CN108792385A - A kind of goods sorting method based on AGV trolleies - Google Patents
A kind of goods sorting method based on AGV trolleies Download PDFInfo
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- CN108792385A CN108792385A CN201810402099.6A CN201810402099A CN108792385A CN 108792385 A CN108792385 A CN 108792385A CN 201810402099 A CN201810402099 A CN 201810402099A CN 108792385 A CN108792385 A CN 108792385A
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- cargo
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- agv trolleies
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
The invention discloses a kind of goods sorting methods based on AGV trolleies, include the following steps：S100 receives the sorting mission bit stream that host computer is sent；The sorting mission bit stream includes the sorting destination information of the placement position information of cargo to be sorted and each cargo to be sorted each of on the shelf of AGV trolleies；Corresponding cargo to be sorted is taken out according to the placement position information and the sorting destination information and is shipped to corresponding sorting destination by S200.The goods sorting method based on AGV trolleies of the present invention, AGV trolleies once can convey multiple cargos, goods area all returned without often having conveyed a cargo, and sorting efficiency can be improved, and reduce sorting cost.
Description
Technical field
The invention belongs to storage technique field, more particularly to a kind of goods sorting method based on AGV trolleies.
Background technology
With the gradually rise of e-commerce and shopping at network, the logistics delivery industry in China just faces unprecedented machine
It meets and challenges.But goods sorting efficiency but becomes the big bottleneck for restricting China current Express firm and e-commerce development.
Growth requirement is difficult to adapt to using traditional Express firm of manual sorting at all.Under this overall situation, Automated Sorting System is met the tendency of
And it gives birth to.
Existing Automated Sorting System generally comprises shelf, multiple AGV trolleies and multiple sorting destinations, is placed on shelf
Various cargos, multiple AGV trolleies are communicated to connect with master system respectively, and it is different that each sorting destination corresponds to the whole nation
Area.After manually the cargo on shelf is placed on AGV trolleies, AGV trolleies are according to the instruction of master system by goods
Object transports corresponding sorting destination, completes a goods sorting.Such sorting mode, AGV trolleies can only convey one every time
Kind cargo, and must all be returned at shelf after having conveyed every time, by manually cargo is again placed on AGV trolleies to carry out down
Secondary cargo transport.Although this mode can realize automated sorting, its sorting efficiency is relatively low.
Invention content
The object of the present invention is to provide a kind of goods sorting methods based on AGV trolleies, realize and promote sorting efficiency, reduce
Sort the purpose of cost.
Technical solution provided by the invention is as follows：
A kind of goods sorting method based on AGV trolleies, includes the following steps：
S100 receives the sorting mission bit stream that host computer is sent；The sorting mission bit stream is included in the shelf of AGV trolleies
On each of the placement position information of cargo to be sorted and each cargo to be sorted sorting destination information；
S200 takes out corresponding cargo to be sorted simultaneously according to the placement position information and the sorting destination information
It is shipped to corresponding sorting destination.
Further, the step S200 is specifically included：
Corresponding sorting destination is advanced to according to the sorting destination information of cargo to be sorted；
Corresponding cargo to be sorted is taken out according to the placement position information of cargo to be sorted；
The cargo to be sorted of taking-up is shipped to the sorting destination.
Further, corresponding cargo to be sorted is taken out specific packet by the placement position information according to cargo to be sorted
It includes：According to the placement position information of cargo to be sorted, the lifting of lifting table controlled on AGV trolleies exists to corresponding cargo to be sorted
Place goods yard on shelf, the pushing mechanism controlled on lifting platform bottom or each goods yard turn down the baffle before the goods yard,
The cargo to be sorted is set to slide on the lifting platform；
It is described the cargo to be sorted of taking-up is shipped to the sorting destination to specifically include：It controls on the lifting platform
Toggle mechanism, which slides to dial the cargo to be sorted in the horizontal direction, falls on the sorting destination.
