CN107899957A - Automatic logistics sorting system and automatic logistics method for sorting - Google Patents
Automatic logistics sorting system and automatic logistics method for sorting Download PDFInfo
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- CN107899957A CN107899957A CN201710938309.9A CN201710938309A CN107899957A CN 107899957 A CN107899957 A CN 107899957A CN 201710938309 A CN201710938309 A CN 201710938309A CN 107899957 A CN107899957 A CN 107899957A
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- 238000000034 method Methods 0.000 title claims abstract description 60
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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
- B07C3/00—Sorting according to destination
- B07C3/003—Destination control; Electro-mechanical or electro- magnetic delay memories
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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
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
-
- 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
Abstract
The present invention provides the automatic logistics sorting system and method that automatically process mechanism of the failure with automatic transportation unit.The automatic logistics sorting system includes：Automatic transportation unit, for transporting article to be sorted；Sorting area, for being operated wherein by the automatic transportation unit, to realize the sorting of article to be sorted；With, control system, for controlling the sorting and movement of the automatic transportation unit in the sorting area of the article to be sorted, and further comprise：Detection unit, for detecting the state of the automatic transportation unit；Identifying unit, for determining the Status Type of the automatic transportation unit；And control unit, in response to determine the automatic transportation unit be in occur can self-healing failure first state type, control the automatic transportation unit with self-healing failure.In this way, automatically process mechanism by using the failure of automatic transportation unit, it is possible to achieve efficient goods sorting.
Description
Technical field
Present invention relates in general to automatic material flow field, and more specifically, it is related to automatic transportation unit
The automatic logistics sorting system and automatic logistics method for sorting that automatically process mechanism of failure.
Background technology
The fast development of e-commerce, both brought unprecedented opportunity to develop, also to Courier Service to delivery industry
Propose stern challenge.How high efficiency, low cost, flexibly accurately carry out packages be always that this industry faces
Problem.Traditional artificial matrix form sorting, mainly faces that efficiency is low, and error rate is high, artificial intensity is big, recruitment is difficult, management difficulty etc.
Problem.The conventional automated sorting device such as halved belt sorter mainly faces that investment is big, return is slow, flexibility and autgmentability difference
Problem, can not adapt to the change demand of each period Wave crest and wave trough in utilization rate of equipment and installations, and band sorter of reporting to the leadship after accomplishing a task belongs to serial system
Unite, a point all can cause whole carbel sorting to be stopped after breaking down on main line.Therefore, flexible automation bag
Wrap up in key issue and active demand of the sorting as delivery industry seeking development.
Flourishing for robot technology brings huge technological change for whole logistic industry in recent years, also to sorting
Industry brings new technology and new design concept.Fig. 1 is one of the existing automatic logistics sorting system using robot
Exemplary schematic diagram.As shown in Figure 1, form of the automatic logistics sorting system using " robot+steel platform ", operator are supplying
Parcel is placed on robot bogey by part platform, and robot carries parcel and runs to steel drop piece bin position by package delivering
To drop piece bin so as to complete packages task.
The above-mentioned more traditional artificial sorting mode of automatic logistics sorting system substantially increases sorting efficiency, is sorted compared with halved belt
The conventional automated mode such as machine has the advantages that cost is low, flexible high again, thus has obtained the extensive concern of industry and quickly pushed away
Extensively.
In above-mentioned automatic logistics sorting system, if the robot for transporting parcel breaks down, need manually deposit
Steel platform is removed in the robot of failure.In this way, the work of other robot will necessarily be influenced, so as to reduce the overall fortune of system
Line efficiency.
Therefore, it is necessary to a kind of improved automatic logistics sort plan.
The content of the invention
It is an object of the invention to for it is above-mentioned in the prior art the defects of and deficiency, there is provided it is novel and improved have
The automatic logistics sorting system and automatic logistics method for sorting that automatically process mechanism of the failure of automatic transportation unit.
According to an aspect of the present invention, there is provided a kind of automatic logistics sorting system, including：Automatic transportation unit, is used for
Transport article to be sorted；Sorting area, for being operated wherein by the automatic transportation unit, to realize point of article to be sorted
Pick；With, control system, for control the article to be sorted sorting and the automatic transportation unit in the sorting area
Movement, and further comprise：Detection unit, for detecting the state of the automatic transportation unit；Identifying unit, for determining
The Status Type of the automatic transportation unit；And control unit, in response to determining that the automatic transportation unit is in hair
Life can self-healing failure first state type, control the automatic transportation unit with self-healing failure.
In above-mentioned automatic logistics sorting system, the identifying unit is further used for：In response to determining the automatic fortune
Defeated unit be not at occur can self-healing failure first state type, whether further determine that the automatic transportation unit
In occur can not self-healing failure but do not influence movement the second Status Type；Described control unit is further used for：
In response to determining that the automatic transportation unit is in second Status Type, control so that the automatic transportation unit to be moved to
Specific location.
In above-mentioned automatic logistics sorting system, second Status Type includes following one：The automatic transportation
Unit detects that the execution time of the drop piece operation of the article to be sorted exceedes scheduled time threshold value；The automatic transportation unit
Detect the number of the article to be sorted transported and previously positioned difference；And detect can not for the automatic transportation unit
Receive external command.
In above-mentioned automatic logistics sorting system, the identifying unit is further used for：Determine the automatic transportation unit
Whether in the third state type for deviateing normal route of travel；Described control unit is further used for：It is described in response to determining
Automatic transportation unit is in the third state type, controls the automatic transportation unit to correct route of travel.
In above-mentioned automatic logistics sorting system, the identifying unit is further used for：Determine the automatic transportation unit
Whether in the 4th Status Type for needing to charge；Described control unit is further used for：It is described automatic in response to determining
Delivery unit is in the 4th Status Type, controls the automatic transportation unit to march to pre-set charge position.
In above-mentioned automatic logistics sorting system, the identifying unit is further used for：Determine the automatic transportation unit
Whether in breaking down and irremovable 5th Status Type；Described control unit is further used for：In response to determining institute
State automatic transportation unit and be in the 5th Status Type, determine the location of described automatic transportation unit, and according to described
Location determination disables region.
In above-mentioned automatic logistics sorting system, described control unit is further used for：Stop in the disabling region
The movement of all automatic transportation units；And the route of travel of the automatic transportation unit moved outside the control disabling region,
So that the automatic transportation unit avoids the disabling region.
In above-mentioned automatic logistics sorting system, the identifying unit is further used for：Determine the automatic transportation unit
Whether the 6th abnormal Status Type is occurred in the article to be sorted transported；Described control unit is further used for：Response
The 6th Status Type is in the automatic transportation unit, controls the automatic transportation unit to stop mobile and to the control
System processed sends current location information to wait further processing.
In above-mentioned automatic logistics sorting system, the control system is further used for being based on the current location information,
Again the travel path of other automatic transportation units is planned.
In above-mentioned automatic logistics sorting system, the sorting area further comprises：Piece supplying area, it is to be sorted for distributing
Article；Traffic zone, for movable within by one or more automatic transportation units, is treated described in the automatic transportation unit transport
Segregating articles pass through the traffic zone；With, drop piece area, including multiple sorting destination objects, and the automatic transportation unit is at it
It is middle to perform the article to be sorted to the drop piece of corresponding sorting destination object；Wherein, the traffic zone and the drop piece area
It is in the same plane, and the traffic zone and the drop piece area be not overlapping.
