CN108672308A - A kind of goods sorting system and method - Google Patents
A kind of goods sorting system and method Download PDFInfo
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- CN108672308A CN108672308A CN201810480980.8A CN201810480980A CN108672308A CN 108672308 A CN108672308 A CN 108672308A CN 201810480980 A CN201810480980 A CN 201810480980A CN 108672308 A CN108672308 A CN 108672308A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000012546 transfer Methods 0.000 claims abstract description 149
- 238000012384 transportation and delivery Methods 0.000 claims abstract description 138
- 208000034423 Delivery Diseases 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 238000001514 detection method Methods 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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
- B07C3/02—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
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of goods sorting system and methods.The system includes：Control server, for determining delivery port according to the posting address of cargo to be delivered, distribution delivers robot and to deliver robot planning travel path, it generates to deliver and instructs and be sent to delivery robot, deliver robot, for advancing at delivery port, the first designated position will be back to after delivering cargo and being delivered to delivery port；Server is controlled, when being additionally operable to quantity of goods that the consolidating the load container collection below delivery port arrives and being greater than or equal to predetermined threshold value, the first transfer robot of distribution simultaneously plans travel path for the first transfer robot, generates to carry to instruct and is simultaneously sent to the first transfer robot；First transfer robot is back to the second designated position for being advanced at consolidating the load container according to travel path after consolidating the load container handling to cargo is collected station.Technical solution proposed by the present invention can not only improve the efficiency of goods sorting, can also improve the accuracy of goods sorting.
Description
Technical field
The present embodiments relate to robot technology more particularly to a kind of goods sorting system and methods.
Background technology
With the rapid development of the industry division of labor and Internet of Things, also the life of people is given in high speed development, gradually growth to material flow industry
Work brings facility, improves people’s lives quality.Increasing logistics capacity brings to logistics center and is also allowed while benefit
Goods sorting becomes critical issue, if slightly not note that will result in classification error, dispatching is caused to be slipped up, reduces dispatching
Efficiency.In order to reduce dispatching error, dispatching efficiency is improved, goods sorting system is come into being.
Existing goods sorting system includes：It controls server, deliver robot, steel platform and cargo receptacle, wherein steel
Platform, which is erected on the position of ground certain altitude, steel platform, is arranged multiple delivery ports, controls server controls transaction apparatus
Device people will downwards be slipped in the cargo receptacle below delivery port wait delivering cargo after delivery port is cast along sliding slot,
Cargo to be delivered is collected and cached in each cargo receptacle using manual type.
In the implementation of the present invention, inventor has found that at least there are the following problems in the prior art：
In existing goods sorting system, goods to be delivered is collected and cached in each cargo receptacle using manual type
Object, when the quantity for delivering cargo is very huge, not only goods sorting is less efficient, but also goods sorting accuracy is relatively low.
Invention content
The present invention provides a kind of goods sorting system and method, can not only improve the efficiency of goods sorting, but also can
To improve the accuracy of goods sorting.
In a first aspect, an embodiment of the present invention provides a kind of goods sorting systems, including：It controls server, deliver machine
People and the first transfer robot；Wherein,
The control server delivers cargo point for determining delivery port according to the posting address of cargo to be delivered for band
With delivering robot and be the deliverys robot planning travel path, the corresponding delivery of cargo to be delivered described in generation instructs,
Delivery instruction is sent to the delivery robot, the travel path delivered instruction and include the delivery robot；
The delivery robot, in response to delivery instruction, being advanced at the delivery port according to travel path,
By described the first designated position is back to after delivering cargo and being delivered to the delivery port；
The control server, the quantity of goods for being additionally operable to be collected into the consolidating the load container below the delivery port are more than
For first transfer robot of consolidating the load container allocation and it is the first transfer robot planning row or when equal to predetermined threshold value
Inbound path, generates carrying instruction corresponding with the consolidating the load container, and carrying instruction is sent to first conveying robot
People, the travel path carried instruction and include first transfer robot；
First transfer robot advances to the consolidating the load for being instructed in response to the carrying according to travel path
At container, the second designated position is back to after the consolidating the load container handling to cargo is collected station.
According to the first realization method of first aspect, the system also includes the second transfer robots；
The control server is additionally operable to as the second transfer robot of empty set goods container allocation and is second carrying implement
Device people plans travel path, generates the corresponding carrying instruction of empty set goods container, and carrying instruction is sent to described second
Transfer robot, the travel path carried instruction and include second transfer robot；
Second transfer robot, for being instructed in response to the corresponding carrying of the empty set goods container, according to traveling road
Diameter returns to the second designated position after proceeding to empty set goods container handling at the consolidating the load container.
According to second of realization method of first aspect, the delivery robot, first transfer robot and described
Second conveying robot operates on ground per capita；The delivery port and the consolidating the load container are instructed by the binding of the controller
It is bound, at least one consolidating the load container setting is on the ground.
According to the third realization method of first aspect, at least one consolidating the load container, which is placed, constitutes a consolidating the load container
Group, at least one consolidating the load container group are arranged in array in place, the horizontal and vertical gap structure between consolidating the load container group
Walking at the walking passageway and first transfer robot and second transfer robot for delivering robot is logical
Road.
According to the 4th of first aspect the kind of realization method, collects station for load bed and cargo and be located at consolidating the load vessel array
Side.
