CN108499886A - A kind of goods sorting system and method - Google Patents
A kind of goods sorting system and method Download PDFInfo
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- CN108499886A CN108499886A CN201810320853.1A CN201810320853A CN108499886A CN 108499886 A CN108499886 A CN 108499886A CN 201810320853 A CN201810320853 A CN 201810320853A CN 108499886 A CN108499886 A CN 108499886A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000008676 import Effects 0.000 claims description 10
- 230000004044 response Effects 0.000 claims description 7
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- 238000004519 manufacturing process Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 230000004308 accommodation Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012384 transportation and delivery Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
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Classifications
-
- 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
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Abstract
The invention discloses a kind of goods sorting system and method, goods sorting system includes several sorting machine people and an entity or virtual path system；Path system include main path in individual path this two the former or all；When not including individual path comprising several main paths, the side of main path is equipped with the off-sorting station that cargo is unloaded for sorting machine people；When comprising several main paths with several individual paths, individual path is exhaled from main path, and the side of at least one main path and/or at least one individual path is equipped with off-sorting station.Method for sorting is：The sorting machine people for being mounted with cargo sequentially enters main path；Each sorting machine people scheduled on main path goes to the target off-sorting station of the cargo of its loading and unloads cargo.The goods sorting system and method for the present invention has outstanding advantages of efficient, at low cost, favorable expandability, low, stability is high to site requirements, is suitable for large-scale promotion and uses.
Description
Technical field
The present invention relates to warehouse logistics fields, more particularly to a kind of goods sorting system and method.
Background technology
In warehouse logistics field, especially needed according to cargo in industries such as electric business, express deliveries since type of merchandize is various
Type or the destination information of cargo classify to cargo, the requirement to efficiency and accuracy rate is high, in order to improve point
It picks efficiency and ensures that the accuracy rate of sorting, advanced warehouse or logistics center are equipped with Automated Sorting System, at present market
On sorting system mainly have three classes：Slide block type sorting system, circulating sorting system (including horizontal-circulating car sorting system with
And Vertical Circulating sorting system) and sorting system based on turnover plate type sorting machine people.The efficiency of slide block type sorting system
It is very high, 20000 per hour sorting efficiencies can be reached, but its cost is very high, with the sorting of 20000 sorting efficiencies per hour
For system, cost is 3,000 ten thousand -5 thousand ten thousand yuans；Circulating sorting system includes several sorters, all sortings
Machine surrounds a circular orbit shuttling movement, and circular orbit both sides are equipped with many sorting road junctions, what sorting efficiency was contained by it
The quantity of sorter and the quantity for sorting road junction determine that construction cost is low compared with slide block type sorting system, about 1,000 ten thousand -2 thousand
Ten thousand RMB, but its disadvantage is completed it is obvious that once building, and sorting efficiency has also just been shaped, cannot be according to production needs
Sorting efficiency is improved, and its requirement to place is very high, needs regular place construction.Point based on turnover plate type sorting machine people
It includes several sorting machine people to pick system, and with a lot sorting near coal-mine in sorting place, sorting machine people carries cargo to correspondence
Sorting near coal-mine cargo is thrown into sorting is near coal-mine, and this sorting system equally has high expensive, extension high to site requirements not
Convenient disadvantage, and its major technique difficulty is that scheduling is difficult, with the increase of sorting demand, the sorting machine number needed
Amount also obviously increases, and the technical difficulty in scheduling also greatly increases.
Invention content
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention to provide a kind of efficient, at low cost, expansion
The good goods sorting system and method for malleability.
Technical solution：To achieve the above object, goods sorting system of the invention includes several sorting machine people and one
Entity or virtual path system；Path system include main path in individual path this two the former or all；Work as path
For system comprising several main paths and when not including individual path, the side of main path is equipped with point that cargo is unloaded for sorting machine people
Sorting zone；When path system includes several main paths and several individual paths, individual path is exhaled from main path, and at least
The side of one main path and/or at least one individual path is equipped with off-sorting station.
Further, path system also includes several remittance paths for importing the main path.
Further, between the tail end of the main path and/or the head end and/or remittance path of individual path and main path
It is provided with the return path that the sorting machine people after several sorting tasks for completion returns..