According to another aspect of the present invention, there is provided a kind of automatic logistics method for sorting, including：Piece supplying area by one or
Multiple articles to be sorted are placed on automatic transportation unit；Obtain the item related information of the article to be sorted；Based on described
Item related information determines specific sorting destination object corresponding with the article to be sorted；The automatic transportation unit carries institute
Article to be sorted is stated by traffic zone；March to drop piece area with, the automatic transportation unit, perform the article to be sorted to
The drop piece of its corresponding specific sorting destination object；Wherein, the automatic logistics method for sorting further comprises：Detection is described certainly
The state of dynamic delivery unit；Determine the Status Type of the automatic transportation unit；And in response to determining the automatic transportation list
Member in occur can self-healing failure first state type, control the automatic transportation unit with self-healing failure.
In above-mentioned automatic logistics method for sorting, determine that the Status Type of the automatic transportation unit further comprises：Ring
Should in determine the automatic transportation unit be not at occur can self-healing failure first state type, further determine that institute
State automatic transportation unit whether in occur can not self-healing failure but do not influence movement the second Status Type；It is described from
Animal stream method for sorting further comprises：In response to determining that the automatic transportation unit is in second Status Type, control
The automatic transportation unit is moved to specific location.
In above-mentioned automatic logistics method for sorting, second Status Type includes following one：The automatic transportation
Unit detects that the execution time of the drop piece operation of the article to be sorted exceedes scheduled time threshold value；The automatic transportation unit
Detect the number of the article to be sorted transported and previously positioned difference；And detect can not for the automatic transportation unit
Receive external command.
In above-mentioned automatic logistics method for sorting, determine that the Status Type of the automatic transportation unit further comprises：Really
Whether the fixed automatic transportation unit is in the third state type for deviateing normal route of travel；The automatic logistics method for sorting
Further comprise：In response to determining that the automatic transportation unit is in the third state type, the automatic transportation list is controlled
Member is to correct route of travel.
In above-mentioned automatic logistics method for sorting, determine that the Status Type of the automatic transportation unit further comprises：Really
Whether the fixed automatic transportation unit is in the 4th Status Type for needing to charge；The automatic logistics method for sorting is into one
Step includes：In response to determining that the automatic transportation unit is in the 4th Status Type, the automatic transportation cell row is controlled
Proceed to pre-set charge position.
In above-mentioned automatic logistics method for sorting, determine that the Status Type of the automatic transportation unit further comprises：Really
Whether the fixed automatic transportation unit is in breaking down and irremovable 5th Status Type；The automatic logistics sorting side
Method further comprises：In response to determining that the automatic transportation unit is in the 5th Status Type, the automatic transportation is determined
The location of unit, and disable region according to the location determination.
In above-mentioned automatic logistics method for sorting, specifically included according to location determination disabling region：Stop the taboo
With the movement of all automatic transportation units in region；Control the traveling of the automatic transportation unit moved outside the disabling region
Route, so that the automatic transportation unit avoids the disabling region.
In above-mentioned automatic logistics method for sorting, determine that the Status Type of the automatic transportation unit further comprises：Really
Whether the fixed automatic transportation unit occurs the 6th abnormal Status Type in the article to be sorted transported；It is described from animal
Stream method for sorting further comprises：The 6th Status Type is in response to the automatic transportation unit, is controlled described automatic
Delivery unit stops mobile and sends current location information to the control system to wait further processing.
In above-mentioned automatic logistics method for sorting, the automatic logistics method for sorting further comprises：Based on described current
Positional information, plans the travel path of other automatic transportation units again.
In above-mentioned automatic logistics method for sorting, the traffic zone and the drop piece area are in the same plane and described
Traffic zone and the drop piece area be not overlapping.
Automatic logistics sorting system and automatic logistics method for sorting provided by the invention, by using automatic transportation unit
Failure automatically processes mechanism, it is possible to achieve efficient goods sorting.
Brief description of the drawings
Fig. 1 is an exemplary schematic diagram of the existing automatic logistics sorting system using robot；
Fig. 2 is that the region of automatic logistics sorting system according to embodiments of the present invention sets exemplary schematic diagram；
Fig. 3 is the schematic block diagram of automatic logistics sorting system according to embodiments of the present invention；
Fig. 4 is the schematic block diagram of fault treating apparatus according to embodiments of the present invention；
Fig. 5 is the indicative flowchart of automatic logistics method for sorting according to embodiments of the present invention.
Embodiment
It is described below for the open present invention so that those skilled in the art can realize the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.Define in the following description
Basic principle of the invention can be applied to other embodiments, deformation program, improvement project, equivalent and do not carry on the back
From the other technologies scheme of the spirit and scope of the present invention.
The term and word used in description below and claim is not limited to literal implication, but only by the present inventor
The present invention can be understood and as one man understand by being used so that.Therefore, to those skilled in the art clearly only for explanation
Purpose rather than provide this hair to limit the purpose of the present invention as defined in appended claims and their equivalent
Bright various embodiments are described below.
It is understood that term " one " be interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be multiple, and term " one " is no
It is understood that as the limitation to quantity.
Although for example the ordinal number of " first ", " second " etc. will be used to describe various assemblies, not limit those herein
Component.The term is only used for distinguishing a component and another component.For example, first assembly can be referred to as the second component, and together
Sample, the second component can also be referred to as first assembly, without departing from the teaching of inventive concept.Term as used herein " and/
Or " include the project listed any of one or more associations and all combinations.
Term used herein is only used for describing the purpose of various embodiments and is not intended to limit.As used herein,
Singulative is intended to also include plural form, makes an exception unless the context clearly dictates.Will further be understood that term " comprising " and/or
" having " specifies depositing for the feature, number, step, operation, component, element or its combination when using in this specification
, and it is not excluded for the presence or additional of one or more of the other feature, number, step, operation, component, element or its group.
Term used herein including technical and scientific term has and the normally understood art of those skilled in the art
The identical implication of language, so long as not being defined differently than the term.It should be understood that the term tool limited in usually used dictionary
There is the implication consistent with the implication of term of the prior art.
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
The layout example of automatic logistics sorting system
In the existing automatic logistics sorting system using robot, first, system that employs the high knot of paralell
Structure (such as building steel platform), robot are operated in above platform, and the container for parcel of plugging into is located at below platform.Though this structure
Sorting is so achieveed the purpose that, but platform is built and used so that the system all big discounting in terms of flexibility and cost
Button, thus need the automatic logistics sorting system that flexibility is stronger, cost is lower.
In addition, in said system, fall goods lattice mouth in the form of an array in robot motion region (as shown in Figure 1, falling
Goods lattice mouth is in an array manner in steel platform plane).Therefore, robot, which is performed in drop piece task process, can cause other machines
Device people, which waits either intersecting between robot, avoids that robot waits or avoiding can reduce the sorting efficiency of whole system.
Especially, when robot quantity is more, robot density is larger in the system, robot performs machine caused by drop piece task
People waits or avoiding can be such that whole system efficiency declines rapidly.
Therefore, it is desirable to further improved on the basis of the automatic logistics sorting system, with overcome the bottleneck of system effectiveness,
Reducing robot drop piece causes robot to wait or intersect the efficiency for avoiding, effectively improving parcel automatic logistics sorting system.
On the flexibility problem of automatic logistics sorting system, because the periodic factor of logistic industry, automatic logistics
Requirement of the sorting system for flexibility is very high.Specifically, for logistic industry, the article of required transport shows
Obvious Wave crest and wave trough distribution, for example, for express delivery industry, the drastically increasing of car loading occurs when catenet is done shopping and saved
Add, and in vacation as such as Spring Festival, car loading can also substantially reduce.Therefore, automatic logistics sorting system is required to
It is unbalanced that the quantity of this required freight amount is tackled well, so that while guarantee system meets needs, again
It is unlikely to cause the idle of system.