According to the 5th of first aspect the kind of realization method, the consolidating the load container is arranged in polygonal profile in place, is supplied
Load bed is located in the polygonal profile, and cargo is collected station and is located at outside the polygonal profile, in the polygonal profile
Region constitutes the walking passageway for delivering robot, and the region outside the polygonal profile constitutes first transfer robot
With the walking passageway of second transfer robot.
According to the 6th of first aspect the kind of realization method, the polygonal profile is rectangular profile；The polygonal profile
There is opening in part.
According to the 7th of first aspect the kind of realization method, piece supplying equipment is placed in the delivery robot；Wherein,
Height of the piece supplying equipment apart from ground is more than height of the delivery port apart from ground, is arranged in the piece supplying equipment
There are idler wheel or belt, the cargo to be delivered that the idler wheel or belt are used to carry to be delivered in consolidating the load container by moving in turn.
Second aspect, the embodiment of the present invention additionally provide a kind of goods sorting method, the method includes：
Control server determines delivery port according to the posting address of cargo to be delivered, and delivers cargo distribution for band and delivers machine
People and be the deliverys robot planning travel path, the corresponding delivery of cargo to be delivered described in generation instructs, by the delivery
Instruction is sent to the delivery robot, the travel path delivered instruction and include the delivery robot；
It delivers robot to instruct in response to the delivery, is advanced at the delivery port according to travel path, waited for described
It delivers after cargo is delivered to the delivery port and is back to the first designated position；
When the quantity of goods being collected into consolidating the load container below the delivery port is greater than or equal to predetermined threshold value, control
Server is first transfer robot of consolidating the load container allocation and is the first transfer robot planning travel path, is generated
Carrying instruction is sent to first transfer robot, the carrying by carrying instruction corresponding with the consolidating the load container
Instruction includes the travel path of first transfer robot；
First transfer robot is instructed in response to the carrying, is advanced at the consolidating the load container according to travel path, will
The consolidating the load container handling is back to the second designated position after collecting station to cargo.
According to the first realization method of second aspect, the method further includes：
Control server is the second transfer robot of empty set goods container allocation and is the second transfer robot planning row
Inbound path generates the corresponding carrying instruction of empty set goods container, and carrying instruction is sent to second transfer robot,
The travel path carried instruction and include second transfer robot；
Second transfer robot is instructed in response to the corresponding carrying of the empty set goods container, according to travel path by empty set goods
Container handling returns to the second designated position after proceeding at the consolidating the load container.
According to second of realization method of second aspect, the delivery robot, first transfer robot and described
Second conveying robot operates on ground per capita；The delivery port and the consolidating the load container are instructed by the binding of the controller
It is bound, at least one consolidating the load container setting is on the ground.
According to the third realization method of second aspect, at least one consolidating the load container, which is placed, constitutes a consolidating the load container
Group, at least one consolidating the load container group are arranged in array in place, the horizontal and vertical gap structure between cargo receptacle group
Walking at the walking passageway and first transfer robot and second transfer robot for delivering robot is logical
Road.
According to the 4th of second aspect the kind of realization method, collects station for load bed and cargo and be located at consolidating the load vessel array
Side.
According to the 5th of second aspect the kind of realization method, the cargo receptacle is arranged in polygonal profile in place, is supplied
Load bed is located in the polygonal profile, and cargo is collected station and is located at outside the polygonal profile, in the polygonal profile
Region constitutes the walking passageway for delivering robot, and the region outside the polygonal profile constitutes first transfer robot
With the walking passageway of second transfer robot.
According to the 6th of second aspect the kind of realization method, the polygonal profile is rectangular profile；The polygonal profile
There is opening in part.
According to the 7th of second aspect the kind of realization method, piece supplying equipment is placed in the delivery robot；Wherein,
Height of the piece supplying equipment apart from ground is more than height of the delivery port apart from ground, is arranged in the piece supplying equipment
There are idler wheel or belt, the cargo to be delivered that the idler wheel or belt are used to carry to be delivered in consolidating the load container by moving in turn.
The embodiment of the present invention proposes a kind of goods sorting system and method, controls receipts of the server according to cargo to be delivered
Part address determines delivery port, is distributed for cargo to be delivered and delivers robot and be to deliver robot planning travel path, generation waits for
The corresponding delivery instruction of cargo is delivered, instruction will be delivered and be sent to delivery robot, instruction is delivered and include the row for delivering robot
Inbound path；It delivers robot to instruct in response to delivering, is advanced at delivery port according to travel path, cargo to be delivered is delivered to
The first designated position is back to after delivery port；The quantity of goods being collected into consolidating the load container below delivery port is greater than or equal to
When predetermined threshold value, control server is the first transfer robot of consolidating the load container allocation and is the first transfer robot planning traveling road
Diameter generates corresponding with consolidating the load container carryings instruction, will carry instruction and is sent to the first transfer robot, carries that instruct include the
The travel path of one transfer robot；First transfer robot is instructed in response to carrying, and advancing to consolidating the load according to travel path holds
At device, the second designated position is back to after consolidating the load container handling to cargo is collected station.That is, in the embodiment of the present invention
In the technical solution of proposition, when being collected into each consolidating the load container when the quantity for delivering cargo is more than predetermined threshold value, carry
Each cargo to be delivered is carried to cargo and collects station by the carrying instruction that robot can be sent according to controller, to avoid
The method obtained with taking the lead is collected using manual type, can not only improve the efficiency of goods sorting, but also can improve
The accuracy of goods sorting.
