CN116493270B - Article sorting method, sorting device and sorting system - Google Patents
Article sorting method, sorting device and sorting system Download PDFInfo
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- CN116493270B CN116493270B CN202310747663.9A CN202310747663A CN116493270B CN 116493270 B CN116493270 B CN 116493270B CN 202310747663 A CN202310747663 A CN 202310747663A CN 116493270 B CN116493270 B CN 116493270B
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000004364 calculation method Methods 0.000 claims abstract description 7
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- 238000012544 monitoring process Methods 0.000 claims description 2
- 239000002699 waste material Substances 0.000 abstract description 9
- 238000004590 computer program Methods 0.000 description 9
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- 230000001788 irregular Effects 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0054—Sorting of waste or refuse
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The application relates to the field of computers, in particular to a method, a sorting device and a sorting system for sorting articles, wherein the method sorts the sorting schemes corresponding to the sorting schemes with higher sorting scores according to the order from high to low after sorting and grading the sorting schemes, namely sorting schemes with higher sorting scores or lower sorting scores plan the optimal sorting paths, and the calculation of the sorting scores considers the type suitability of the sorting device and the articles to be sorted, so that the time waste during sorting can be greatly reduced, and the sorting efficiency is greatly improved.
Description
Technical Field
The application relates to the field of computers, in particular to an article sorting method, a sorting device and a sorting system.
Background
The recycling of waste products is an important means of environmental protection and emission reduction, and open source throttling, various waste products are collected again after being classified for many times, and early classification is often carried out in a manual mode for utilization.
With the development of AI video recognition technology and the rising of urban garbage classification habit, AI video object recognition is directly adopted for recyclable garbage, and a robot arm classification technology has been developed to a great extent, objects are placed on a conveyor belt, pictures are shot for type recognition, and then the recyclable garbage is gripped to a corresponding recycling classification box by a robot arm; in the automatic garbage sorting operation, in the existing garbage sorting method, the robots generally grasp according to the time sequence of the occurrence of the objects, the time consumption of the robots moving to the objects to be clamped is not considered, corresponding robots are not specifically configured for different types of objects to clamp the objects, and the objects are clamped by the non-adaptive robots, so that the problems of unstable clamping, falling of the objects and the like are generated, and further time waste is caused.
Therefore, the existing method for sorting waste by using the mechanical arm has the problem of low sorting efficiency.
Disclosure of Invention
Based on this, it is necessary to provide an article sorting method, a sorting apparatus and a sorting system in view of the above-described problems.
The embodiment of the application is realized in such a way that an article sorting method comprises the following steps:
s1: the method comprises the steps of acquiring characteristic information of each article to be sorted on a conveying device, and determining a plurality of sorting schemes corresponding to each article to be sorted, wherein the conveying device is provided with a plurality of sorting areas, the characteristic information comprises types of the articles to be sorted and sorting areas of the articles to be sorted on the conveying device, and the sorting schemes represent that a certain article to be sorted is sorted by a certain grabbing device in a certain sorting area;
s2: determining a time weighting value and a type weighting value corresponding to each sorting scheme according to each characteristic information, further determining a sorting score corresponding to each sorting scheme according to the time weighting value and the type weighting value, wherein the sorting score represents the relative sorting efficiency of the corresponding sorting scheme, the time weighting value represents the length of a first time period, the first time period is the time period when a certain grabbing device moves from the current position to a certain sorting area and sorts the articles to be sorted in the sorting area to the corresponding sorting basket, and the shorter the first time period is, the larger the time weighting value is; the type weighting value characterizes the quantity of a first quantity, wherein the first quantity is the quantity of grabbing devices capable of grabbing a certain type of to-be-sorted object, and the larger the first quantity is, the smaller the type weighting value is;
s3: arranging the sorting schemes according to the sorting scores from large to small to obtain a first sorting sequence;
s4: dividing each sorting scheme in the first sorting sequence into a first sorting scheme and a second sorting scheme, wherein in the first sorting sequence, sorting of sorting scores corresponding to the first sorting scheme is before setting sorting of the first sorting sequence, and the rest sorting schemes are the second sorting schemes;
s5: calling each grabbing device to sort the articles to be sorted corresponding to each first sorting scheme according to the sorting score from the large to the small, and removing all sorting schemes corresponding to the sorted articles from the first sorting sequence if one article to be sorted is already sorted;
s6: when a certain grabbing device is in an interval state, calling the grabbing device to sort the articles to be sorted corresponding to the second sorting scheme nearby at the current position, wherein the interval state is an idle state of the certain grabbing device between the execution of one first sorting scheme and the execution of the other first sorting scheme, and if a certain article to be sorted is already sorted, removing all sorting schemes corresponding to the sorted articles from the first sorting sequence;
s7: after the set time period, the steps S1 to S6 are re-executed until all the articles on the conveyor are sorted.