Therefore, an example according to embodiments of the present invention, there is provided a kind of automatic logistics sorting system, including：Piece supplying
Area, for distributing article to be sorted；Traffic zone, for, the automatic fortune movable within by one or more automatic transportation units
Defeated unit transports the article to be sorted；With drop piece area, including multiple sorting destination objects, and the automatic transportation unit is held wherein
Row the article to be sorted to it is corresponding sorting destination object drop piece；Wherein, the traffic zone and the drop piece area are positioned at same flat
On face, and the traffic zone and the drop piece area be not overlapping.
Relative to the automatic logistics sorting system of use " robot+steel platform " as shown in Figure 1, implement according to the present invention
The automatic logistics sorting system of example uses the arrangement of plane, i.e. traffic zone and drop piece area set in the same plane, so that
Avoid cost caused by traffic zone frame height.
Preferably, in automatic logistics sorting system according to embodiments of the present invention, the traffic zone and the drop piece area are set
On the ground.
In this way, automatic logistics sorting system according to embodiments of the present invention further uses " landing " formula structure so that fortune
In defeated area and drop piece area are generally aligned in the same plane, correspondingly, the automatic transportation unit and drop piece area moved in traffic zone includes
Sorting destination object also be located in same plane, without individually setting for this platform for automatic transportation unit, avoid spirit
The loss of activity and cost.
Certainly, should it will be understood by those skilled in the art that in automatic logistics sorting system according to embodiments of the present invention
Traffic zone and the drop piece area can be arranged directly on ground, can also be arranged on as required in other planes.For example, according to
The automatic logistics sorting system of the embodiment of the present invention can also be embodied as three-dimensional automatic logistics sorting system, including be provided with
Traffic zone and the multilayer planar in drop piece area.This particularly suitable for site condition it is limited in the case of, so as to fully using height
Space is spent, reduces the cost of automatic logistics sorting system.
In addition, in automatic logistics sorting system according to embodiments of the present invention, traffic zone and drop piece area be not overlapping, i.e.
Traffic zone and drop piece area occupy the different piece in plane physical space respectively, so that automatic transportation unit is performing drop piece
When without waiting for the drop piece of other automatic transportation units or avoided therebetween, significantly improve automatic logistics sorting system
The efficiency of system.
Here, the automatic transportation unit in automatic logistics sorting system according to embodiments of the present invention can be robot,
Can also be other be used to transporting article can automatic transportation unit.
In addition, the sorting destination object in automatic logistics sorting system according to embodiments of the present invention is related to thing to be sorted
Product classification corresponding after being sorted.For example, in delivery industry, usual sorting destination object corresponds to one especially
Transportation route, and the sorting destination object can be for accommodating the appearance of parcel for needing to be transported through the transportation route
Device.But it will be understood by those skilled in the art that the sorting destination object in the embodiment of the present invention is not limited in corresponding to spy
Fixed transportation route, it relates to corresponding classification after other goods sortings, such as the size of article, the characteristic of article
(frangible degree etc.).
To sum up, automatic logistics sorting system according to embodiments of the present invention provides a kind of not weighing with plane
The automatic logistics sorting system of folded region arrangement, its core are the plane in traffic zone and drop piece area not arranged superposed.Therefore,
Sorted it will be understood by those skilled in the art that whether actually needing segregating articles in automatic logistics according to embodiments of the present invention
The essential feature that sorting is not automatic logistics sorting system according to embodiments of the present invention is carried out in system.That is, i.e.
Make no automatic transportation unit that article to be sorted is transported to drop piece area via traffic zone from piece supplying area, as long as traffic zone and drop piece
Area has the not arranged superposed of plane, is intended to be included within protection scope of the present invention.
Also, multiple sorting destination objects that drop piece area includes also are not necessarily the objects with entity, for example, can
Drop piece zoning is divided into multiple regions, and each region corresponds to a sorting destination object, so as to fulfill the sorting of article.
Certainly, it can also be the shelf of entity, goods basket etc. to sort destination object.Also, in order to improve the flexibility of system, when sorting mesh
When mark object is the container for accommodating article, this container is preferably moveable, so that after being filled, Ke Yijin
Row is easily replaced.
That is, in automatic logistics sorting system according to embodiments of the present invention, which is to be used for
Accommodate the removable container of the article after sorting.
Have already mentioned above, in automatic logistics sorting system according to embodiments of the present invention, the traffic zone and the drop piece
It is in area is generally aligned in the same plane and not overlapping.Further, the piece supplying area in the automatic logistics sorting system also with the traffic zone and should
In drop piece area is generally aligned in the same plane, and the piece supplying area and the traffic zone and the drop piece area be not overlapping.In this way, can further it pass through
The setting in piece supplying area, ensures high flexibility, low cost and the high efficiency of automatic logistics sorting system according to embodiments of the present invention.
In terms of the layout in actual piece supplying area, traffic zone and drop piece area, automatic logistics according to embodiments of the present invention point
The system of picking can use kinds of schemes.Generally speaking, piece supplying area and drop piece area need to be configured according to traffic zone.For example,
In one example, piece supplying area and drop piece area are located at the both sides of traffic zone respectively, so that automatic transportation unit is by by thing
Product are transported to the different sorting destination objects in drop piece area from piece supplying area, to realize the sorting of article.Here, traffic zone is according to reality
The site condition on border, can be various shapes, for example, traffic zone can be common rectangle and square, in this case,
Piece supplying area can be located at the center of a line of traffic zone, and drop piece area is located on the relative edge of traffic zone.Here, this area skill
Art personnel are appreciated that when being related to more sorting destination object, and when the area of traffic zone is limited, can be in traffic zone
More sides set drop piece area.For example, can be in the traffic zone of rectangle and square, except other three of piece supplying area side
Drop piece area is set on side, so as to meet the sorting needs of article.
In another example, piece supplying area can be arranged on to the center of traffic zone, and drop piece area is arranged on traffic zone
Surrounding, in this way, the place of traffic zone can farthest be utilized, this is particularly suited for the situation that site condition is limited.
Fig. 2 is that the region of automatic logistics sorting system according to embodiments of the present invention sets exemplary schematic diagram.Such as Fig. 2 institutes
Show, piece supplying area is arranged on to the center in place, and drop piece area is arranged on to the surrounding in place, and between piece supplying area and drop piece area
Region be traffic zone.Also, in fig. 2, sorted due to needing article to be sorted being transported to piece supplying area,
The side in place is left for transporting article to be sorted to the space in piece supplying area.Here, those skilled in the art obviously can be with
Understand, if article to be sorted has disposably been transported to piece supplying area in advance, then may be set to be drop piece on the right side of Fig. 2
Area.
That is, in the case of being arranged on traffic zone center even in piece supplying area, also it is not necessarily in traffic zone
Surrounding sets drop piece area, but can be needed according to specific sorting, an appropriate number of sorting destination object is set, so that really
Determine all sorting destination objects under whether being accommodated in the side of traffic zone, it is desired nonetheless to occupy other one side or the multi-lateral.
In addition, from another perspective, in automatic logistics sorting system according to embodiments of the present invention, due to treating point
Pick article to transport to drop piece area from piece supplying area, traffic zone is obviously in the position between piece supplying area and drop piece area, therefore can recognize
For the shape in piece supplying area and drop piece area, the shape in particularly drop piece area determines the shape of traffic zone.It is accordingly it is also possible to true first
Determine the layout in drop piece area, then the layout of traffic zone is determined based on the shape in drop piece area.