Further, the path system also includes the tail end and/or individual path and main road being arranged in the main path
Circulating path between the head end and/or remittance path of diameter.
Further, the individual path is distributed in multistage, and wherein level-one individual path is directly dissipated from the main path
It goes out, the higher individual path of series is exhaled from the individual path of its low level-one.
Further, the side of the tail end of main path or at least one individual path is equipped with unloads for the sorting machine people
The difficult cargo loading dock of difficult cargo.
Further, the path system is made of several Quick Response Codes for pasting on the ground, or by magnetic stripe, colour band, coil
Etc. bands composition.
Further, further include for before or after the sorting machine people enters main path to the sorting machine
Cargo on people carries out the scanning element of information scanning.
A kind of goods sorting method, the sorting machine people for being mounted with cargo sequentially enter main path, are travelled on main path
Sorting machine people distribution density be not less than setting value；Each sorting machine people scheduled on main path goes to its loading respectively
The corresponding target off-sorting station of cargo and unload cargo.
Further, sorting machine people imports main path from path is imported, and from return path after sorting machine people unloading
It returns to and imports path.
Further, scanning element before or after sorting machine people enters main path to the cargo on sorting machine people
Carry out information scanning and determine its target off-sorting station, if the information scanning failure of certain cargo, load the sorting machine people of the cargo from
Circulating path returns to main path and carries out information scanning again and continue to execute sorting task, if repeatedly information scanning failure, divides
Robot is picked to unload the cargo to difficult cargo loading dock.
Further, if sorting machine people its system jam, scheduled after entering main path deviate from main road
Except diameter.
Advantageous effect：The goods sorting system and method for the present invention has the following advantages that：
(1) cost is relatively low, and three kinds of more common sorting system prices are several times low；
(2) low to the requirement in place, it can walking according to paths such as the shape free surface jet main path in place, individual paths
To not needing regular place；
(3) efficient, when system operation, be booked the sorting machine people of high-speed cruising on main path, sorting machine people according to
Respective target off-sorting station enters different individual paths, ensures the high-efficiency operation of system；
(4) autgmentability is strong, can according to production need extend individual path number, improve production capacity, and be transformed and its conveniently,
It only needs to stick the navigation markups such as Quick Response Code, magnetic stripe on ground to extension individual path, or need to only be planned in control centre
Track, without construction；
(5) stability is high, and separate unit sorting machine people can be driven out to main path, Bu Huiying when breaking down on main path at once
Ring the people's operation of other sorting machines.
Description of the drawings
Attached drawing 1 is the composition figure of goods sorting system；
Attached drawing 2 is the structure chart of sorting machine people；
Attached drawing 3 is the composition figure of the path system comprising a plurality of main path.
Specific implementation mode
The present invention is further described below in conjunction with the accompanying drawings.
Goods sorting system as shown in Fig. 1, including 10 and one path system 20 of several sorting machine people.
As shown in Fig. 2, sorting machine people 10 has mobile chassis 11 and straight line supply unit 12, in the present embodiment,
Straight line supply unit 12 is flat belt, when flat belt is motionless, thereon can loading, when mobile chassis movement 11 is to discharge location,
Flat belt operates, and so that cargo is detached from flat belt and is discharged to appointed place.Mobile chassis 11 can autonomous and autonomous anticollision,
Autonomous can be realized by the control system set in it or be realized by the control centre 30 of peripheral hardware, when the control system by being set in it
When realization, the case where each sorting machine people 10 is the equal of an independent system, and control system grasps path system 20
And realize independent scheduling, certainly, independent to dispatch this mode possible in theory, and difficulty is larger when actual motion, thus preferably by
Realize that the scheduling of all sorting machine people 10, all sorting machine people 10 can be with the control centres in control centre 30
Communication.The autonomous anticollision of sorting machine people 10 realizes that anticollision passes by the anti-collision sensor being mounted on mobile chassis 11
Sensor can be the sensor of the forms such as laser radar, ultrasonic sensor.Certain sorting machine people 10 is not limited to above-mentioned form,
All can autonomous or scheduled mobile robot form each fall within protection scope of the present invention.