Further, corresponding cargo to be sorted is taken out specific packet by the placement position information according to cargo to be sorted
It includes：According to the placement position information of cargo to be sorted, the lifting of lifting table controlled on AGV trolleies exists to corresponding cargo to be sorted
Place goods yard on shelf, the pushing mechanism controlled on lifting platform bottom or each goods yard turn down the baffle before the goods yard,
The cargo to be sorted is set to slide on the lifting platform；
It is described the cargo to be sorted of taking-up is shipped to the sorting destination to specifically include：Control the lifting platform rotation
Inclination makes the cargo to be sorted be slipped to the sorting destination.
Further, corresponding cargo to be sorted is taken out specific packet by the placement position information according to cargo to be sorted
It includes：According to the placement position information of cargo to be sorted, the lifting of lifting table controlled on AGV trolleies exists to corresponding cargo to be sorted
The cargo to be sorted is transported to the liter by the place goods yard on shelf, the conveyer belt where controlling cargo to be sorted on goods yard
It drops on platform；
It is described the cargo to be sorted of taking-up is shipped to the sorting destination to specifically include：It controls on the lifting platform
The cargo to be sorted is transported to the sorting destination by conveyer belt.
Further, corresponding cargo to be sorted is taken out specific packet by the placement position information according to cargo to be sorted
It includes：According to the placement position information of cargo to be sorted, the lifting of lifting table controlled on AGV trolleies exists to corresponding cargo to be sorted
The cargo to be sorted is transported to the liter by the place goods yard on shelf, the conveyer belt where controlling cargo to be sorted on goods yard
It drops on platform；
It is described the cargo to be sorted of taking-up is shipped to the sorting destination to specifically include：Control the lifting platform rotation
Inclination makes the cargo to be sorted be slipped to corresponding sorting destination.
Further, corresponding cargo to be sorted is taken out specific packet by the placement position information according to cargo to be sorted
It includes：According to the placement position information of cargo to be sorted, the lifting of lifting table controlled on AGV trolleies exists to corresponding cargo to be sorted
Place goods yard on shelf, the grasping mechanism controlled on lifting platform fall on the cargo to be sorted group on the lifting platform；
It is described the cargo to be sorted of taking-up is shipped to the sorting destination to specifically include：It controls on the lifting platform
Grasping mechanism, which slides to dial the cargo to be sorted in the horizontal direction, falls on the sorting destination.
Further, further include before the step S100：
S010 scans the first identifier information of current cargo；
S020 scans the second identifier information that the current cargo corresponds to goods yard on the shelf of AGV trolleies；
S030 is tied up according to the first identifier information and the second identifier information, by the current cargo with corresponding goods yard
It is fixed, obtain the corresponding location information of the current cargo；
S040 sends the location information to host computer；
The step S100 includes specific steps：
Receive the sorting mission bit stream that host computer is sent；The sorting mission bit stream is by the host computer according to acquisition
Order information and the location information generate.
Further, further include after the step S200：
S300 sends sorting and finishes information to the host computer；It includes having delivered cargo in shelf that the sorting, which finishes information,
On placement position information and sorting destination information；
S400 receives the control instruction that the host computer is sent；The control instruction includes continuing sorting instruction and stopping dividing
Pick instruction；The control instruction by the host computer receive it is described sorting finish information after, according to it is described sorting finish information
It generates；
S500 judges whether the control instruction is off sorting instruction；If so, generating prompt message, and stop sorting；
Otherwise, continue to sort.
Compared with prior art, the beneficial effects of the present invention are：Shelf are arranged on AGV trolleies, can be loaded on shelf
Multiple cargos, AGV trolleies receive the sorting mission bit stream that host computer is sent, to obtain all cargos to be sorted on shelf
Placement position information and sorting destination information, then according to the placement position information of current cargo to be sorted and sorting destination
Current cargo to be sorted is shipped to corresponding sorting destination, next cargo to be sorted is continued to after having delivered by information
Sorting destination execute delivery action, until all cargos to be sorted deliveries are finished, be then back to goods area and get in stocks；
The goods sorting method based on AGV trolleies of the present invention can load multiple cargos on shelf so that AGV trolleies can once convey
Multiple cargos all return to goods area without often having conveyed a cargo, improve sorting efficiency, reduce sorting cost.
