condition and the position information of the package on the conveyor belt is at the first processing position.

2. The method of claim 1, wherein the at least one package comprises:

at least one of a plurality of packages placed in a conveying direction of the conveying belt and a plurality of packages placed in a non-conveying direction of the conveying belt.

3. The method of claim 1, wherein the drape image includes the drape content and the conveyor belt having a full width;

and determining the position information of the package on the conveyor belt according to the positioning signal, wherein the method comprises the following steps of:

determining a first coordinate of the sheet in the width direction of the conveying belt according to the sheet image;

determining a second coordinate of the sheet in the length direction of the conveying belt according to the positioning signal;

and determining the position information of the package on the conveying belt according to the first coordinate and the second coordinate.

4. A method according to claim 3, wherein said determining a second coordinate of the sheet in the length direction of the conveyor belt based on the positioning signal comprises:

acquiring a first positioning signal of a first moment when the face sheet image is shot;

after the first positioning signal is acquired, acquiring a second positioning signal sent by the encoder;

and multiplying the difference between the second positioning signal and the first positioning signal by a preset coefficient to obtain the second coordinate.

5. The method as recited in claim 1, further comprising:

Acquiring first configuration information, wherein the first configuration information comprises: a first courier identifier;

determining a first target express party identifier corresponding to the package according to the package information;

and controlling the conveyer belt to stop under the condition that the first target express party identifier is not matched with the first express party identifier and the position information of the package on the conveyer belt is at a second processing position.

6. The method of claim 1, wherein a side-emitting light bar is further disposed on a side of the conveyor belt, the side-emitting light bar comprising a plurality of light sources;

further comprises:

acquiring second configuration information, wherein the second configuration information comprises: a plurality of second express delivery party identifiers and a corresponding relation between the second express delivery party identifiers and a third processing position;

determining a second target express party identifier corresponding to the package according to the package information;

when the second target express delivery party identifier is matched with a second express delivery party identifier corresponding to the third processing position and the position information of the package on the conveying belt is at the third processing position, controlling a lamp source at the third processing position to display the lamp source in a first color;

And under the condition that the second target express delivery party identifier is not matched with the second express delivery party identifier corresponding to the third processing position and the position information of the package on the conveying belt is at the third processing position, controlling the lamp source at the third processing position to display in a second color.

7. The method as recited in claim 1, further comprising:

obtaining boxing information corresponding to a filling box, wherein the boxing information comprises: package information for one or more packages to be boxed;

matching the package information with the boxing information;

and controlling the conveyor belt to stop when the package information does not exist in the boxing information and the position information of the package on the conveyor belt is at a fourth processing position.

8. The method of one of claims 1, 5, 7, wherein said controlling the conveyor belt to stop comprises:

and sending a stop instruction to a conveyor belt controller of the conveyor belt so that the conveyor belt controller controls the conveyor belt to stop according to the stop instruction.

9. A package tracking method applied to a package tracking system, wherein the package tracking system comprises: the device comprises a belt conveyor, a mounting bracket, shooting equipment, an encoder and computing equipment; the mounting bracket is arranged on the belt conveyor, the shooting equipment is arranged on the mounting bracket, and the shooting equipment faces to the conveying belt of the belt conveyor; the encoder includes: the encoder is arranged on the belt conveyor, and the pinch roller is in contact with the surface of the conveyor belt; the encoder, the shooting device and the computing device are in communication connection; the method comprises the following steps:

the computing device tracks the package according to the positioning signal and the face sheet image;

the computing equipment is specifically used for acquiring package information according to the face sheet image and determining whether the package information accords with preset conditions or not; determining the position information of the package on the conveyor belt according to the positioning signal; and controlling the conveyor belt to stop under the condition that the package information does not meet the preset condition and the position information of the package on the conveyor belt is at the first processing position.

10. A method of parcel detection, comprising:

detecting the package according to the face sheet image;

Acquiring a positioning signal sent by a positioning device; the positioning device is arranged corresponding to the conveying belt;

11. The method of claim 10, wherein the positioning device is an encoder and the positioning signal is generated during rotation of a puck of the encoder.

12. The method of claim 10, wherein the at least one package comprises: at least one of a plurality of packages placed in a conveying direction of the conveying belt and a plurality of packages placed in a non-conveying direction of the conveying belt.

13. The method of claim 10, wherein the drape image includes the drape content and the conveyor belt having a full width;

14. The method of claim 11, wherein determining a second coordinate of the sheet in a length direction of the conveyor belt based on the positioning signal comprises:

15. A package tracking device, comprising:

the tracking module is used for tracking the package according to the positioning signal and the face sheet image;

the tracking module is specifically used for acquiring package information according to the face sheet image and determining whether the package information accords with preset conditions; determining the position information of the package on the conveyor belt according to the positioning signal;

the device is also used for controlling the conveyor belt to stop when the package information does not meet the preset condition and the position information of the package on the conveyor belt is at a first processing position.