In one embodiment, the present application provides a sorting apparatus comprising:
the information acquisition module is used for executing step S1: acquiring characteristic information of each article to be sorted on the conveying device, and determining a plurality of sorting schemes corresponding to each article to be sorted;
the sorting score calculating module is used for executing step S2: determining a time weighting value and a type weighting value corresponding to each sorting scheme according to each characteristic information, and further determining sorting scores corresponding to each sorting scheme according to the time weighting values and the type weighting values;
the sorting order arrangement module is used for executing the step S3: arranging the sorting schemes according to the sorting scores from large to small to obtain a first sorting sequence;
the sorting scheme dividing module is used for executing step S4: dividing each sorting scheme in the first sorting sequence into a first sorting scheme and a second sorting scheme;
the first sorting module is used for executing step S5: calling each grabbing device to sort the articles to be sorted corresponding to each first sorting scheme according to the sorting score from high to low;
the second sorting module is used for executing step S6: when a certain grabbing device is in an interval state, calling the grabbing device to sort the objects to be sorted corresponding to the second sorting scheme nearby at the current position; and
the repeated execution module is used for executing step S7: after the set time period, the steps S1 to S6 are re-executed until all the articles on the conveyor are sorted.
In one embodiment, an article sorting system includes:
a conveying device for conveying the articles to be sorted;
the grabbing device is used for grabbing the articles to be sorted on the conveying device; and
and the computer equipment is respectively connected with the conveying device and the grabbing device and is used for executing the article sorting method.
The beneficial effects are that: the article sorting method comprises the steps of obtaining characteristic information of each article to be sorted on a conveying device, and determining a plurality of sorting schemes corresponding to each article to be sorted; determining a time weighting value and a type weighting value corresponding to each sorting scheme according to each characteristic information, and further determining sorting scores corresponding to each sorting scheme according to the time weighting values and the type weighting values; arranging the sorting schemes according to the sorting scores from large to small to obtain a first sorting sequence; dividing each sorting scheme in the first sorting sequence into a first sorting scheme and a second sorting scheme; calling each grabbing device to sort the articles to be sorted corresponding to each first sorting scheme according to the sorting score from high to low; when a certain grabbing device is in an interval state, calling the grabbing device to sort the objects to be sorted corresponding to the second sorting scheme nearby at the current position; after the set time length, re-executing the steps until all the articles on the conveying device are sorted; according to the method, after sorting and grading are carried out on each sorting scheme, namely the scheme that the articles to be sorted are picked and sorted by different grabbing devices in different sorting areas, the sorting scheme corresponding to the higher sorting score is sorted according to the order from the higher sorting score to the lower sorting score, and if the sorting scheme with the lower sorting score is sorted according to the sorting score, the time consumed by the sorting scheme is possibly more, so that the sorting scheme is changed into a nearby space-inserting sorting mode, namely the sorting scheme with the higher sorting score or the lower sorting score is planned with the optimal sorting path, the type suitability of the grabbing devices and the articles to be sorted is considered in calculation of the sorting score, the time waste during sorting can be greatly reduced, and the sorting efficiency is greatly improved.
Drawings
FIG. 1 is a flow chart of a method of sorting items provided in one embodiment;
FIG. 2 is a schematic block diagram of an article sorting apparatus in one embodiment;
FIG. 3 is a schematic diagram of an article sorting system in one embodiment;
FIG. 4 is a block diagram of the internal architecture of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
It will be understood that the terms "first," "second," and the like, as used herein, may be used to describe various elements, but these elements are not limited by these terms unless otherwise specified. These terms are only used to distinguish one element from another element. For example, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script, without departing from the scope of this disclosure.