Description of the drawings
Fig. 1 is the structural schematic diagram of the goods sorting system in the embodiment of the present invention one；
Fig. 2 is the structural schematic diagram of the goods sorting system in the embodiment of the present invention two；
Fig. 3 is the schematic diagram of the sorting system layout in the embodiment of the present invention three；
Fig. 4 is the schematic diagram of the sorting system layout in the embodiment of the present invention three；
Fig. 5 is the flow chart of the goods sorting method in the embodiment of the present invention four.
Specific implementation mode
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limitation of the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is the structural schematic diagram of the goods sorting system in the embodiment of the present invention one, and the present embodiment is applicable to cargo
The case where sorting, the goods sorting system include mainly such as lower part：It controls server 101, deliver robot 102 and first
Transfer robot 103.
In the present embodiment, control server 101 is established with delivery robot 102 and the first transfer robot 103 respectively
Communication connection, for entire goods sorting system to be controlled and dispatched.Further, control server 101 refers to having
Data storage, information processing capability software systems, can pass through it is wired or wireless with deliver robot 102, the first carrying implement
Device people 103 and other hardware input systems in system or software systems connection.Delivery machine can be given by controlling server 101
103 release tasks of people 102 and the first transfer robot transmit the cargo to be delivered in information, statistics consolidating the load container to worker
Situation assigns control command etc. to delivery robot 102 and the first transfer robot 103.
Server 101 is controlled, for determining delivery port according to the posting address of cargo to be delivered, is distributed for cargo to be delivered
It delivers robot and to deliver robot planning travel path, generates the corresponding delivery instruction of cargo to be delivered, instructed delivering
It is sent to delivery robot, instruction is delivered and includes the travel path for delivering robot.
In the present embodiment, the posting address of cargo to be delivered refer to cargo to be delivered with separate addressee
Location.It should be noted that posting address refer to cargo to be delivered it is final flow to address.Further, according to cargo to be delivered
Posting address treats delivery cargo and is sorted out and sorted.
Further, the posting address of cargo to be delivered corresponds to different delivery ports, and control server 101 prestores receipts
The correspondence of part address and delivery port, control server is got after the posting address for delivering cargo, according to goods to be delivered
The posting address of object is inquired in the database of control server, determines the corresponding delivery of posting address of cargo to be delivered
Mouthful.
Robot 102 is delivered, for being instructed in response to delivering, is advanced at delivery port according to travel path, will wait delivering
Cargo is back to the first designated position after being delivered to delivery port.
In the present embodiment, it is arranged by consolidating the load container, delivery port and carrying tool less than the position of delivery port below delivery port
The consolidating the load container of body ship-to is bound, in order to receive the cargo to be delivered of specific ship-to.First designated position
Refer to delivering robot to complete after delivering, delivers the position of robot parking.Preferably, the cargo work stage in place is made
For the first designated position, i.e. robot is that it distributes task again in servers to be controlled such as cargo work stage attachmentes.
Consolidating the load container can be commonly used in the container for storing cargo to be delivered, such as：Common cage vehicle, parcel bag
Deng.Consolidating the load container is commonly used in article of the carrying with predicable, and further, consolidating the load container can be that carrying is specifically received
The cargo to be delivered of address, illustratively, consolidating the load container can be the cargos to be delivered that carrying is sent to Haidian District, Beijing City.
Server 101 is controlled, the quantity of goods for being additionally operable to be collected into the consolidating the load container below the delivery port is more than or waits
When predetermined threshold value, it is the first transfer robot of consolidating the load container allocation and is the first transfer robot planning travel path, generate
Carrying instruction corresponding with consolidating the load container will carry instruction and be sent to the first transfer robot, carries instruction and carried comprising first
The travel path of robot.
In the present embodiment, in order to enable control server count be collected into cargo receptacle in preset time wait throwing
The quantity for passing cargo, is arranged detection device at delivery port, which can detect to fall into consolidating the load container and wait delivering
The quantity of cargo.
The present embodiment also provides another embodiment, in order to enable control server 101 to count in preset time
The quantity for the cargo to be delivered being collected into consolidating the load container, control server 101 are pressed to delivering the completion delivery instruction of robot 102
It adds up according to the corresponding posting address of consolidating the load container.
The present embodiment also provides another embodiment, counts in preset time and waits cargo to be delivered in consolidating the load container
Whether meet preset capacity.At this point, it is depth detection apparatus that detection device is arranged at delivery port, detect in consolidating the load container
Whether the plane of cargo to be delivered meets preset condition, and then determines whether consolidating the load container is filled.
In the present embodiment, when the quantity for the cargo to be delivered being collected into one of consolidating the load container is more than predetermined threshold value
When, control server 101 obtains the position of the consolidating the load container, and obtains the corresponding cargo of cargo receptacle and collect station, is consolidating the load
The first transfer robot of container allocation simultaneously plans travel path for the first transfer robot, generates carrying corresponding with consolidating the load container
Instruction will carry instruction and be sent to the first transfer robot.
First transfer robot 103 will in response to carrying instruction, being advanced at consolidating the load container according to travel path
Consolidating the load container handling is back to the second designated position after collecting station to cargo.
In the present embodiment, the first transfer robot 103 can be with owned intelligence system, can be with control server
101 are communicated, and are received the carrying instruction that control server 101 is sent and are further carried instruction and include at least：Cargo holds
Address and path navigation information are carried in the position of device.First transfer robot 103 is in response to the corresponding carrying of each delivery port
Instruction, according to its path navigation information by each cargo to be delivered in consolidating the load container be carried to by the position of consolidating the load container and its
Corresponding cargo collects station.