Also, since as described above, sorting destination object is preferably moveable, according to embodiments of the present invention is automatic
Materials-sorting system can be according to number of articles to be sorted, to set an appropriate number of sorting destination object.Equally with express delivery
Exemplified by packages in industry, it is assumed that it is corresponding to 30 circuits to need packages.It is possible to according to existing number
According to, determine in every circuit include number how much, so as to set multiple sorting destination objects corresponding to same circuit.Example
Such as, if it is determined that it is very big corresponding to the number of packages of a certain circuit, then multiple sorting targets corresponding to the circuit can be set
Object, so that can be unlikely to corresponding to the parcel of the circuit by parallel sorting since the circuit reduces the entirety of system
Efficiency.In addition, if in some special time period, number of packages to be sorted dramatically increases, then can on the whole increase and correspond to
The number of the sorting destination object of each circuit.If for example, usually, every circuit corresponds to a sorting destination object,
Then the number of the corresponding sorting destination object of every circuit can be arranged to two or more in busy, so that according to
The automatic logistics sorting system of the embodiment of the present invention can tackle the periodic characteristic of logistic industry well, with good
Flexibility.
Certainly, in the case where the number of sorting destination object increases, the area deficiency in original drop piece area can occur
To accommodate the situation of sorting destination object.This can be only by expanding the area of traffic zone, so as to correspondingly expand drop piece area
Area can solve.
Further, since in automatic logistics sorting system according to embodiments of the present invention, piece supplying area, traffic zone and drop piece area
Realize in the same plane, can also be simple in addition to realizing the automatic logistics sorting system in a manner of three-dimensional as described above
The automatic logistics sorting system is replicated on the ground on ground.
Specifically, it is mentioned above by expanding the area of traffic zone so that the mode for expanding the area in drop piece area is come
Dilatation is carried out to automatic logistics sorting system according to embodiments of the present invention.But in the case of the area increase of traffic zone,
The circuit that automatic transportation unit is advanced in traffic zone can also change.For automatic transportation unit as such as robot
For, it is clearly optimal case to advance according to pre-set path.Therefore, in order to avoid traffic zone change for automatic
The influence that the traveling of delivery unit produces, can on the whole be replicated and implement according to the present invention in the case where not changing traffic zone
The automatic logistics sorting system of example.That is, set another new automatic logistics sorting system, but be to maintain with it is old from
The plane figure in the dynamic identical piece supplying area of materials-sorting system, traffic zone and drop piece area, this way it is secured that automatic fortune
The setting of defeated unit is identical.
That is, another example according to embodiments of the present invention, there is provided a kind of automatic logistics sorting system, including：
First piece supplying area, for distributing article to be sorted；First traffic zone, for being moved wherein by one or more automatic transportation units
Dynamic, which transports the article to be sorted；With the first drop piece area, including multiple sorting destination objects, and this is automatic
Delivery unit performs the article to be sorted to the drop piece of corresponding sorting destination object wherein；Wherein, first traffic zone
In being generally aligned in the same plane with the first drop piece area, and first traffic zone and the first drop piece area be not overlapping；The automatic logistics point
The system of picking further comprises the second piece supplying area, the second traffic zone and the second drop piece area, and the second piece supplying area, the second traffic zone and
Second plane figure in the second drop piece area and the first plane figure phase in the first piece supplying area, the first traffic zone and the first drop piece area
Together.
Here, it will be understood by those skilled in the art that plane figure it is identical refer to regional horizontal layout it is identical,
It is not intended to limit the number of the automatic transportation unit run in the second traffic zone, and point being included in the second drop piece area
Picking destination object also must be identical with the first traffic zone and the first drop piece area respectively.
An in addition, example according to embodiments of the present invention, there is provided a kind of automatic logistics sorting system, including：Automatically
Delivery unit, for transporting article to be sorted；Sorting area, for being operated wherein by the automatic transportation unit, is treated with realizing
The sorting of segregating articles；And control device, for control the article to be sorted sorting and the automatic transportation unit in the sorting
Movement in region；Wherein, which further comprises：Piece supplying area, for distributing article to be sorted；Traffic zone, is used for
Movable within by one or more automatic transportation units, which transports the article to be sorted and passes through the transport
Area；With, drop piece area, including multiple sorting destination objects, and the automatic transportation unit performs the article to be sorted to phase wherein
The drop piece of corresponding sorting destination object；Wherein, the traffic zone and the drop piece area it is in the same plane, and the traffic zone and should
Drop piece area is not overlapping.
Fig. 3 is the schematic block diagram of automatic logistics sorting system according to embodiments of the present invention.As shown in figure 3, according to this
The automatic logistics sorting system 200 of inventive embodiments includes：Automatic transportation unit 210, for transporting article to be sorted；Off-sorting station
Domain 220, for being operated wherein by automatic transportation unit 210, to realize the sorting of article to be sorted；With control device 230, use
In the movement in the sorting area of sorting and automatic transportation unit 210 for controlling the article to be sorted；Wherein, sorting area
220 further comprise：Piece supplying area 221, for distributing article to be sorted；Traffic zone 222, for by one or more automatic transportations
Unit 210 is movable within, and automatic transportation unit 210 transports the article to be sorted by traffic zone 222；With, drop piece area 223,
Including multiple sorting destination objects, and automatic transportation unit 210 performs the article to be sorted to corresponding sorting mesh wherein
Mark the drop piece of object；Wherein, traffic zone 222 and drop piece area 223 are in the same plane, and traffic zone 222 and drop piece area 223 are not
It is overlapping.
In above-mentioned automatic logistics sorting system, the traffic zone and the drop piece area are set directly on ground.
In above-mentioned automatic logistics sorting system, the piece supplying area, the traffic zone and the drop piece area are in the same plane, and
The piece supplying area, traffic zone and the drop piece area do not overlap each other.
In above-mentioned automatic logistics sorting system, which is located at the side of the traffic zone, and the drop piece area is positioned at this
One side or the multi-lateral of the traffic zone in addition to the side that the piece supplying area is located at.
In above-mentioned automatic logistics sorting system, which is located at the center of the traffic zone, and the drop piece area is positioned at this
Peripheral at least a portion of traffic zone.
In above-mentioned automatic logistics sorting system, which is the removable container for accommodating the article.
The automatic logistics sorting system for automatically processing mechanism of failure with automatic transportation unit
In above-mentioned automatic logistics sorting system, in fact it could happen that the situation of the failure of automatic transportation unit, therefore, further
Mechanism is automatically processed including the failure for automatic transportation unit.
That is, one side according to embodiments of the present invention, in above-mentioned automatic logistics sorting system, the control is set
It is standby, such as control device 230 shown in Fig. 3 further comprises fault treating apparatus, the fault treating apparatus includes：Detection is single
Member, for detecting the state of the automatic transportation unit；Identifying unit, for determining the state class of the automatic transportation unit
Type；And control unit, in response to determine the automatic transportation unit be in occur can self-healing failure first
Status Type, controls the automatic transportation unit with self-healing failure.
Fig. 4 is the schematic block diagram of fault treating apparatus according to embodiments of the present invention.As shown in figure 4, according to the present invention
The fault treating apparatus 300 of embodiment includes：Detection unit 301, for detecting the state of automatic transportation unit 310；Judge single
Member 302, the type of the state of the automatic transportation unit 310 detected for determining the detection unit 301；And control
Unit 303 processed, can self-healing for determining that the automatic transportation unit 310 is in generation in response to the identifying unit 302
Failure first state type, control the automatic transportation unit 310 with self-healing failure.