As shown in fig. 1, in one embodiment, a method of sorting articles is provided, the method comprising:
s1: the method comprises the steps of acquiring characteristic information of each article to be sorted on a conveying device, and determining a plurality of sorting schemes corresponding to each article to be sorted, wherein the conveying device is provided with a plurality of sorting areas, the characteristic information comprises types of the articles to be sorted and sorting areas of the articles to be sorted on the conveying device, and the sorting schemes represent that a certain article to be sorted is sorted by a certain grabbing device in a certain sorting area;
s2: determining a time weighting value and a type weighting value corresponding to each sorting scheme according to each characteristic information, further determining a sorting score corresponding to each sorting scheme according to the time weighting value and the type weighting value, wherein the sorting score represents the relative sorting efficiency of the corresponding sorting scheme, the time weighting value represents the length of a first time period, the first time period is the time period when a certain grabbing device moves from the current position to a certain sorting area and sorts the articles to be sorted in the sorting area to the corresponding sorting basket, and the shorter the first time period is, the larger the time weighting value is; the type weighting value characterizes the quantity of a first quantity, wherein the first quantity is the quantity of grabbing devices capable of grabbing a certain type of to-be-sorted object, and the larger the first quantity is, the smaller the type weighting value is;
s3: arranging the sorting schemes according to the sorting scores from large to small to obtain a first sorting sequence;
s4: dividing each sorting scheme in the first sorting sequence into a first sorting scheme and a second sorting scheme, wherein in the first sorting sequence, sorting of sorting scores corresponding to the first sorting scheme is before setting sorting of the first sorting sequence, and the rest sorting schemes are the second sorting schemes;
s5: calling each grabbing device to sort the articles to be sorted corresponding to each first sorting scheme according to the sorting score from the large to the small, and removing all sorting schemes corresponding to the sorted articles from the first sorting sequence if one article to be sorted is already sorted;
s6: when a certain grabbing device is in an interval state, calling the grabbing device to sort the articles to be sorted corresponding to the second sorting scheme nearby at the current position, wherein the interval state is an idle state of the certain grabbing device between the execution of one first sorting scheme and the execution of the other first sorting scheme, and if a certain article to be sorted is already sorted, removing all sorting schemes corresponding to the sorted articles from the first sorting sequence;
s7: after the set time period, the steps S1 to S6 are re-executed until all the articles on the conveyor are sorted.
Alternatively, the conveyor may be a belt, such as a mesh belt, a chain belt, a roller belt, or other type of conveyor, which is not limited herein; the shape of the path of the conveyor belt may be square, rectangular, circular or other patterns, without limitation; for example, when the path shape of the conveyor belt is circular, the conveyor belt is divided into 12 sorting areas on average, the central angle corresponding to each sorting area is 30 °, and each sorting area is numbered in a clockwise order or a counterclockwise order, i.e. the sorting areas are sequentially arranged into 1-12 sorting areas.
Alternatively, the type of the articles to be sorted may be columnar articles, spherical articles or irregular articles, which are not limited herein; the gripping device may be a dobby robot or other type of gripping device, not limited herein; when the gripping device is provided as a multi-arm robot, it may be provided as a plurality of types of robotic arms, each type of robotic arm being adapted to one or several types of articles to be sorted; the type of the mechanical arm may be a human hand type mechanical arm, a clamping type mechanical arm, a wrapping type mechanical arm or other types of mechanical arms, which are not limited herein; for example, the wrap robot arm is adapted to irregular objects and the human hand robot arm is adapted to spherical objects.
In this embodiment, for example, if there are 10 articles to be sorted on the conveying device, the conveying device is divided into 12 sorting areas, the gripping devices for sorting have 5 gripping devices, the total sorting schemes have 10×12×5=600 gripping devices, the 600 gripping devices respectively calculate the sorting scores, and then sort the articles to be sorted corresponding to the 201 th to 600 th gripping devices in the order from the large to the small of the calculated sorting scores, so as to obtain a first sorting sequence including 600 th gripping devices, if the sorting is set to be the 201 st gripping device in the first sorting sequence, the 1 st to 200 th gripping devices in the first sorting sequence are divided into the first sorting scheme, the 201 st to 600 th gripping devices in the first sorting sequence are divided into the second sorting scheme, then the 1 st to 200 th gripping devices sort the articles according to the sorting of the first sorting sequence, each gripping device sorts the articles to be sorted corresponding to the 201 st to 600 th gripping devices in the interval time of the 1 st to 200 th gripping devices, and if the first sorting schemes are set to be sorted, and all the articles to be sorted are avoided from the first sorting schemes after the articles to be sorted are successfully sorted in the first sorting sequence; in addition, since new articles to be sorted are placed on the conveying device from time to time, the number of sorting schemes and the sorting scores corresponding to the sorting schemes are changed, the steps are re-executed every other set time length, so that the real-time updating of the sorting scores is guaranteed, and further, the grabbing devices are guaranteed to keep the optimal grabbing paths in real time, and in addition, the set time length can be 1min, 5min or other time lengths, and the method is not limited.