Path system 20 includes several main paths 21, also includes optionally several branch paths exhaled from main path 21
Diameter 22, when not including individual path comprising main path 21, the side of main path 21 is provided with to be unloaded for sorting machine people 10
The off-sorting station 40 of cargo, when path system 20 had not only included main path 21 but also including individual path, main path 21 and/or at least one
The side of individual path 22 is equipped with off-sorting station 40.
When path system 20 includes main path 21, main path 21 can be the forms such as linear, cyclic annular, but this feelings
Under shape, the limited amount of the off-sorting station 40 of 21 both sides of main path setting is unfavorable for the autgmentability of system in the length of main path 21,
Therefore in general, using the path system 20 comprising individual path 22, due to directly disperseing branch out from main path 21
The quantity in path 22 is generally also relatively limited, and to meet the production needs of bigger, the individual path 22 can be in multistage point
Cloth, wherein level-one individual path 22 are directly exhaled from the main path 21, and two level individual path 22 is from level-one individual path
22 diverge, and so on, the higher individual path 22 of series is exhaled from the individual path 22 of its low level-one, such path
System 20 is in tree-shaped distribution, and main path 21 is trunk, and individual path is equivalent to the branch of tree, such hierarchical structure so that path
System 20 is provided with very strong expansion, and user can increase individual path 22 without limitation as needed, and classification fire wall can also delay
The pressure for solving main path 21 makes the sorting machine people 10 on main path 21 enter level-one individual path 21 and further segments.
In specific implementation, the side of the individual path 21 of afterbody is designed with off-sorting station 40, and former grades of individual paths 21 are optionally set
It is equipped with off-sorting station 40, off-sorting station 40 is provided with the accommodation unit for accepting the cargo that sorting machine people 10 unloads, accommodation unit
It can be the common container such as sack, babinet.Due to sorting machine people 10 straight line supply unit 12 can positive and negative rotation realize two-way point
It picks, therefore off-sorting station 40 can be arranged in the both sides of main path 21 or individual path 22.
Path system 20 also includes several remittance paths 23 for importing the main path 21.It is similar with individual path 22, it converges
The form of multistage distribution can also be made on demand by entering path 23 so that an increase of getting in stocks, to improve efficiency of getting in stocks.
As shown in Fig. 3, main path 21 is not limited to one, it is possibility to have parallel a plurality of, the head end of every main path 21
There is the remittance of remittance path 23 and tail end has individual path 22 to exhale, can further be carried when cargo is more in this way
The sorting efficiency of the system of liter.
The head end and/or individual path 22 of the main path 21 and the tail end of the main path 21 and/or remittance path 23
Between be provided with it is several for complete sorting tasks after sorting machine people 10 return return path 24.When 20 packets of path system
When containing main path 21, return path 24 is equipped between the head end and tail end of main path 21, when path system 20 includes individual path
When 21, return path 24 is generally located on the head end of individual path 21 and main path 21 or imports path 23 (comprising remittance road
In the case of diameter 23) between, the setting of return path 24 can be arranged according to actual conditions, can be all provided with each individual path 22
It is equipped with a return path 24, but more preferably, multiple individual paths 22 can be docked with same return path 24, right the latter
Return path 24 reconnects the head end of main path 21 or multiple remittance paths 23, and layout may make that path system is more simple in this way
It is clean, reduce scheduling difficulty.
The path system 20 also includes the tail end and/or individual path 21 and main path 21 being arranged in the main path 21
Head end and/or import path 23 between circulating path 25, the set-up mode class of set-up mode and above-mentioned return path 24
Seemingly, but general of circulating path 25 is arranged one or several.Circulating path 25 does not sort successful sorter for convenient
Device people 10 is again introduced into main path 10 and continues to execute sorting task.
The side of the tail end of main path 21 or at least one individual path 22 is doubtful equipped with being unloaded for the sorting machine people 10
The difficult cargo loading dock 60 of difficult cargo.Difficult cargo loading dock 60 is used to store the cargo for repeatedly sorting and all failing, this
A little cargos remain manual sorting or are again introduced into sorting system after solving the reason of failing sorting.Difficult cargo loading dock 60
It can be arranged on circulating path 25.