Second designated position refers to that transfer robot is completed after carrying, the position of transfer robot parking.Preferably, will
Cargo in place collects the region near station as the second designated position, i.e., transfer robot is near cargo work stage etc.
Control server to be controlled is that it distributes task again.
The embodiment of the present invention proposes a kind of goods sorting system, controls posting address of the server according to cargo to be delivered
It determines delivery port, is distributed for cargo to be delivered and deliver robot and be to deliver robot planning travel path, generate goods to be delivered
The corresponding delivery instruction of object, will deliver instruction and is sent to delivery robot, deliver instruction and include the travel path for delivering robot；
It delivers robot to instruct in response to delivering, is advanced at delivery port according to travel path, cargo to be delivered is delivered to delivery port
After be back to the first designated position；The quantity of goods being collected into consolidating the load container below delivery port is greater than or equal to default threshold
When value, control server is the first transfer robot of consolidating the load container allocation and is the first transfer robot planning travel path, raw
It is instructed at carrying corresponding with consolidating the load container, instruction will be carried and be sent to the first transfer robot, instruction is carried and removed comprising first
Transport the travel path of robot；First transfer robot is instructed in response to carrying, and is advanced at consolidating the load container according to travel path,
It is back to the second designated position after consolidating the load container handling to cargo is collected station.That is, being proposed in the embodiment of the present invention
Technical solution in, when being collected into each consolidating the load container when the quantity for delivering cargo is more than predetermined threshold value, conveying robot
Each cargo to be delivered is carried to cargo and collects station by the carrying instruction that people can send according to controller, so as to avoid adopting
Manually mode collects the method obtained with taking the lead, can not only improve the efficiency of goods sorting, but also can improve cargo
The accuracy of sorting.
Embodiment two
The present embodiment has advanced optimized goods sorting system on the basis of the various embodiments described above.Fig. 2 is of the invention real
The structural schematic diagram of the goods sorting system in example two is applied, as shown in Fig. 2, the goods sorting system includes mainly such as lower part：
It controls server 201, deliver robot 202, the first transfer robot 203 and the second transfer robot 204.
Server 201 is controlled, for determining delivery port according to the posting address of cargo to be delivered, is distributed for cargo to be delivered
It delivers robot and to deliver robot planning travel path, generates the corresponding delivery instruction of cargo to be delivered, instructed delivering
It is sent to delivery robot, instruction is delivered and includes the travel path for delivering robot.
In the present embodiment, the posting address of cargo to be delivered corresponds to different delivery ports, and control server 101 is deposited in advance
The correspondence of posting address and delivery port is stored up, control server is got after the posting address for delivering cargo, according to waiting throwing
The posting address for passing cargo is inquired in the database of control server, determines that the posting address of cargo to be delivered is corresponding
Delivery port.
Robot 202 is delivered, for being instructed in response to delivering, is advanced at delivery port according to travel path, will wait delivering
Cargo is back to the first designated position after being delivered to delivery port.
In the present embodiment, it is arranged by consolidating the load container, delivery port and carrying tool less than the position of delivery port below delivery port
The consolidating the load container of body ship-to is bound, in order to receive the cargo to be delivered of specific ship-to.First designated position
Refer to delivering robot to complete after delivering, delivers the position of robot parking.Preferably, the cargo work stage in place is made
For the first designated position, i.e. robot is that it distributes task again in servers to be controlled such as cargo work stage attachmentes.
Server 201 is controlled, the quantity of goods for being additionally operable to be collected into the consolidating the load container below the delivery port is more than or waits
When predetermined threshold value, it is the first transfer robot of consolidating the load container allocation and is the first transfer robot planning travel path, generate
Carrying instruction corresponding with consolidating the load container will carry instruction and be sent to the first transfer robot, carries instruction and carried comprising first
The travel path of robot.
In the present embodiment, in order to enable control server count be collected into cargo receptacle in preset time wait throwing
The quantity for passing cargo, is arranged detection device at delivery port, which can detect to fall into consolidating the load container and wait delivering
The quantity of cargo.
First transfer robot 203 will in response to carrying instruction, being advanced at consolidating the load container according to travel path
Consolidating the load container handling is back to the second designated position after collecting station to cargo.
In the present embodiment, the first transfer robot 203 can be with owned intelligence system, can be with control server
201 are communicated, and are received the carrying instruction that control server 201 is sent and are further carried instruction and include at least：Cargo holds
Address and path navigation information are carried in the position of device.First transfer robot 23 is in response to the corresponding carrying of each delivery port
Instruction, according to its path navigation information by each cargo to be delivered in consolidating the load container be carried to by the position of consolidating the load container and its
Corresponding cargo collects station.
Server 201 is controlled, is additionally operable to as the second transfer robot of empty set goods container allocation and is the second transfer robot
It plans travel path, generates the corresponding carrying instruction of empty set goods container, and the second transfer robot is sent to by instruction is carried, remove
Fortune instruction includes the travel path of the second transfer robot.
In the present embodiment, after the first transfer robot 203 walks the consolidating the load container handling for filling cargo, in order to avoid
Cargo to be delivered falls to the ground, and control server distributes second transfer robot of distribution and carries an empty set goods container simultaneously
At to corresponding delivery port.For one the second transfer robot of empty set goods container allocation, according to the current location of empty set goods container
Position with delivery port is that the second transfer robot plans travel path, generates the corresponding carrying instruction of empty set goods container, and will
It carries instruction and is sent to the second transfer robot, carry the travel path that instruction includes the second transfer robot.