16. A package inspection device, comprising:

the detection module is used for detecting the package according to the face sheet image;

The device is also used for acquiring the positioning signal sent by the positioning device; the positioning device is arranged corresponding to the conveying belt; determining the position information of the package on the conveyor belt according to the positioning signal; acquiring package information according to the face sheet image, and determining whether the package information accords with preset conditions; and controlling the conveyor belt to stop under the condition that the package information does not meet the preset condition and the position information of the package on the conveyor belt is at the first processing position.

17. A package tracking system, comprising:

the device comprises a belt conveyor, a mounting bracket, shooting equipment, an encoder and computing equipment; the mounting bracket is arranged on the belt conveyor, the shooting equipment is arranged on the mounting bracket, and the shooting equipment faces to the conveying belt of the belt conveyor; the encoder includes: the encoder is arranged on the belt conveyor, and the pinch roller is in contact with the surface of the conveyor belt; the encoder, the shooting device and the computing device are in communication connection; wherein,

the shooting device is used for shooting at least one face sheet image of the package and sending the face sheet image to the computing device; wherein the face sheet image includes the content of the wrapped face sheet;

The encoder is used for generating a positioning signal in the rotation process of the pinch roller and sending the positioning signal to the computing equipment;

the computing device is used for tracking the package according to the positioning signal and the face sheet image;

the computing device includes:

the face sheet checking module is used for acquiring package information according to the face sheet image and determining whether the package information accords with preset conditions or not;

the first tracking module is used for determining the position information of the package on the conveyor belt according to the positioning signals;

the computing device is further to:

18. The system of claim 17, wherein the at least one package comprises: at least one of a plurality of packages placed in a conveying direction of the conveying belt and a plurality of packages placed in a non-conveying direction of the conveying belt.

19. The system of claim 17, wherein the drape image comprises the drape and the conveyor belt having a full width;

The first tracking module includes:

a first coordinate determination unit configured to determine a first coordinate of the sheet in a width direction of the conveying belt, based on the sheet image;

a second coordinate determining unit configured to determine a second coordinate of the sheet in a length direction of the conveyor belt according to the positioning signal;

and the position determining unit is used for determining the position information of the package on the conveying belt according to the first coordinate and the second coordinate.

20. The system according to claim 19, wherein the position determining unit is specifically configured to,

acquiring a first positioning signal of a first moment when the face sheet image is shot; after the first positioning signal is acquired, acquiring a second positioning signal sent by the encoder; and multiplying the difference between the second positioning signal and the first positioning signal by a preset coefficient to obtain the second coordinate.

21. The system of claim 17, wherein a side-emitting light bar is further disposed on a side of the conveyor belt, the side-emitting light bar comprising a plurality of light sources; the side-emitting light bar is connected with the computing device;

The computing device is used for controlling the light sources corresponding to the first processing position in the side-emitting light bar to emit light under the condition that the conveyor belt is controlled to stop.

22. The system of claim 21, wherein the computing device is further to:

23. The system of claim 21, wherein the computing device is further configured to,

24. The system of claim 17, wherein the computing device is further configured to,

matching the package information with the boxing information;

25. The system of any one of claims 17, 22, 24, further comprising: a conveyor belt controller; the conveyor belt controller is communicatively connected to the computing device;

the computing device is specifically configured to send a stop instruction to a conveyor controller of the conveyor;

the conveyor belt controller is used for controlling the movement of the conveyor belt and controlling the conveyor belt to stop according to the stop instruction.

26. The system of claim 17, wherein the number of belt conveyors and encoders is a plurality, and the number of belt conveyors and encoders is the same;

the plurality of belt conveyors are connected.

27. The system of claim 17, wherein the system further comprises: a light source;

the light source is arranged on the mounting bracket and faces the conveying belt of the belt conveyor.

28. The system of claim 17, wherein the system further comprises: a support bracket and a plurality of universal wheels;

the supporting bracket is arranged on one surface of the belt conveyor, which is away from the conveying belt, and the universal wheels are arranged on one surface of the supporting bracket, which is away from the belt conveyor;

the computing device is arranged on one surface of the supporting bracket, which faces away from the belt conveyor.

29. The system of claim 17, wherein the system further comprises: a touch screen; the touch screen is arranged on the mounting bracket; a communication connection between the touch screen and the computing device;

the touch screen is used for receiving the position information sent by the computing device and displaying the position information.

30. The system of claim 17, wherein the system further comprises: a light shield; the light shield is arranged on the mounting bracket.

31. An electronic device, comprising:

a processor; and

a memory having executable code stored thereon that, when executed, causes the processor to perform the parcel tracking method of any of claims 1 to 8.

32. One or more machine readable media having executable code stored thereon that, when executed, causes a processor to perform the parcel tracking method of any of claims 1 to 8.

33. An electronic device, comprising:

a processor; and

a memory having executable code stored thereon that, when executed, causes the processor to perform the package tracking method of claim 9.

34. One or more machine readable media having executable code stored thereon that, when executed, causes a processor to perform the parcel tracking method of claim 9.

35. An electronic device, comprising:

A processor; and

a memory having executable code stored thereon that, when executed, causes the processor to perform the parcel detection method of any of claims 10 to 14.

36. One or more machine readable media having executable code stored thereon that, when executed, causes a processor to perform the parcel detection method of any of claims 10 to 14.