In the application, after sorting and grading are carried out on each sorting scheme, namely the scheme that the articles to be sorted are picked and sorted by different grabbing devices in different sorting areas, the sorting scheme corresponding to the higher sorting score is sorted according to the order from the higher score to the lower score, and the time consumed by the sorting scheme with the lower sorting score is possibly more if the sorting scheme is sorted according to the sorting score sorting, so that the sorting scheme is changed into a mode of nearby empty sorting, namely an optimal sorting path is planned for the sorting scheme with the higher sorting score or the lower sorting score, the type suitability of the grabbing devices and the articles to be sorted is considered in calculation of the sorting score, the time waste during sorting can be greatly reduced, and the sorting efficiency is greatly improved.
As a preferred embodiment, the sorting score is calculated from the following formula:
P ijk ＝T ijk +C 1 R ik
wherein i, j, k are variables, and i, j, k are integers greater than 0, i is not greater than the number of articles to be sorted, j is not greater than the number of sorting areas, k is not greater than the number of gripping devices, P ijk For the ith article to be sorted in the jth sorting zone by the kth sorting zoneSorting score, T, of grabbing device during sorting ijk For the time weighting value R of the ith article to be sorted when the jth sorting area is sorted by the kth gripper ik For the type weighting value, C, of the ith article to be sorted when sorted by the kth gripper 1 The coefficients are adjusted for the type.
Time weighting value T ijk Calculated from the following formula:
T ijk ＝Q ijk +C 2 /t ij
type weighting value R ik Calculated from the following formula:
wherein Y is 1 For the number of types of articles to be sorted on the conveyor, U i The number of gripping devices, C, adapted to the type of the ith article to be sorted 2 For time adjustment factor, t ij For the length of time the ith article to be sorted moves to the jth sorting area, Q ijk The time fraction of the first sorting process is that the k-th grabbing device moves to the j-th sorting area to sort the i-th to-be-sorted articles to the corresponding sorting basket, and the shorter the time of the first sorting process is, the higher the corresponding time fraction is.
In the present embodiment, a time fraction Q for the first sorting pass is illustrated ijk If the conveying device is divided into 12 sorting areas, for a certain article to be sorted and a certain grabbing device, moving the grabbing device to 12 sorting areas to grab the first sorting process corresponding to the article to be sorted, arranging the first sorting processes in a sequence from short to long according to the length of the first sorting process, and giving time scores 12, 11, 10, …, 3, 2 and 1 to the twelve first sorting processes according to the sequence of the arrangement; c (C) 1 The value of (C) can be 0.1,0.5 or other values 2 The value of (2) can be 50, 100 or other values, both of which are optional specific real-time modes, according to the preset weight of each parameterThe present application is not limited thereto. In addition, for type weighting value R ik For example, the conveyor has 10 articles to be sorted, 5 grippers, and the articles to be sorted have 4 categories in total, i.e. Y 1 4, if the ith sorted article can be matched with 3 gripping devices, i.e. U i Is 3, R is ik The value of (2) is 4/3, that is, if the number of grabbing devices capable of grabbing a certain article to be sorted is smaller, the score is higher, the article to be sorted is easier to grab preferentially, and certain articles to be sorted are left out due to the fact that the number of the corresponding grabbing devices is small, so that the overall grabbing efficiency is lowered.
As a preferred embodiment, the set ordering is determined by:
s41: selecting the sequence of any sorting scheme in the first sorting sequence as a pending setting sequence;
s42: replacing the set ordering in the step S4 with the undetermined set ordering and performing the steps S4 to S6 in a simulation mode;
s43: re-selecting the undetermined set sorting, and repeating the steps S41-S42 until each sorting in the first sorting sequence is taken as the undetermined set sorting and performing the steps S4-S6 in a simulation mode;
s44: and taking the corresponding undetermined set sorting as the set sorting when the missing articles to be sorted in the simulation process are minimum.
When a certain grabbing device is in an interval state, calling the grabbing device to sort the objects to be sorted corresponding to the second sorting scheme nearby at the current position comprises the following steps:
in the S5 executing process, monitoring whether each grabbing device is in an interval state, and when the grabbing devices are in the interval state, locating the grabbing devices at interval positions, wherein the interval positions are at sorting areas corresponding to the previous first sorting scheme executed by the grabbing devices;
if a certain grabbing device is in an interval state, acquiring interval duration and interval position of the interval state of the grabbing device;
sorting the second to-be-sorted articles in the sorting areas corresponding to the interval positions to obtain a second sorting sequence, wherein the second to-be-sorted articles are to-be-sorted articles corresponding to a second sorting scheme, the second sorting sequence is used for sorting the second to-be-sorted articles in the order from short to long according to a second duration, and the second duration is the duration that the grabbing device sorts a certain second to-be-sorted article in the sorting areas corresponding to the interval positions to the corresponding sorting basket and returns to the interval positions;
and calling the grabbing device to sort each second object to be sorted in the sorting area corresponding to the interval position according to the second sorting sequence, wherein the sum of the second time durations corresponding to the sorting of each sorted object by the grabbing device is not greater than the interval duration of the grabbing device.