In automatic logistics sorting system according to embodiments of the present invention, by detect the state of automatic transportation unit and
In the case of the failure for detecting automatic transportation unit, the fault type of automatic transportation unit is further determined that, and according to certainly
The different type of the failure of dynamic delivery unit, is automatically handled automatic transportation unit, it is achieved thereby that efficient article point
Pick.
Certainly, it will be understood by those skilled in the art that automatic logistics sorting system according to embodiments of the present invention is except can
Beyond the failure for tackling automatic transportation unit, the other situations for the failure for being not belonging to automatic transportation unit can also be tackled, for example,
The low battery state of automatic transportation unit as described below, and the abnormal shape of article to be sorted that automatic transportation unit is transported
State, such as article drop.Therefore, the embodiment of the present invention is not intended to automatic logistics according to embodiments of the present invention sorting system
Fault treating apparatus in system is only limitted to the troubleshooting of automatic transportation unit.
Specifically, automatic logistics sorting system according to embodiments of the present invention determine automatic transportation unit whether there occurs
Can self-healing failure, for example, network failure, such as disconnect etc. with the connection network of control system.Here, hair of the invention
A person of good sense has found, in automatic logistics sorting system, is treated point since automatic transportation unit needs to move in sorting area with transporting
Pick article, often occur that connection with grid disconnects, thus can not reception system signal failure.For such failure
For, usually can be by automatic transportation unit self-healing, such as the request signal of network connection is sent to control system again
Deng.Also, while self-healing failure, it is likely that the movement of automatic transportation unit is had no effect on, for example, automatic transportation list
Member still can be according to continuing to move to, until network again unicom from the path that control system receives before.Therefore, for this
Class failure, automatic logistics sorting system according to embodiments of the present invention control automatic transportation unit self-healing failure, so as to
Enough operational efficiency for not influencing automatic logistics sorting system entirety.
Also, as noted previously, as such failure may have no effect on the movement of automatic transportation unit, therefore, transport automatically
Defeated unit simultaneously need not necessarily stop the failure of wait reparation in situ, and the movement of automatic transportation unit is only have impact in the failure
In the case of, automatic transportation unit just needs to stop mobile and self-healing failure.
In above-mentioned automatic logistics sorting system, the identifying unit is further used for：In response to determining the automatic fortune
Defeated unit be not at occur can self-healing failure first state type, whether further determine that the automatic transportation unit
In occur can not self-healing failure but do not influence movement the second Status Type；Described control unit is further used for：
In response to determining that the automatic transportation unit is in second Status Type, control so that the automatic transportation unit to be moved to
Specific location.
Specifically, automatic logistics sorting system according to embodiments of the present invention determine automatic transportation unit whether there occurs
The failure of the movement of automatic transportation unit is not influenced, i.e. even if there is failure in automatic transportation unit, but automatic transportation unit
It can still move, then the automatic transportation unit to break down is moved to specific location, such as the place for sorting first
In the specific region delimited in advance, then the failure of automatic transportation unit is handled again.Preferably, it is other in order not to influence
The movement of automatic transportation unit, the specific location are located in drop piece area.In this way, even if automatic transportation unit breaks down, also not
As for the movement of other automatic transportation units in influence system, so as to be unlikely to the overall operation of influence system, avoid due to
The single automatic transportation unit to break down is integrally impacted for system.
In automatic logistics sorting system according to embodiments of the present invention, what the automatic transportation unit that breaks down was moved to
Specific location in sorting place can be determined based on many factors.For example, it can be transported automatically in place is sorted
The relatively not intensive region of defeated unit sets one or more specific regions for being used for troubleshooting.In this way, on the one hand without prejudice to
The path planning of other automatic transportation units, on the other hand also so that the automatic transportation unit to break down is navigate to the region
When accomplish the crossing operation minimum with other automatic transportation units.
Here, it will be understood by those skilled in the art that mentioned in the automatic logistics sorting system of the embodiment of the present invention from
Dynamic delivery unit can be robot or other movable units of goods sorting are realized by conveying articles, this
Inventive embodiments are not intended to carry out any restrictions to the type of automatic transportation unit.
Also, either any automatic transportation unit, the automatic logistics sorting system of the embodiment of the present invention limit difference
The processing mode of the failure of type, so as to avoid the failure of single automatic transportation unit from influencing the overall operation of system, to realize
The high operational efficiency of sorting system entirety.
For the automatic logistics sorting system using automatic transportation unit, what automatic transportation unit was occurred does not influence
Mobile failure mainly includes with Types Below：
Article drops：During automatic transportation unit conveying articles, automatic transportation unit can pass through the biography of itself
Sensor judges whether article drops, and locks changing coordinates automatically, in addition, automatic transportation unit can also be indicated by itself
Lamp prompts failure.In the case where article drops, the coordinate at the place that can be dropped with marking articles in place is sorted, so as to design it
The route of travel of his automatic transportation unit is so that they avoid the article to drop.
Drop piece failure：In drop piece, the normal article drop piece time is no more than 3 seconds, and system can act time-consuming according to drop piece
To detect, illustrate drop piece failure occur if drop piece was not completed also more than 5 seconds.
Piece supplying failure：In piece supplying, in the automatic transportation unit for providing big part sorting, if automatic transportation unit detects
When the number of articles indicated in the number of articles and operation system that are carried is inconsistent, then system can feed back exception.
Therefore, in above-mentioned automatic logistics sorting system, the first state type includes following one：It is described automatic
Delivery unit detects that the article to be sorted transported drops；The automatic transportation unit detects falling for the article to be sorted
The execution time of part operation exceedes scheduled time threshold value；The automatic transportation unit detects the number of the article to be sorted transported
Mesh and previously positioned difference；And the automatic transportation unit detects can not receive external command.
The common trait of above fault type is exactly the movement for having no effect on automatic transportation unit in place is sorted, this
When, if automatic transportation unit rests on the original place broken down, the movement of other automatic transportation units will necessarily be influenced.Cause
This, by the way that automatic transportation unit is moved to specific location, can impact to avoid to other automatic transportation units.
, can be individually to the automatic transportation unit of failure after automatic transportation unit is moved to specific location
Handled, can also be waited in the case that the automatic transportation unit of failure reaches a certain number, then to the automatic of failure
Delivery unit is uniformly processed.
In addition, in automatic logistics sorting control method according to embodiments of the present invention, also there are other fault types,
Continue with explanation.
In above-mentioned automatic logistics sorting system, the identifying unit is further used for：Determine the automatic transportation unit
Whether in the third state type for deviateing normal route of travel；Described control unit is further used for：It is described in response to determining
Automatic transportation unit is in the third state type, controls the automatic transportation unit to correct route of travel.
That is, when detecting that the failure of path planning occurs to deviate for mobile unit, can be based on overall path
Planning redefines the travel path of mobile unit, is completed so that automatic transportation unit can be based on modified route of travel
The transport of article.
In above-mentioned automatic logistics sorting system, the identifying unit is further used for：Determine the automatic transportation unit
Whether in the 4th Status Type for needing to charge；Described control unit is further used for：It is described automatic in response to determining
Delivery unit is in the 4th Status Type, controls the automatic transportation unit to march to pre-set charge position.
That is, automatic transportation unit can voluntarily detect the electricity of automatic transportation unit in itself, and in not enough power supply
When, the destination that charge position is route of travel, and the programme path again again after charging complete are preferably provided with, to complete thing
The transport of product.