Second transfer robot 204 will be empty according to travel path for being instructed in response to the corresponding carrying of empty set goods container
Consolidating the load container handling returns to the second designated position after proceeding at consolidating the load container.
In the present embodiment, the first transfer robot 203 and the second transfer robot 204 are same type of robot,
The difference of task, which is executed, according to it is divided into the first transfer robot 203 and the second transfer robot, the first conveying robot
People 203 is for carrying the consolidating the load container for filling with acquisition, and the second transfer robot 204 is for carrying empty set goods container.According to carrying
The difference of instruction, the first transfer robot 203 can be used as the second transfer robot 204 to use, and the first transfer robot 203 can
To be used as the first transfer robot 203.
Second designated position refers to that transfer robot is completed after carrying, the position of transfer robot parking.Preferably, will
Cargo in place collects the region near station as the second designated position, i.e., transfer robot is near cargo work stage etc.
Control server to be controlled is that it distributes task again.
Further, robot, the first transfer robot and the second conveying robot is delivered to operate on ground per capita；It delivers
Mouth and consolidating the load container are bound by the binding instruction of controller, and at least one consolidating the load container setting is on the ground.
Further, in order to place more cargo receptacles in limited position, can by two cargo receptacles or
Three cargo receptacles are placed side by side constitutes cargo receptacle group.The quantity for constituting cargo receptacle group can be according to the size of site area
Reasonably designed.
The embodiment of the present invention proposes a kind of goods sorting system, controls posting address of the server according to cargo to be delivered
It determines delivery port, is distributed for cargo to be delivered and deliver robot and be to deliver robot planning travel path, generate goods to be delivered
The corresponding delivery instruction of object, will deliver instruction and is sent to delivery robot, deliver instruction and include the travel path for delivering robot；
It delivers robot to instruct in response to delivering, is advanced at delivery port according to travel path, cargo to be delivered is delivered to delivery port
After be back to the first designated position；The quantity of goods being collected into consolidating the load container below delivery port is greater than or equal to default threshold
When value, control server is the first transfer robot of consolidating the load container allocation and is the first transfer robot planning travel path, raw
It is instructed at carrying corresponding with consolidating the load container, instruction will be carried and be sent to the first transfer robot, instruction is carried and removed comprising first
Transport the travel path of robot；First transfer robot is instructed in response to carrying, and is advanced at consolidating the load container according to travel path,
It is back to the second designated position after consolidating the load container handling to cargo is collected station.That is, being proposed in the embodiment of the present invention
Technical solution in, when being collected into each consolidating the load container when the quantity for delivering cargo is more than predetermined threshold value, conveying robot
Each cargo to be delivered is carried to cargo and collects station by the carrying instruction that people can send according to controller, so as to avoid adopting
Manually mode collects the method obtained with taking the lead, can not only improve the efficiency of goods sorting, but also can improve cargo
The accuracy of sorting.
Embodiment three
The present embodiment has advanced optimized goods sorting system on the basis of the various embodiments described above.Fig. 3 is of the invention real
Apply the schematic diagram of the sorting system layout in example three.From the figure 3, it may be seen that consolidating the load container is arranged in polygonal profile in place, supply
Load bed 301 is located in polygonal profile, and cargo is collected station 303 and is located at outside polygonal profile, the region structure in polygonal profile
At the walking passageway for delivering robot, the region outside polygonal profile constitutes the first transfer robot and the second transfer robot
Walking passageway.Polygonal profile is rectangular profile；Polygonal profile locally has opening.
Be arranged in the center in place for load bed 301, consolidating the load container 302 be arranged in the surrounding in place or the side of surrounding or
The more sides of person.Cargo collects the outside that station 303 is set to consolidating the load container 302.It is that cargo receptacle is collected that cargo, which collects station 303,
Cargo receptacle is carried to cargo by the position of consolidating the load container 302 and collects station 303 for the people that works by place, i.e. transfer robot
Member carries out subsequent processing.Lattice 304 is a kind of representation method that map is carried out to gridding.It includes at least and deposits for load bed 301
Put the shelf of cargo to be delivered and the operating position of staff.
Fig. 4 is the schematic diagram of the sorting system layout in the embodiment of the present invention three.As shown in Figure 4, at least one consolidating the load holds
Device 402, which is placed, constitutes a consolidating the load container group, and at least one consolidating the load container group is arranged in array in place, consolidating the load container group it
Between horizontal and vertical gap constitute the walking passageway and the first transfer robot and the second transfer robot for delivering robot
Walking passageway.The side that station 403 is located at consolidating the load vessel array is collected for load bed 401 and cargo.
Piece supplying end 401 is arranged in the side in place, and the setting of consolidating the load container group is in place center, wherein three consolidating the load containers
402 constitute a consolidating the load container group.Cargo collect station 403 be arranged with for the opposite side of load bed 401.Cargo collects station
403 be the place of consolidating the load container collection, i.e., consolidating the load container is carried to cargo by the position of consolidating the load container 402 and received by transfer robot
Collect station 403 so that staff carries out subsequent processing.In sorting system layout in such a way that map to be carried out to gridding
It is indicated, the junior unit lattice being not shown in figure after gridding.The shelf for storing cargo to be delivered are included at least for load bed 401
And the operating position of staff.