In this embodiment, the sorting device may perform internal simulation on the sorting process, and in the process of determining the set sorting, each sorting may be sequentially simulated, because the interval states of the gripping devices are different in duration, and the gripping devices have randomness about gripping, the gripping devices may generate omission when gripping the articles to be sorted corresponding to the second gripping scheme, so that the number of the omission is selected as a criterion, that is, the sorting is set to the set sorting corresponding to the case where the number of the omitted articles to be sorted is the least in the simulation process, so that the number of the omitted articles in the sorting process can be reduced as much as possible, and further the times of secondary sorting are reduced, and the sorting efficiency is improved; furthermore, when the second to-be-sorted articles are sorted, the second to-be-sorted articles are further sorted, namely, the optimal grabbing sequence is also selected according to the needed grabbing time length when the second to-be-sorted articles are grabbed nearby, so that the second to-be-sorted articles are sorted as much as possible when the grabbing devices are in an interval state, the sum of the second time lengths is not greater than the interval time length of the grabbing devices, namely, when the second to-be-sorted articles are fully sorted in the interval time, the sorting process of the to-be-sorted articles corresponding to the first sorting scheme is not influenced.
As shown in fig. 2, in one embodiment, there is also provided a sorting apparatus including:
the information acquisition module is used for executing step S1: acquiring characteristic information of each article to be sorted on the conveying device, and determining a plurality of sorting schemes corresponding to each article to be sorted;
the sorting score calculating module is used for executing step S2: determining a time weighting value and a type weighting value corresponding to each sorting scheme according to each characteristic information, and further determining sorting scores corresponding to each sorting scheme according to the time weighting values and the type weighting values;
the sorting order arrangement module is used for executing the step S3: arranging the sorting schemes according to the sorting scores from large to small to obtain a first sorting sequence;
the sorting scheme dividing module is used for executing step S4: dividing each sorting scheme in the first sorting sequence into a first sorting scheme and a second sorting scheme;
the first sorting module is used for executing step S5: calling each grabbing device to sort the articles to be sorted corresponding to each first sorting scheme according to the sorting score from high to low;
the second sorting module is used for executing step S6: when a certain grabbing device is in an interval state, calling the grabbing device to sort the objects to be sorted corresponding to the second sorting scheme nearby at the current position; and
the repeated execution module is used for executing step S7: after the set time period, the steps S1 to S6 are re-executed until all the articles on the conveyor are sorted.
In this embodiment, the device re-executes the steps corresponding to each module through the above module every a set period of time, where the set period of time may be 1min, 5min or other periods of time, which is not limited herein. In this device, through the mutually supporting of each module, realized through the scheme of sorting each letter sorting, treat that the letter sorting article snatchs the scheme of letter sorting by different grabbing device in different letter sorting regions promptly and carry out letter sorting score after, sort the letter sorting scheme that corresponds with higher letter sorting score according to the order from the score from high to low, and sort the letter sorting scheme that the score is lower if sort according to letter sorting score, its time consumed probably is more, therefore sort it to its mode of nearby inserting empty letter sorting, whether to sort the score height or the letter sorting scheme of end has all planned the optimal letter sorting route to it promptly, and the calculation of letter sorting score has considered the type suitability of grabbing device and the letter sorting article of waiting to sort, time waste when can significantly reduced letter sorting, the efficiency of letter sorting has been promoted greatly.
As shown in fig. 3, in one embodiment, there is also provided an article sorting system comprising:
a conveying device for conveying the articles to be sorted;
the grabbing device is used for grabbing the articles to be sorted on the conveying device; and
and the computer equipment is respectively connected with the conveying device and the grabbing device and is used for executing the article sorting method.