In addition, automatic transportation unit still may occur to cause the irremovable failure of automatic transportation unit, at this time, according to
The automatic logistics sorting control method of the embodiment of the present invention also needs to cope with the mechanism of such failure.
In above-mentioned automatic logistics sorting system, the identifying unit is further used for：Determine the automatic transportation unit
Whether in breaking down and irremovable 5th Status Type；Described control unit is further used for：In response to determining institute
State automatic transportation unit and be in the 5th Status Type, determine the location of described automatic transportation unit, and according to described
Location determination disables region.
In above-mentioned automatic logistics sorting system, described control unit is further used for：Stop in the disabling region
The movement of all automatic transportation units；And the route of travel of the automatic transportation unit moved outside the control disabling region,
So that the automatic transportation unit avoids the disabling region.
That is, when automatic transportation unit itself or control system judge that automatic transportation unit breaks down, and
And cannot by instruction operation to during specific troubleshooting region, it is necessary to manually to sorting place carry out area locking, also,
All automatic transportation unit stop motions in the region of locking, and the automatic transportation unit advanced outside the ' locked ' zone
The ' locked ' zone cannot be entered, so as to handle the failure of automatic transportation unit by manual intervention.It is complete in troubleshooting
Into afterwards, operation can be unlocked to the region of locking, so as to recover the logistics sorting in whole place again.
Here, it will be understood by those skilled in the art that when catastrophe failure occurs, can also entirely lock in place, so that
Avoid since the failure of automatic transportation unit causes the further damage of other automatic transportation units and the article transported.
As described above, the article to be sorted that automatic transportation unit is transported is it can also happen that the failure that drops, at this time, automatic to transport
Defeated unit should report article to drop position, to wait further processing.
That is, in above-mentioned automatic logistics sorting system, the identifying unit is further used for：Determine described automatic
Whether delivery unit occurs the 6th abnormal Status Type in the article to be sorted transported；Described control unit is further used
In：The 6th Status Type is in response to the automatic transportation unit, controls the automatic transportation unit to stop movement simultaneously
Current location information is sent to the control system to wait further processing.
Also, when automatic transportation unit, which waits, reloads the article to drop and transport, since its stop is in situ, because
And trouble point is showed in systems.So the position should be marked for control system, and other automatic fortune are planned again
The travel path of defeated unit.
That is, in above-mentioned automatic logistics sorting system, the control system is further used for based on described current
Positional information, plans the travel path of other automatic transportation units again.
Certainly, it will be understood by those skilled in the art that other automatic transportation units can also be marked according to control system
Trouble point, self-navigation is to avoid the trouble point.
In materials-sorting system, the type of failure is broadly divided into two major classes, the system failure and hardware fault.The system failure
Finger system cannot perform the state of predetermined function, i.e. system in the process of running, for some reason, causes system to stop fortune
OK, so that entirely sorting place can not normally be sorted, and the loss of automatic transportation unit and article condition is caused.Hardware
Failure refers to that automatic transportation unit can not work normally, such as automatic transportation unit as described above can not be sorted system drive
Dynamic, navigation error is excessive to wander off etc..For this failure, if break down all carries out manual intervention every time, due to needing
It is artificial to enter sorting place handling failure, it is necessary to the respective regions to break down and the path for reaching respective regions are disabled, so that
The overall operation of system is caused to significantly affect.
Especially, current materials-sorting system is in order to improve the operational efficiency of system, the automatic transportation list of conveying articles
Member shows that quantity is more, fireballing feature, no matter in terms of the running efficiency of system or from the aspect of personnel safety, all must
It must be reduced as far as the manual intervention in the case of breaking down.Therefore, automatic logistics according to embodiments of the present invention sorting
Control method is based on the background and makes, so as to suitable for current grand scale logistic sorting system.
In addition, though failure handling mechanisms according to embodiments of the present invention are described as automatic logistics sorting system above
A part for control system, but it can also be used as single control device.Also, with automatic logistics sorting system
When control system combines, which can be as the function module of the control system.
Here, it will be understood by those skilled in the art that failure handling mechanisms according to embodiments of the present invention can be applied to
Various automatic logistics sorting systems, such as the automatic logistics sorting system of use as shown in Figure 1 " robot+steel platform " form
System.
In addition, failure handling mechanisms according to embodiments of the present invention can also be applied to be laid out as described above from animal
Flow sorting system.
That is, in above-mentioned automatic logistics sorting system, the sorting area further comprises：Piece supplying area, is used for
Distribute article to be sorted；Traffic zone, for, the automatic transportation unit movable within by one or more automatic transportation units
Transport the article to be sorted and pass through the traffic zone；With, drop piece area, including multiple sorting destination objects, and the automatic fortune
Defeated unit performs the article to be sorted to the drop piece of corresponding sorting destination object wherein；Wherein, the traffic zone and
The drop piece area is in the same plane, and the traffic zone and the drop piece area be not overlapping.
In addition, automatic logistics sorting control method according to embodiments of the present invention and equipment can also be applied to have difference
Other automatic logistics sorting systems of layout, will specifically introduce another example below.
In the following, the example that automatic logistics sorting system according to embodiments of the present invention will be introduced.In this example
In automatic logistics sorting system, piece supplying area is embodied as the form of piece supplying table, will be treated point by using manual or automated mode
Pick including being placed on mobile conveyor.In addition, the exemplary automatic logistics sorting system, which can include parcel, examines entrance,
The parcel examines entrance to be provided with parcel verifying attachment, which includes package information acquisition device, parcel letter
Acquisition device is ceased to be used to obtain into the parcel to be sorted of the parcel corresponding with package information acquisition device inspection entrance
Package information, and the package information includes the destination of the parcel to be sorted, i.e., the sorting destination object being as above somebody's turn to do.Preferably,
The parcel examines entrance to be arranged at piece supplying area.
Mobile conveyor for example can be robot, be moved in transport section, and each mobile conveyor can be used for
Load one or more parcels to be sorted., should also, the destination information of parcel to be sorted is carried in destination address information code
Destination address information code is arranged on this and treats that sorting superscribes, so that mobile conveyor, which can carry parcel, reaches sorting mesh
Ground.
In addition, in section is transported, transport travelling platform can be included, which refers to mobile conveyor
Certain platform that the platform of walking can be ground, build, or track etc..
At the peripheral edge of transport section, the drop piece end as drop piece area is provided with, shown drop piece end is equipped with parcel and stores
Parcel to be sorted is thrown in parcel storage device by device, mobile conveyor row to drop piece end, and at drop piece end.
In addition, the exemplary automatic logistics sorting system includes control device, itself and parcel detection device and movement transport
Device interconnects, and provides task or scheduling information for mobile conveyor based on relevant information is wrapped up, controls mobile conveyor
Complete a whole set of packages flow and task.
The control device may further include fault treating apparatus, which includes：Detection unit, is used for
Detect the state of the automatic transportation unit；Identifying unit, for determining the Status Type of the automatic transportation unit；And
Control unit, in response to determine the automatic transportation unit be in occur can self-healing failure first state class
Type, controls the automatic transportation unit with self-healing failure.
In addition, as described above, automatic logistics sorting system may include control system in itself, to control article to be sorted
To the sorting of each sorting destination.