Path system 20 can be entity or virtual presence, and the solution of the path system 20 of entity includes Quick Response Code
Array, magnetic stripe, colour band, coil are correspondingly arranged on corresponding sensor on sorting machine people 10, if path system 20 is by Quick Response Code
Array forms, then is provided with camera or code reader on sorting machine people 10；If path system 20 is made of magnetic stripe, then sorting machine
Magnetic navigation sensor is installed on people 10；If path system 20 is made of colour band, then vision biography is installed on sorting machine people 10
Sensor；If path system 20 is made of the coil for being embedded in underground, then induction coil, the line of induction are installed on sorting machine people 10
Circle realizes guiding by the identification and tracking of the magnetic field power of the coil generation to underground.
When path system 20 is virtual presence, path system 20 is present in control centre 30 or interior as virtual data
It is placed in the control system of sorting machine people 10, the present invention is preferably the former, and control centre 30 is by UWB location technologies (in warehouse
It is provided with micro-base station array, UWB positioning labels are provided on sorting machine people 10, positioning method is the prior art) or RF ID
Technology tracks the real time position of sorting machine people 10, and being scheduled to it makes it walk on virtual path system 20.
It should be noted that with the development of science and technology, there is also more airmanships and indoor positioning skill
Art, emerging Technology application and the path system 20 of the present invention should also be as being regarded as falling into protection scope of the present invention.
In order to make control centre 30 know the information of cargo so that control centre 30 can dispatch the movement of sorting machine people 10
To the corresponding off-sorting station 40 of cargo, sorting system further include for the sorting machine people 10 enter main path 21 before or it
The scanning element 50 of information scanning is carried out to the cargo on the sorting machine people 10 afterwards.Scanning element 50 connects control centre
30, scanning element 50 may be provided at every and import on path 23, be preferably provided on main path 21.As preferred means, sweep
It retouches the recognizable codes such as bar code, the Quick Response Code that unit 50 is attached to by scanning on cargo and obtains the letters such as type, the destination of cargo
Breath.
A kind of goods sorting method, scanning element 50 is before or after sorting machine people 10 enters main path 21 to sorting
Cargo in robot 10 carries out information scanning and determines its target off-sorting station 40, and the sorting machine people 10 for being mounted with cargo is from remittance
Path imports main path 21, and the distribution density of the sorting machine people 10 travelled on main path 21 is not less than setting value (i.e. main road
The quantity of sorting machine people 10 is maintained at the spacing that sorting machine people 10 is mutual on setting range or main path and keeps on diameter
In setting range, safe anticollision distance had not only been kept, but also adjacent the distance between sorting machine people 10 can be made to be unlikely to too far,
Ensure circulation efficiency)；Each 10 scheduled of sorting machine people on main path 21 goes to the target off-sorting station 40 of the cargo of its delivery
And unload cargo.When path system 20 includes main path 21, sorting machine people 10 walks can be completed along main path one kind
Goods sorting, when path system 20 includes also individual path 22, the side of general only individual path 22 is provided with off-sorting station
40, the sorting machine people 10 on main path 21 goes to corresponding individual path 22 respectively away from main path 21, reaches its loading
Simultaneously unload cargo in the target off-sorting station 40 of cargo.Sorting machine people 10 returns to from return path 24 after unloading and imports path 23.
If the information scanning of certain cargo fails, the sorting machine people 10 for loading the cargo returns to main path from circulating path 25
21 carry out information scanning and continue to execute sorting task again, if repeatedly information scanning failure, sorting machine people 10 is by the goods
Object is unloaded to difficult cargo loading dock 60.
If sorting machine people 10 enter main path 21 after its system jam, scheduled deviate from main path 21 it
Outside.
The goods sorting system and method for the present invention has the following advantages that：
(1) cost is relatively low, and three kinds of more common sorting system prices are several times low；
(2) low to the requirement in place, it can walking according to paths such as the shape free surface jet main path in place, individual paths
To not needing regular place；
(3) efficient, when system operation, be booked the sorting machine people of high-speed cruising on main path, sorting machine people according to
Respective target off-sorting station enters different individual paths, ensures the high-efficiency operation of system；
(4) autgmentability is strong, can according to production need extend individual path number, improve production capacity, and be transformed and its conveniently,
It only needs to stick the navigation markups such as Quick Response Code, magnetic stripe on ground to extension individual path, or need to only be planned in control centre
Track, without construction；
(5) stability is high, and separate unit sorting machine people can be driven out to main path, Bu Huiying when breaking down on main path at once
Ring the people's operation of other sorting machines.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of goods sorting system, it is characterised in that：Including several sorting machine people and an entity or virtual path system
System；Path system include main path in individual path this two the former or all；When path system includes several main paths
And when not comprising individual path, the side of main path is equipped with the off-sorting station that cargo is unloaded for sorting machine people；When path system packet
Containing several main paths and when several individual paths, individual path is exhaled from main path, and at least one main path and/or extremely
The side of a few individual path is equipped with off-sorting station.