All it is that map is subjected to gridding processing in both placement schemes, a minimum list is occupied when delivering robot
When first lattice, delivery port corresponding with cargo receptacle and transfer robot occupy 4 cells.Each cargo receptacle corresponds to a goods
The posting address that object is delivered.In figs. 3 and 4,3 consolidating the load containers are formed into a cargo receptacle group, between cargo receptacle
Reserve the operation channel for delivering robot and transfer robot.This placement scheme can be as more as possible in the area of very little
Arrangement delivery port and cargo receptacle position.
In sorting system placement scheme shown in Fig. 3, the direction of arrow mark is the operation channel of transfer robot, in
Between cell be deliver robot operation channel.In sorting system placement scheme shown in Fig. 4, transfer robot and throwing
It passs robot and all operates in the operation channel between cage vehicle group, be used in conjunction with the same operation channel.
Further, it delivers in robot and is placed with piece supplying equipment；Wherein, height of the piece supplying equipment apart from ground, which is more than, throws
Height of the mouth apart from ground is passed, idler wheel or belt, the goods to be delivered that idler wheel or belt are used to carry are provided in piece supplying equipment
Object is delivered to by moving in turn in consolidating the load container.That delivers robot carries out both sides delivery by the way of belt, delivers robot
When local rotation, belt keeps angle constant, the occupancy in space when can reduce rotation.
The embodiment of the present invention proposes a kind of preferred embodiment of goods sorting, and control server first waits delivering according to each
The posting address of cargo generates the corresponding delivery instruction of each cargo to be delivered, and corresponding deliver of each cargo to be delivered is referred to
Order is sent to delivery robot；Robot is delivered to throw each cargo to be delivered in response to the corresponding delivery instruction of cargo to be delivered
It is delivered in the corresponding cargo receptacle of each cargo to be delivered；Then when the number for the cargo to be delivered being collected into each cargo receptacle
When amount is more than predetermined threshold value, control server generates each cargo receptacle according to the corresponding carrying address of each cargo receptacle and corresponds to
Carrying instruction；Last transfer robot carries each cargo to be delivered in response to the corresponding carrying instruction of each cargo receptacle
To corresponding carrying address.That is, in the technical solution that the embodiment of the present invention proposes, when in each cargo receptacle
Be collected into wait deliver cargo quantity be more than predetermined threshold value when, transfer robot can according to controller send carrying instruct
Each cargo to be delivered is carried into designated position, so as to avoid the method obtained with taking the lead is collected using manual type, not only
The efficiency of goods sorting can be improved, but also the accuracy of goods sorting can be improved.
Example IV
Fig. 3 is the flow chart of the goods sorting method in the embodiment of the present invention four, and the present embodiment is applicable to goods sorting
The case where, this method mainly includes the following steps：
S501, control server determine delivery port according to the posting address of cargo to be delivered, and distribute and throw for cargo to be delivered
It passs robot and to deliver robot planning travel path, generates the corresponding delivery instruction of cargo to be delivered, instruction hair will be delivered
It send to robot is delivered, delivers instruction and include the travel path for delivering robot.
In the present embodiment, the posting address of cargo to be delivered corresponds to different delivery ports, and control server 101 is deposited in advance
The correspondence of posting address and delivery port is stored up, control server is got after the posting address for delivering cargo, according to waiting throwing
The posting address for passing cargo is inquired in the database of control server, determines that the posting address of cargo to be delivered is corresponding
Delivery port.
S502, robot is delivered in response to delivering instruction, advanced at delivery port according to travel path, by cargo to be delivered
It is back to the first designated position after being delivered to delivery port.
In the present embodiment, it is arranged by consolidating the load container, delivery port and carrying tool less than the position of delivery port below delivery port
The consolidating the load container of body ship-to is bound, in order to receive the cargo to be delivered of specific ship-to.First designated position
Refer to delivering robot to complete after delivering, delivers the position of robot parking.Preferably, the cargo work stage in place is made
For the first designated position, i.e. robot is that it distributes task again in servers to be controlled such as cargo work stage attachmentes.
When the quantity of goods being collected into S503, the consolidating the load container below delivery port is greater than or equal to predetermined threshold value, control
Control server is the first transfer robot of consolidating the load container allocation and is the first transfer robot planning travel path, generation and consolidating the load
The corresponding carrying instruction of container, will carry instruction and is sent to the first transfer robot, it includes the first transfer robot to carry instruction
Travel path.
In the present embodiment, in order to enable control server count be collected into cargo receptacle in preset time wait throwing
The quantity for passing cargo, is arranged detection device at delivery port, which can detect to fall into consolidating the load container and wait delivering
The quantity of cargo.
S504, the first transfer robot are instructed in response to carrying, and are advanced at consolidating the load container according to travel path, by consolidating the load
Container handling is back to the second designated position after collecting station to cargo.
In the present embodiment, the first transfer robot 103 can be with owned intelligence system, can be with control server
101 are communicated, and are received the carrying instruction that control server 101 is sent and are further carried instruction and include at least：Cargo holds
Address and path navigation information are carried in the position of device.First transfer robot 103 is in response to the corresponding carrying of each delivery port
Instruction, according to its path navigation information by each cargo to be delivered in consolidating the load container be carried to by the position of consolidating the load container and its
Corresponding cargo collects station.