A that is, example according to embodiments of the present invention, there is provided a kind of automatic logistics sorting system, including：
Piece supplying table, for article to be sorted to be positioned over automatic transportation unit；Item verification device, for obtaining the article to be sorted
Item related information；Control device, for determining that the article to be sorted is one or more corresponding based on the item related information
A sorting destination；Traffic zone, for controlling the automatic transportation unit to pass through the traffic zone by the control device, to reach this point
Pick destination；Drop piece area, including the sorting destination, for performing the article to be sorted to the sorting by the automatic transportation unit
The drop piece of destination；Wherein, in the traffic zone and the drop piece area are generally aligned in the same plane, and the traffic zone and the drop piece area do not weigh
It is folded；The control device further comprises：Detection unit, for detecting the state of the automatic transportation unit；Identifying unit, is used for
Determine the Status Type of the automatic transportation unit；And control unit, in response to determining at the automatic transportation unit
In occur can self-healing failure first state type, control the automatic transportation unit with self-healing failure.
Certainly, it will be understood by those skilled in the art that above-mentioned item verification device, and the control including fault treating apparatus
Control equipment can be integrated into the control system of an entirety, be carried out with the failure of the sorting to article and automatic transportation unit overall
Control.
That is, another aspect according to embodiments of the present invention, there is provided a kind of automatic logistics sorting system, including：
Automatic transportation unit, for transporting article to be sorted；Sorting area, for being operated wherein by the automatic transportation unit, with
Realize the sorting of article to be sorted；With control system, for the sorting for controlling the article to be sorted and the automatic transportation list
Movement of the member in the sorting area；Wherein, the sorting area further comprises：Piece supplying area, for distributing thing to be sorted
Product；Traffic zone, for movable within by one or more automatic transportation units, the automatic transportation unit transport described in treat point
Pick article and pass through the traffic zone；With, drop piece area, including multiple sorting destination objects, and the automatic transportation unit is wherein
The article to be sorted is performed to the drop piece of corresponding sorting destination object, wherein, the traffic zone and the drop piece position
In on same plane, and the traffic zone and the drop piece area be not overlapping；And the control system further comprises：Failure
Processing unit, including：Detection unit, for detecting the state of the automatic transportation unit；Identifying unit, for determine it is described from
The Status Type of dynamic delivery unit；And control unit, for that can be held in response to determining that the automatic transportation unit is in generation
The first state type for the failure that row is repaired, controls the automatic transportation unit with self-healing failure.
The automatic logistics method for sorting for automatically processing mechanism of failure with delivery unit
Another aspect according to embodiments of the present invention, there is provided a kind of automatic logistics method for sorting, including：Will in piece supplying area
One or more articles to be sorted are placed on automatic transportation unit；Obtain the item related information of the article to be sorted；Base
Specific sorting destination object corresponding with the article to be sorted is determined in the item related information；The automatic transportation unit
The article to be sorted is carried by traffic zone；Drop piece area is marched to, the automatic transportation unit, performs the thing to be sorted
Drop piece of the product to corresponding specific sorting destination object；Wherein, the automatic logistics method for sorting further comprises：Detection
The state of the automatic transportation unit；Determine the Status Type of the automatic transportation unit；It is and described automatic in response to determining
Delivery unit be in occur can self-healing failure first state type, control the automatic transportation unit to wait with voluntarily
Repair failure.
Fig. 5 is the indicative flowchart of automatic logistics method for sorting according to embodiments of the present invention.As shown in figure 5, according to
The automatic logistics method for sorting of the embodiment of the present invention includes：One or more articles to be sorted, are placed on by S401 in piece supplying area
On automatic transportation unit；S402, obtains the item related information of the article to be sorted；S403, based on the related letter of the article
Breath determines specific sorting destination object corresponding with the article to be sorted；S404, the automatic transportation unit carry described in treat
Segregating articles are by traffic zone；And S405, the automatic transportation unit march to drop piece area, perform the article to be sorted to
The drop piece of its corresponding specific sorting destination object；Wherein, the automatic logistics method for sorting further comprises：S406, in step
During rapid S404, the state of the automatic transportation unit is detected；S407, determines the state class of the automatic transportation unit
Type；And S408, in response to determine the automatic transportation unit be in occur can self-healing failure first state type,
The automatic transportation unit is controlled with self-healing failure.
In above-mentioned automatic logistics method for sorting, determine that the Status Type of the automatic transportation unit further comprises：Ring
Should in determine the automatic transportation unit be not at occur can self-healing failure first state type, further determine that institute
State automatic transportation unit whether in occur can not self-healing failure but do not influence movement the second Status Type；It is described from
Animal stream method for sorting further comprises：In response to determining that the automatic transportation unit is in second Status Type, control
The automatic transportation unit is moved to specific location.
In above-mentioned automatic logistics method for sorting, second Status Type includes following one：The automatic transportation
Unit detects that the execution time of the drop piece operation of the article to be sorted exceedes scheduled time threshold value；The automatic transportation unit
Detect the number of the article to be sorted transported and previously positioned difference；And detect can not for the automatic transportation unit
Receive external command.
In above-mentioned automatic logistics method for sorting, determine that the Status Type of the automatic transportation unit further comprises：Really
Whether the fixed automatic transportation unit is in the third state type for deviateing normal route of travel；The automatic logistics method for sorting
Further comprise：In response to determining that the automatic transportation unit is in the third state type, the automatic transportation list is controlled
Member is to correct route of travel.
In above-mentioned automatic logistics method for sorting, determine that the Status Type of the automatic transportation unit further comprises：Really
Whether the fixed automatic transportation unit is in the 4th Status Type for needing to charge；The automatic logistics method for sorting is into one
Step includes：In response to determining that the automatic transportation unit is in the 4th Status Type, the automatic transportation cell row is controlled
Proceed to pre-set charge position.
In above-mentioned automatic logistics method for sorting, determine that the Status Type of the automatic transportation unit further comprises：Really
Whether the fixed automatic transportation unit is in breaking down and irremovable 5th Status Type；The automatic logistics sorting side
Method further comprises：In response to determining that the automatic transportation unit is in the 5th Status Type, the automatic transportation is determined
The location of unit, and disable region according to the location determination.
In above-mentioned automatic logistics method for sorting, specifically included according to location determination disabling region：Stop the taboo
With the movement of all automatic transportation units in region；Control the traveling of the automatic transportation unit moved outside the disabling region
Route, so that the automatic transportation unit avoids the disabling region.
In above-mentioned automatic logistics method for sorting, determine that the Status Type of the automatic transportation unit further comprises：Really
Whether the fixed automatic transportation unit occurs the 6th abnormal Status Type in the article to be sorted transported；It is described from animal
Stream method for sorting further comprises：The 6th Status Type is in response to the automatic transportation unit, is controlled described automatic
Delivery unit stops mobile and sends current location information to the control system to wait further processing.
In above-mentioned automatic logistics method for sorting, the automatic logistics method for sorting further comprises：Based on described current
Positional information, plans the travel path of other automatic transportation units again.
In above-mentioned automatic logistics method for sorting, the traffic zone and the drop piece area are in the same plane and described
Traffic zone and the drop piece area be not overlapping.
Specifically, in piece supplying area, manual type or automation mode can be used by one or more articles to be sorted,
Such as parcel is placed on automatic transportation unit.The automatic transportation unit can be the robot for carrying parcel to be sorted,
And parcel to be sorted can be placed on the bogey of robot.
Then, automatic transportation unit can by item verification entrance to be sorted, by article check device obtain on
The item related information of the sorting destination of the article to be sorted etc..For example, the article check device can be scanning means, sweep
The manifest superscribed is retouched, so as to obtain the destination information of the parcel.