Description of the drawings
Below by a manner of clearly understandable, preferred embodiment is described with reference to the drawings, to a kind of above-mentioned characteristic, technology
Feature, advantage and its realization method are further described.
Fig. 1 is a kind of flow diagram of goods sorting method based on AGV trolleies of the embodiment of the present invention one；
Fig. 2 is a kind of flow of goods sorting method based on AGV trolleies of the embodiment of the present invention two, four, five and seven
Schematic diagram；
Fig. 3 is a kind of flow of goods sorting method based on AGV trolleies of the embodiment of the present invention three, four, five and seven
Schematic diagram；
Fig. 4 is a kind of AGV trolleies of goods sorting method based on AGV trolleies of the embodiment of the present invention four, six and seven
Structural schematic diagram one；
Fig. 5 is a kind of AGV trolleies of goods sorting method based on AGV trolleies of the embodiment of the present invention four, six and seven
Structural schematic diagram two
Fig. 6 is a kind of AGV trolleies of goods sorting method based on AGV trolleies of the embodiment of the present invention five, six and seven
Structural schematic diagram one；
Fig. 7 is a kind of AGV trolleies of goods sorting method based on AGV trolleies of the embodiment of the present invention five, six and seven
Structural schematic diagram two；
Fig. 8 is a kind of flow diagram of goods sorting method based on AGV trolleies of the embodiment of the present invention six and seven.
Drawing reference numeral explanation：
1, AGV ontologies；2, shelf；21, goods yard；22, baffle；23, lifting platform；24, pushing mechanism；25, toggle mechanism；
26, grasping mechanism.
Specific implementation mode
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, control is illustrated below
The specific implementation mode of the present invention.It should be evident that drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented
Its practical structures as product.In addition, so that simplified form is easy to understand, there is identical structure or function in some figures
Component only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not only indicated
" only this ", can also indicate the situation of " more than one ".
According to first embodiment provided by the invention, as shown in Figure 1, a kind of goods sorting method based on AGV trolleies, packet
Include following steps：
S100 receives the sorting mission bit stream that host computer is sent；The sorting mission bit stream is included in the shelf of AGV trolleies
On each of the placement position information of cargo to be sorted and each cargo to be sorted sorting destination information；
S200 takes out corresponding cargo to be sorted simultaneously according to the placement position information and the sorting destination information
It is shipped to corresponding sorting destination.
Specifically, AGV trolleies include AGV ontologies and shelf, and AGV ontologies are submersible AGV, and shelf are detachably connected setting
On AGV ontologies, there are several mutually independent goods yards, each goods yard can load a cargo can in upper goods area on shelf
Cargo is loaded on each goods yard by manually or mechanically hand, shelf are then corresponded to by each cargo of manual or automatic typing
Goods yard information, and send host computer to.And on shelf and/or on AGV ontologies, it is equipped with real-time wireless data communication dress
It sets, wireless data communication device is for the communication between AGV ontologies and host computer.Sorting destination may be host computer according to ordering
The sorting area of single information distribution, it is also possible to the area held residing for the cargo frame of cargo to be sorted distributed according to order information
Domain；Host computer can be one or more in WMS warehouse management systems, WCS storage control systems and DPS numeric sorting systems.
The running of the entire intelligent warehousing system of PC control, is managed whole flow process, including：Input/output each wait for point
The binding information (i.e. placement position information of the cargo on shelf) in the sorting destination of picking object, cargo to be sorted and goods yard,
The walking destination management of AGV trolleies and path planning etc..
It is all according to include in sorting mission bit stream after AGV trolleies receive the sorting mission bit stream of host computer transmission
The placement position information and sorting destination information of cargo to be sorted, advance to first sorting destination, first are sorted
The corresponding cargo (can be one or more) to be sorted in destination is taken out and is delivered, and the second sorting purpose is continued to
Ground by (can the be one or more) taking-up of the corresponding cargo to be sorted in the second sorting destination and is delivered until being needed point
After picking object is all delivered, goods area is got in stocks in return.The AGV trolleies can once load multiple cargos so that AGV trolleies one
It is secondary to convey multiple cargos, goods area is all returned without often having conveyed a cargo, substantially increases sorting efficiency, is reduced point
Pick cost.