Further, goods sorting method further includes：Control server is empty set goods the second transfer robot of container allocation
And plan travel path for the second transfer robot, the corresponding carrying instruction of empty set goods container is generated, and send instruction is carried
To the second transfer robot, the travel path that instruction includes the second transfer robot is carried.
Second transfer robot is instructed in response to the corresponding carrying of empty set goods container, according to travel path by empty set goods container
Carrying returns to the second designated position after proceeding at consolidating the load container.
Further, robot, the first transfer robot and the second conveying robot is delivered to operate on ground per capita；It delivers
Mouth and consolidating the load container are bound by the binding instruction of controller, and at least one consolidating the load container setting is on the ground.
Further, at least one consolidating the load container, which is placed, constitutes a consolidating the load container group, and at least one consolidating the load container group is in
For array arrangement in place, horizontal and vertical gap between cargo receptacle group constitutes the walking passageway for delivering robot and the
The walking passageway of one transfer robot and the second transfer robot.Station, which is collected, for load bed and cargo is located at consolidating the load container battle array
The side of row.
Further, cargo receptacle is arranged in polygonal profile in place, is located in polygonal profile for load bed, cargo
It collects station to be located at outside polygonal profile, the region in polygonal profile constitutes the walking passageway for delivering robot, polygonal wheel
Region outside exterior feature constitutes the walking passageway of the first transfer robot and the second transfer robot.Polygonal profile is rectangular profile；
Polygonal profile locally has opening.
Further, it delivers in robot and is placed with piece supplying equipment；Wherein, height of the piece supplying equipment apart from ground, which is more than, throws
Height of the mouth apart from ground is passed, idler wheel or belt, the goods to be delivered that idler wheel or belt are used to carry are provided in piece supplying equipment
Object is delivered to by moving in turn in consolidating the load container.
The embodiment of the present invention proposes a kind of goods sorting method, and control server is first according to the receipts of each cargo to be delivered
Part address generates corresponding deliverys of each cargo to be delivered and instructs, and the corresponding delivery of each cargo to be delivered is instructed and is sent to
Deliver robot；Each cargo to be delivered is delivered to each by delivery robot in response to the corresponding delivery instruction of cargo to be delivered
In the corresponding cargo receptacle of cargo to be delivered；Then when the quantity for the cargo to be delivered being collected into each cargo receptacle is more than in advance
If when threshold value, control server generates the corresponding carrying of each cargo receptacle according to the corresponding carrying address of each cargo receptacle and refers to
It enables；It is right with it that each cargo to be delivered is carried to by last transfer robot in response to the corresponding carrying instruction of each cargo receptacle
The carrying address answered.That is, in the technical solution that the embodiment of the present invention proposes, when what is be collected into each cargo receptacle
When the quantity for delivering cargo is more than predetermined threshold value, the carrying instruction that transfer robot can be sent according to controller is waited for each
It delivers cargo and carries designated position, so as to avoid the method obtained with taking the lead is collected using manual type, can not only improve
The efficiency of goods sorting, but also the accuracy of goods sorting can be improved.
Note that above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The present invention is not limited to specific embodiments described here, can carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out to the present invention by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
May include other more equivalent embodiments, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
1. a kind of goods sorting system, which is characterized in that including：It controls server, deliver robot and the first transfer robot；
Wherein,
The control server is distributed for cargo to be delivered and is thrown for determining delivery port according to the posting address of cargo to be delivered
It passs robot and is the deliverys robot planning travel path, the corresponding delivery of cargo to be delivered described in generation instructs, by institute
It states delivery instruction and is sent to the delivery robot, described deliver instructs comprising the travel path for delivering robot；
The delivery robot is advanced to according to travel path at the delivery port, for being instructed in response to the delivery by institute
It states and is back to the first designated position after delivering cargo and being delivered to the delivery port；
The control server, the quantity of goods for being additionally operable to be collected into the consolidating the load container below the delivery port are more than or wait
For first transfer robot of consolidating the load container allocation and it is that first transfer robot plans traveling road when predetermined threshold value
Diameter, generates carrying instruction corresponding with the consolidating the load container, and carrying instruction is sent to first transfer robot, institute
It states and carries the travel path that instruction includes first transfer robot；
First transfer robot advances to the consolidating the load container for being instructed in response to the carrying according to travel path
Place is back to the second designated position after the consolidating the load container handling to cargo is collected station.
2. goods sorting system according to claim 1, which is characterized in that the system also includes the second conveying robots
People；
The control server is additionally operable to as the second transfer robot of empty set goods container allocation and is second transfer robot
It plans travel path, generates the corresponding carrying instruction of empty set goods container, and carrying instruction is sent to described second and is carried
Robot, the travel path carried instruction and include second transfer robot；
Second transfer robot will according to travel path for being instructed in response to the corresponding carrying of the empty set goods container
Empty set goods container handling returns to the second designated position after proceeding at the consolidating the load container.
3. goods sorting system according to claim 2, which is characterized in that the delivery robot, described first carry
Robot and second conveying robot operate on ground per capita；The delivery port and the consolidating the load container pass through the control
The binding instruction of device is bound, and at least one consolidating the load container setting is on the ground.
4. goods sorting system according to claim 3, which is characterized in that at least one consolidating the load container, which is placed, to be constituted
One consolidating the load container group, at least one consolidating the load container group are arranged in array in place, the transverse direction between consolidating the load container group
The walking passageway for delivering robot and first transfer robot and second carrying implement are constituted with axial clearance
The walking passageway of device people.