In this embodiment, the computer device controls the gripping device to sort the articles to be sorted on the conveying device by acquiring the information of the articles to be sorted on the conveying device, so that the sorting schemes are sorted by the gripping devices in different sorting areas, namely, after sorting and grading are performed on the sorted articles to be sorted by the gripping devices in different sorting areas, the sorting scheme corresponding to the higher sorting score is sorted according to the order from the higher score to the lower score, and if the sorted scheme with the lower sorting score is sorted according to the sorting score, the consumed time is possibly more, so that the sorting scheme is changed into a near-empty sorting mode, namely, the sorting scheme with the higher sorting score or the lower sorting score is planned with the optimal sorting path, and the type suitability of the gripping device and the articles to be sorted is considered in the calculation of the sorting score, so that the time waste during sorting is greatly reduced, and the sorting efficiency is greatly improved.
As a preferred embodiment, the gripping device is a coaxial dobby robot comprising a plurality of robotic arms therein, each of which corresponds to at least one type of article to be sorted.
In this embodiment, the multi-arm robot may be configured as a plurality of types of robotic arms, each type of robotic arm being adapted to one or more types of items to be sorted; the type of the mechanical arm may be a human hand type mechanical arm, a clamping type mechanical arm, a wrapping type mechanical arm or other types of mechanical arms, which are not limited herein; the multi-type object to be sorted of one robot can be clamped through the arrangement of the dobby robot, the number of the grabbing devices can be reduced, and the problem of blockage caused by too many grabbing devices during sorting can be effectively solved.
As a preferred embodiment, the conveyor is an endless conveyor, the area around which the endless conveyor is formed is a first area, and the gripping means are arranged in the first area and are movable in the first area.
In this embodiment, the endless conveyor may be selected from a mesh belt type conveyor, a chain type conveyor, a roller type conveyor, or other types of conveyors, which are not limited herein; by adopting the annular conveyor belt, when the grabbing of the articles to be sorted is omitted, the omitted articles can still be kept on the conveyor belt until the articles are sorted, and all the articles on the conveyor belt can be sorted into the corresponding sorting basket.
FIG. 4 illustrates an internal block diagram of a computer device in one embodiment. As shown in fig. 4, the computer device includes a processor, a memory, a network interface, an input device, and a display screen connected by a system bus. The memory includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system, and may also store a computer program, where the computer program when executed by the processor may cause the processor to implement the method for sorting articles provided by the embodiment of the present application. The internal memory may also store a computer program that, when executed by the processor, causes the processor to perform the method for sorting articles provided by the embodiments of the present application. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by persons skilled in the art that the architecture shown in fig. 4 is merely a block diagram of some of the architecture relevant to the present inventive arrangements and is not limiting as to the computer device to which the present inventive arrangements are applicable, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, the article sorting apparatus provided by the embodiments of the present application may be implemented in the form of a computer program that is executable on a computer device as shown in fig. 4. The memory of the computer device may store various program modules constituting the article sorting apparatus, such as an information acquisition module, a sorting score calculation module, a sorting order arrangement module, a sorting scheme division module, a first sorting module, and a second sorting module shown in fig. 2. The computer program of each program module causes a processor to execute the steps in the method for sorting articles of each embodiment of the application described in the present specification.
In one embodiment, a computer device is presented, the computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
s1: acquiring characteristic information of each article to be sorted on the conveying device, and determining a plurality of sorting schemes corresponding to each article to be sorted;
s2: determining a time weighting value and a type weighting value corresponding to each sorting scheme according to each characteristic information, and further determining sorting scores corresponding to each sorting scheme according to the time weighting values and the type weighting values;
s3: arranging the sorting schemes according to the sorting scores from large to small to obtain a first sorting sequence;
s4: dividing each sorting scheme in the first sorting sequence into a first sorting scheme and a second sorting scheme;
s5: calling each grabbing device to sort the articles to be sorted corresponding to each first sorting scheme according to the sorting score from high to low;
s6: when a certain grabbing device is in an interval state, calling the grabbing device to sort the objects to be sorted corresponding to the second sorting scheme nearby at the current position;
s7: after the set time period, the steps S1 to S6 are re-executed until all the articles on the conveyor are sorted.
In one embodiment, a computer readable storage medium is provided, having a computer program stored thereon, which when executed by a processor causes the processor to perform the steps of:
s1: acquiring characteristic information of each article to be sorted on the conveying device, and determining a plurality of sorting schemes corresponding to each article to be sorted;
s2: determining a time weighting value and a type weighting value corresponding to each sorting scheme according to each characteristic information, and further determining sorting scores corresponding to each sorting scheme according to the time weighting values and the type weighting values;
s3: arranging the sorting schemes according to the sorting scores from large to small to obtain a first sorting sequence;
s4: dividing each sorting scheme in the first sorting sequence into a first sorting scheme and a second sorting scheme;
s5: calling each grabbing device to sort the articles to be sorted corresponding to each first sorting scheme according to the sorting score from high to low;
s6: when a certain grabbing device is in an interval state, calling the grabbing device to sort the objects to be sorted corresponding to the second sorting scheme nearby at the current position;
s7: after the set time period, the steps S1 to S6 are re-executed until all the articles on the conveyor are sorted.