2. goods sorting system according to claim 1, it is characterised in that：Path system also includes to import the main path
Several remittance paths.
3. goods sorting system according to claim 2, it is characterised in that：The tail end and/or branch path of the main path
It is provided with what the sorting machine people after several sorting tasks for completion returned between diameter and the head end and/or remittance path of main path
Return path.
4. goods sorting system according to claim 2 or 3, it is characterised in that：The path system also includes that setting exists
Circulating path between the tail end and/or individual path of the main path and the head end of main path and/or remittance path.
5. according to claim 1-3 any one of them goods sorting systems, it is characterised in that：The individual path is in multistage point
Cloth, wherein level-one individual path are directly exhaled from the main path, point of the higher individual path of series from its low level-one
Branch path exhales.
6. according to claim 1-3 any one of them goods sorting systems, it is characterised in that：The tail end of main path or at least one
The side of individual path is equipped with the difficult cargo loading dock that difficult cargo is unloaded for the sorting machine people.
7. goods sorting system according to claim 1, it is characterised in that：If the path system is by pasting on the ground
Dry Quick Response Code composition, or be made of magnetic stripe, colour band, coil these bands.
8. according to claim 1-3 any one of them goods sorting systems, it is characterised in that：Further include in the sorting
Robot carries out the cargo on the sorting machine people before or after entering main path the scanning element of information scanning.
9. a kind of goods sorting method, it is characterised in that：The sorting machine people for being mounted with cargo sequentially enters main path, in main road
The distribution density of the sorting machine people travelled on diameter is not less than setting value；Each sorting machine people scheduled on main path goes to it
Simultaneously unload cargo in the corresponding target off-sorting station of cargo of loading.
10. goods sorting method according to claim 9, it is characterised in that：Sorting machine people imports master from path is imported
Path, and returned to from return path after sorting machine people unloading and import path；Preferably, scanning element enters in sorting machine people
Information scanning is carried out to the cargo on sorting machine people before or after main path and determines its target off-sorting station, if the letter of certain cargo
Breath scanning failure, loads the sorting machine people of the cargo and returns to main path from circulating path and carry out information scanning again and continue to hold
Row sorting task, if repeatedly information scanning failure, sorting machine people unload the cargo to difficult cargo loading dock；Preferably,
If sorting machine people its system jam, scheduled after entering main path deviate from except main path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810320853.1A CN108499886A (en) | 2018-04-11 | 2018-04-11 | A kind of goods sorting system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810320853.1A CN108499886A (en) | 2018-04-11 | 2018-04-11 | A kind of goods sorting system and method |
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| CN108499886A true CN108499886A (en) | 2018-09-07 |
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| CN201810320853.1A Pending CN108499886A (en) | 2018-04-11 | 2018-04-11 | A kind of goods sorting system and method |
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| CN111729852A (en) * | 2020-04-23 | 2020-10-02 | 北京京东乾石科技有限公司 | Sorting vehicle, goods sorting system and goods sorting method |
| CN113042380A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Intelligent logistics picking system |
| WO2022174643A1 (en) * | 2021-02-21 | 2022-08-25 | 浙江立镖机器人有限公司 | Multi-cycle shipment sorting system and control method therefor |
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| WO2021213187A1 (en) * | 2020-04-23 | 2021-10-28 | 北京京东乾石科技有限公司 | Sorting vehicle, goods sorting system, and goods sorting method |
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| WO2022174643A1 (en) * | 2021-02-21 | 2022-08-25 | 浙江立镖机器人有限公司 | Multi-cycle shipment sorting system and control method therefor |
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