5. goods sorting system according to claim 4, which is characterized in that collect station for load bed and cargo and be located at
The side of consolidating the load vessel array.
6. goods sorting system according to claim 3, which is characterized in that the consolidating the load container is arranged in polygonal profile
In place, it is located in the polygonal profile for load bed, cargo is collected station and is located at outside the polygonal profile, described polygon
Region in shape profile constitutes the walking passageway for delivering robot, and the region outside the polygonal profile constitutes described first
The walking passageway of transfer robot and second transfer robot.
7. goods sorting system according to claim 6, which is characterized in that the polygonal profile is rectangular profile；Institute
Stating polygonal profile locally has opening.
8. goods sorting system according to claim 1, which is characterized in that be placed with piece supplying in the delivery robot and set
It is standby；Wherein,
Height of the piece supplying equipment apart from ground is more than height of the delivery port apart from ground, and rolling is provided in the piece supplying equipment
The cargo to be delivered that wheel or belt, the idler wheel or belt are used to carry is delivered to by moving in turn in consolidating the load container.
9. a kind of goods sorting method, which is characterized in that including：
Control server determines delivery port according to the posting address of cargo to be delivered, and is distributed for cargo to be delivered and delivers robot simultaneously
For the delivery robot planning travel path, the corresponding delivery instruction of cargo to be delivered described in generation, by deliverys instruction
It is sent to the delivery robot, the travel path delivered instruction and include the delivery robot；
It delivers robot to instruct in response to the delivery, is advanced at the delivery port according to travel path, wait delivering by described
Cargo is back to the first designated position after being delivered to the delivery port；
When the quantity of goods being collected into consolidating the load container below the delivery port is greater than or equal to predetermined threshold value, control service
Device is first transfer robot of consolidating the load container allocation and is the first transfer robot planning travel path, generation and institute
The corresponding carrying instruction of consolidating the load container is stated, carrying instruction is sent to first transfer robot, the carrying instruction
Include the travel path of first transfer robot；
First transfer robot is instructed in response to the carrying, is advanced at the consolidating the load container according to travel path, will be described
Consolidating the load container handling is back to the second designated position after collecting station to cargo.
10. goods sorting method according to claim 9, which is characterized in that the method further includes：
Control server is the second transfer robot of empty set goods container allocation and is the second transfer robot planning traveling road
Diameter generates the corresponding carrying instruction of empty set goods container, and carrying instruction is sent to second transfer robot, described
Carry the travel path that instruction includes second transfer robot；
Second transfer robot is instructed in response to the corresponding carrying of the empty set goods container, according to travel path by empty set goods container
Carrying returns to the second designated position after proceeding at the consolidating the load container.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810480980.8A CN108672308B (en) | 2018-05-18 | 2018-05-18 | Cargo sorting system and method |
| US16/755,857 US11194337B2 (en) | 2018-05-18 | 2019-04-30 | Cargo sorting system and method |
| AU2019268423A AU2019268423A1 (en) | 2018-05-18 | 2019-04-30 | Cargo sorting system and method |
| EP19803183.3A EP3795263B1 (en) | 2018-05-18 | 2019-04-30 | Cargo sorting system and method |
| PCT/CN2019/085231 WO2019218877A1 (en) | 2018-05-18 | 2019-04-30 | Cargo sorting system and method |
| JP2020542331A JP6849864B2 (en) | 2018-05-18 | 2019-04-30 | Luggage sorting system and method |
| AU2022204398A AU2022204398A1 (en) | 2018-05-18 | 2022-06-22 | Cargo sorting system and method |
| AU2022100195A AU2022100195A4 (en) | 2018-05-18 | 2022-06-22 | Cargo sorting system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810480980.8A CN108672308B (en) | 2018-05-18 | 2018-05-18 | Cargo sorting system and method |
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| Publication Number | Publication Date |
|---|---|
| CN108672308A true CN108672308A (en) | 2018-10-19 |
| CN108672308B CN108672308B (en) | 2022-02-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810480980.8A Active CN108672308B (en) | 2018-05-18 | 2018-05-18 | Cargo sorting system and method |
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| CN112215547A (en) * | 2020-09-29 | 2021-01-12 | 北京极智嘉科技有限公司 | Article delivery system and method |
| CN112371518A (en) * | 2020-10-15 | 2021-02-19 | 北京极智嘉科技有限公司 | Article sorting system and method |
| CN112371517A (en) * | 2020-10-15 | 2021-02-19 | 北京极智嘉科技有限公司 | Article sorting system and method |
| CN112371518B (en) * | 2020-10-15 | 2022-04-05 | 北京极智嘉科技股份有限公司 | Article sorting system and method |
| WO2022078290A1 (en) * | 2020-10-15 | 2022-04-21 | 北京极智嘉科技股份有限公司 | Item sorting system and method |
| CN112371517B (en) * | 2020-10-15 | 2022-06-24 | 北京极智嘉科技股份有限公司 | Article sorting system and method |
| GB2615011A (en) * | 2020-10-15 | 2023-07-26 | Beijing Geekplus Tech Co Ltd | Item sorting system and method |
| CN114602826A (en) * | 2020-12-09 | 2022-06-10 | 广东博智林机器人有限公司 | Sorting system |
| CN114602826B (en) * | 2020-12-09 | 2024-02-09 | 广东博智林机器人有限公司 | Sorting system |
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