It should be understood that, although the steps in the flowcharts of the embodiments of the present application are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (9)
1. A method of sorting articles, the method comprising:
s1: the method comprises the steps of acquiring characteristic information of each article to be sorted on a conveying device, and determining a plurality of sorting schemes corresponding to each article to be sorted, wherein the conveying device is provided with a plurality of sorting areas, the characteristic information comprises types of the articles to be sorted and sorting areas of the articles to be sorted on the conveying device, and the sorting schemes represent that a certain article to be sorted is sorted by a certain grabbing device in a certain sorting area;
s2: determining a time weighting value and a type weighting value corresponding to each sorting scheme according to each characteristic information, further determining a sorting score corresponding to each sorting scheme according to the time weighting value and the type weighting value, wherein the sorting score represents the relative sorting efficiency of the corresponding sorting scheme, the time weighting value represents the length of a first time period, the first time period is the time period when a certain grabbing device moves from the current position to a certain sorting area and sorts the articles to be sorted in the sorting area to the corresponding sorting basket, and the shorter the first time period is, the larger the time weighting value is; the type weighting value characterizes the quantity of a first quantity, wherein the first quantity is the quantity of grabbing devices capable of grabbing a certain type of to-be-sorted object, and the larger the first quantity is, the smaller the type weighting value is;
s3: arranging the sorting schemes according to the sorting scores from large to small to obtain a first sorting sequence;
s4: dividing each sorting scheme in the first sorting sequence into a first sorting scheme and a second sorting scheme, wherein in the first sorting sequence, sorting of sorting scores corresponding to the first sorting scheme is before setting sorting of the first sorting sequence, and the rest sorting schemes are the second sorting schemes;
s5: calling each grabbing device to sort the articles to be sorted corresponding to each first sorting scheme according to the sorting score from the large to the small, and removing all sorting schemes corresponding to the sorted articles from the first sorting sequence if one article to be sorted is already sorted;
s6: when a certain grabbing device is in an interval state, calling the grabbing device to sort the articles to be sorted corresponding to the second sorting scheme nearby at the current position, wherein the interval state is an idle state of the certain grabbing device between the execution of one first sorting scheme and the execution of the other first sorting scheme, and if a certain article to be sorted is already sorted, removing all sorting schemes corresponding to the sorted articles from the first sorting sequence;
s7: after the set time period, the steps S1 to S6 are re-executed until all the articles on the conveyor are sorted.
2. The method of claim 1, wherein the sorting score is calculated from the formula:
P ijk ＝T ijk +C 1 R ik
wherein i, j, k are variables, and i, j, k are integers greater than 0, i is not greater than the number of articles to be sorted, j is not greater than the number of sorting areas, k is not greater than the number of gripping devices, P ijk For the sorting score, T, of the ith article to be sorted when it is sorted in the jth sorting area by the kth gripper device ijk For the time weighting value R of the ith article to be sorted when the jth sorting area is sorted by the kth gripper ik For the type weighting value, C, of the ith article to be sorted when sorted by the kth gripper 1 The coefficients are adjusted for the type.
3. The method according to claim 2, wherein the time weighting value T ijk Calculated from the following formula:
T ijk ＝Q ijk +C 2 /t ij
type weighting value R ik Calculated from the following formula:
wherein Y is 1 For the number of types of articles to be sorted on the conveyor, U i The number of gripping devices, C, adapted to the type of the ith article to be sorted 2 For time adjustment factor, t ij For the length of time the ith article to be sorted moves to the jth sorting area, Q ijk The time fraction of the first sorting process is that the k-th grabbing device moves to the j-th sorting area to sort the i-th to-be-sorted articles to the corresponding sorting basket, and the shorter the time of the first sorting process is, the higher the corresponding time fraction is.
4. The method of claim 1, wherein the set ordering is determined by:
s41: selecting the sequence of any sorting scheme in the first sorting sequence as a pending setting sequence;
s42: replacing the set ordering in the step S4 with the undetermined set ordering and performing the steps S4 to S6 in a simulation mode;
s43: re-selecting the undetermined set sorting, and repeating the steps S41-S42 until each sorting in the first sorting sequence is taken as the undetermined set sorting and performing the steps S4-S6 in a simulation mode;
s44: and taking the corresponding undetermined set sorting as the set sorting when the missing articles to be sorted in the simulation process are minimum.