Then, control device is determined corresponding with the sorting destination object in drop piece area by the destination information of the parcel
Relation, here, the destination of parcel and the correspondence for sorting destination object can be one-to-one, many-one, one-to-many and more
To any one in more.Also, the correspondence and scheduling logic are based on, control device can determine that carrying is specific to be sorted
The automatic transportation unit of the article sorting destination object to be moved to.
In traffic zone, control device can further control automatic transportation unit to march to corresponding sorting target pair
As the drop piece action of article being performed, so as to complete single sorting task.In addition, if automatic transportation unit carries fortune in need
It is defeated to it is different sorting destination objects other articles to be sorted, then control device continue control automatic transportation unit march to it is next
Destination object is sorted, untill completing the delivery of article to be sorted of all carryings.
Then, control device can control automatic transportation unit to return to piece supplying area, continue to execute the sorting task of article.
If automatic transportation unit breaks down, control device can perform step S406 to step S408, to realize
The failure of automatic transportation unit automatically processes.
Here, it will be understood by those skilled in the art that the control device can be disposed in automatic logistics sorting system
Integral control device, and for mode and the automatic transportation unit communication via such as wireless communication, so as to control automatic fortune
The movement of defeated unit and drop piece action and troubleshooting.In addition, the control device can also be arranged on each automatic transportation list
In member, so as to control the respective movement of automatic transportation unit and drop piece action and troubleshooting.
In addition, in automatic logistics method for sorting according to embodiments of the present invention, which carries this and treats point
Article is picked by traffic zone to further comprise：The automatic transportation unit moves through the traffic zone using two-dimension code navigation.
It should be understood by those skilled in the art that the embodiment of the present invention shown in foregoing description and attached drawing is only used as illustrating
And it is not intended to limit the present invention.The purpose of the present invention has been fully and effectively achieved.The function and structural principle of the present invention exists
Show and illustrate in embodiment, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (10)
1. a kind of automatic logistics sorting system, including：
Automatic transportation unit, for transporting article to be sorted；
Sorting area, for being operated wherein by the automatic transportation unit, to realize the sorting of article to be sorted；With
Control system, for control the article to be sorted sorting and the automatic transportation unit in the sorting area
It is mobile, and further comprise：
Detection unit, for detecting the state of the automatic transportation unit；
Identifying unit, for determining the Status Type of the automatic transportation unit；And
Control unit, in response to determine the automatic transportation unit be in occur can self-healing failure first state
Type, controls the automatic transportation unit with self-healing failure.
2. automatic logistics sorting system as claimed in claim 1,
The identifying unit is further used for：
In response to determine the automatic transportation unit be not at occur can self-healing failure first state type, further
Determine the automatic transportation unit whether in occur can not self-healing failure but do not influence movement the second Status Type；
Described control unit is further used for：
In response to determining that the automatic transportation unit is in second Status Type, control so that the automatic transportation unit to be moved
Move specific location.
3. automatic logistics sorting system as claimed in claim 2, wherein, second Status Type includes following one：
The automatic transportation unit detects that the execution time of the drop piece operation of the article to be sorted exceedes scheduled time threshold value；
The automatic transportation unit detects the number of the article to be sorted transported and previously positioned difference；And
The automatic transportation unit, which detects, can not receive external command.
4. automatic logistics sorting system as claimed in claim 1, wherein,
The identifying unit is further used for：
Determine the automatic transportation unit whether in the third state type for deviateing normal route of travel；
Described control unit is further used for：
In response to determining that the automatic transportation unit is in the third state type, the automatic transportation unit is controlled to correct
Route of travel.
5. automatic logistics sorting system as claimed in claim 1, wherein,
The identifying unit is further used for：
Determine the automatic transportation unit whether in the 4th Status Type for needing to charge；
Described control unit is further used for：
In response to determining that the automatic transportation unit is in the 4th Status Type, the automatic transportation unit is controlled to march to
Pre-set charge position.
6. automatic logistics sorting system as claimed in claim 1, wherein,
The identifying unit is further used for：
Determine the automatic transportation unit whether in breaking down and irremovable 5th Status Type；
Described control unit is further used for：
In response to determining that the automatic transportation unit is in the 5th Status Type, determine residing for the automatic transportation unit
Position, and disable region according to the location determination.
7. automatic logistics sorting system as claimed in claim 6, wherein, described control unit is further used for：
Stop the movement of all automatic transportation units in the disabling region；
The route of travel of the automatic transportation unit moved outside the disabling region is controlled, so that the automatic transportation unit is kept away
Open the disabling region.
8. automatic logistics sorting system as claimed in claim 1, wherein,
The identifying unit is further used for：
Determine whether the automatic transportation unit occurs the 6th abnormal Status Type in the article to be sorted transported；
Described control unit is further used for
The 6th Status Type is in response to the automatic transportation unit, controls the automatic transportation unit to stop movement simultaneously
Current location information is sent to the control system to wait further processing.
9. the automatic logistics sorting system as described in any one in claim 1 to 8, wherein, the sorting area is further
Including：Piece supplying area, for distributing article to be sorted；Traffic zone, for movable within by one or more automatic transportation units,
The automatic transportation unit transports the article to be sorted and passes through the traffic zone；With, drop piece area, including multiple sorting targets pair
As, and the automatic transportation unit performs the article to be sorted to the drop piece of corresponding sorting destination object wherein；Its
In, the traffic zone and the drop piece area are in the same plane, and the traffic zone and the drop piece area be not overlapping.
10. a kind of automatic logistics method for sorting, including：
One or more articles to be sorted are placed on automatic transportation unit in piece supplying area；
Obtain the item related information of the article to be sorted；
Specific sorting destination object corresponding with the article to be sorted is determined based on the item related information；
The automatic transportation unit carries the article to be sorted by traffic zone；With,
The automatic transportation unit marches to drop piece area, performs the article to be sorted to corresponding specific sorting target pair
The drop piece of elephant；
Wherein, the automatic logistics method for sorting further comprises：
Detect the state of the automatic transportation unit；
Determine the Status Type of the automatic transportation unit；And
In response to determine the automatic transportation unit be in occur can self-healing failure first state type, described in control
Automatic transportation unit is with self-healing failure.
Priority Applications (9)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710938309.9A CN107899957B (en) | 2017-09-30 | 2017-09-30 | Automatic logistics sorting system and automatic logistics sorting method |
| EP17926378.5A EP3689481A4 (en) | 2017-09-30 | 2017-12-12 | Automatic logistics sorting system and automatic logistics sorting method |
| AU2017434611A AU2017434611B2 (en) | 2017-09-30 | 2017-12-12 | Automatic logistics sorting system and automatic logistics sorting method |
| PCT/CN2017/115748 WO2019061842A1 (en) | 2017-09-30 | 2017-12-12 | Automatic logistics sorting system and automatic logistics sorting method |
| US16/621,467 US20200171548A1 (en) | 2017-09-30 | 2017-12-12 | Automatic logistics sorting system and automatic logistics sorting method |
| JP2019548063A JP6691640B2 (en) | 2017-09-30 | 2017-12-12 | Automatic physical distribution sorting system and automatic physical distribution sorting method |
| SG11202002806RA SG11202002806RA (en) | 2017-09-30 | 2017-12-12 | Automatic logistics sorting system and automatic logistics sorting method |
| KR1020207008783A KR102393679B1 (en) | 2017-09-30 | 2017-12-12 | Automatic Logistics Sorting System and Automatic Logistics Sorting Method |
| JP2020071815A JP6926269B2 (en) | 2017-09-30 | 2020-04-13 | Automatic logistics sorting system and automatic logistics sorting method |
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