5. The method according to claim 4, wherein when a certain gripping device is in the spaced state, invoking the gripping device to sort the articles to be sorted corresponding to the second sorting scheme nearby at the current location comprises:
in the S5 executing process, monitoring whether each grabbing device is in an interval state, and when the grabbing devices are in the interval state, locating the grabbing devices at interval positions, wherein the interval positions are at sorting areas corresponding to the previous first sorting scheme executed by the grabbing devices;
if a certain grabbing device is in an interval state, acquiring interval duration and interval position of the interval state of the grabbing device;
sorting the second to-be-sorted articles in the sorting areas corresponding to the interval positions to obtain a second sorting sequence, wherein the second to-be-sorted articles are to-be-sorted articles corresponding to a second sorting scheme, the second sorting sequence is used for sorting the second to-be-sorted articles in the order from short to long according to a second duration, and the second duration is the duration that the grabbing device sorts a certain second to-be-sorted article in the sorting areas corresponding to the interval positions to the corresponding sorting basket and returns to the interval positions;
and calling the grabbing device to sort each second object to be sorted in the sorting area corresponding to the interval position according to the second sorting sequence, wherein the sum of the second time durations corresponding to the sorting of each sorted object by the grabbing device is not greater than the interval duration of the grabbing device.
6. The utility model provides a sorting device, its characterized in that includes information acquisition module, letter sorting score calculation module, letter sorting order arrangement module, letter sorting scheme division module, first letter sorting module, second letter sorting module and repeat execution module, each module cooperates with each other to carry out the step in claim 1 as follows:
the information acquisition module is used for executing step S1: acquiring characteristic information of each article to be sorted on the conveying device, and determining a plurality of sorting schemes corresponding to each article to be sorted;
the sorting score calculating module is used for executing step S2: determining a time weighting value and a type weighting value corresponding to each sorting scheme according to each characteristic information, and further determining sorting scores corresponding to each sorting scheme according to the time weighting values and the type weighting values;
the sorting order arrangement module is used for executing the step S3: arranging the sorting schemes according to the sorting scores from large to small to obtain a first sorting sequence;
the sorting scheme dividing module is used for executing step S4: dividing each sorting scheme in the first sorting sequence into a first sorting scheme and a second sorting scheme;
the first sorting module is used for executing step S5: calling each grabbing device to sort the articles to be sorted corresponding to each first sorting scheme according to the sorting score from high to low;
the second sorting module is used for executing step S6: when a certain grabbing device is in an interval state, calling the grabbing device to sort the objects to be sorted corresponding to the second sorting scheme nearby at the current position; and
the repeated execution module is used for executing step S7: after the set time period, the steps S1 to S6 are re-executed until all the articles on the conveyor are sorted.
7. An article sorting system, comprising:
a conveying device for conveying the articles to be sorted;
the grabbing device is used for grabbing the articles to be sorted on the conveying device; and
computer equipment connected to the conveyor and the gripping means, respectively, for performing the method of sorting articles according to any one of claims 1-5.
8. The system of claim 7, wherein the gripping device is a coaxial multi-arm robot including a plurality of robotic arms therein, each robotic arm corresponding to at least one type of item to be sorted.
9. The system of claim 7, wherein the conveyor is an endless conveyor belt, the endless conveyor belt circumscribing the formed area as a first area, and the gripping device is disposed in and movable within the first area.
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| CN109365318A (en) * | 2018-11-30 | 2019-02-22 | 天津大学 | A kind of multi-robot Cooperation method for sorting and system |
| CN112561451A (en) * | 2020-12-25 | 2021-03-26 | 生活半径(北京)信息技术有限公司 | Logistics distribution sorting method, device and system |
| CN114408425A (en) * | 2021-08-18 | 2022-04-29 | 深圳市库宝软件有限公司 | Cargo scheduling method, device, equipment, warehousing system and storage medium |
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| CN109365318A (en) * | 2018-11-30 | 2019-02-22 | 天津大学 | A kind of multi-robot Cooperation method for sorting and system |
| CN112561451A (en) * | 2020-12-25 | 2021-03-26 | 生活半径(北京)信息技术有限公司 | Logistics distribution sorting method, device and system |
| CN114408425A (en) * | 2021-08-18 | 2022-04-29 | 深圳市库宝软件有限公司 | Cargo scheduling method, device, equipment, warehousing system and storage medium |
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