The sorting destination information for all cargos to be sorted that AGV trolleies receive may include point of all cargos to be sorted
Destination and travel path are picked, AGV trolleies advance to corresponding sorting destination according to the travel path.
According to second embodiment provided by the invention, as shown in Fig. 2, a kind of goods sorting method based on AGV trolleies, packet
Include following steps：
S100 receives the sorting mission bit stream that host computer is sent；The sorting mission bit stream is included in the shelf of AGV trolleies
On each of the placement position information of cargo to be sorted and each cargo to be sorted sorting destination information；
S200 is specifically included：S210 advances to corresponding sorting purpose according to the sorting destination information of cargo to be sorted
Ground；Corresponding cargo to be sorted is taken out according to the placement position information of cargo to be sorted；The cargo to be sorted of taking-up is delivered
To the sorting destination.
It specifically, can be according to current cargo to be sorted after AGV trolleies receive the sorting mission bit stream that host computer is sent
Sorting destination information first advances to corresponding sorting destination, after reaching sorting destination, further according to current cargo to be sorted
Placement position information corresponding cargo to be sorted is taken out and is shipped to corresponding sorting destination.It has delivered current to be sorted
After cargo, then advances to next sorting destination and delivered next time.Sorting destination is first advanced to, then is waited for corresponding point
Picking object takes out and is shipped to corresponding sorting destination, can prevent from leading to cargo to be sorted because taking out cargo to be sorted in advance
Fallen during AGV trolleies are advanced, and after cargo to be sorted is fallen, need manually to be picked up, can cause manually at
This increase, this programme can avoid increasing cost of labor.But after AGV trolleies advance to sorting destination, need to stop a timing
Between, cargo to be sorted is taken out and then delivered.
According to 3rd embodiment provided by the invention, as shown in figure 3, a kind of goods sorting method based on AGV trolleies, packet
Include following steps：
S100 receives the sorting mission bit stream that host computer is sent；The sorting mission bit stream is included in the shelf of AGV trolleies
On each of the placement position information of cargo to be sorted and each cargo to be sorted sorting destination information；
S200 is specifically included：S220 takes out corresponding cargo to be sorted according to the placement position information of cargo to be sorted；
Corresponding sorting destination is advanced to according to the sorting destination information of cargo to be sorted；The cargo to be sorted of taking-up is shipped to
The sorting destination.
It specifically, can be first according to current cargo to be sorted after AGV trolleies receive the sorting mission bit stream that host computer is sent
Placement position information corresponding cargo to be sorted is taken out, then further according to the sorting destination information of current cargo to be sorted
Corresponding sorting destination is advanced to, is reached after sorting destination, then the cargo to be sorted taken out is shipped to corresponding point
Pick destination.Current cargo to be sorted can also be taken out during advancing to sorting destination, i.e.. while walking
Picking.AGV trolleies have taken out cargo to be sorted before reaching sorting destination, without stopping behind its arrival sorting destination
It waits for, can the cargo to be sorted taken out be directly shipped to sorting destination, then proceed to advance to next sorting destination,
The sorting time of AGV trolleies can be saved through the above way, improve the sorting efficiency of AGV trolleies.
According to fourth embodiment provided by the invention, as shown in Fig. 2 to 5, a kind of goods sorting side based on AGV trolleies
Method includes the following steps：
S100 receives the sorting mission bit stream that host computer is sent；The sorting mission bit stream is included in the shelf 2 of AGV trolleies
On each of the placement position information of cargo to be sorted and each cargo to be sorted sorting destination information；
Corresponding cargo to be sorted is taken out and is shipped to pair according to placement position information and sorting destination information by S200
The sorting destination answered.
Specifically, AGV trolleies can first advance to corresponding sorting purpose according to the sorting destination information of cargo to be sorted
Ground；Then corresponding cargo taking-up to be sorted is shipped to corresponding sorting destination again.First cargo to be sorted can also be taken
Go out, then advance to corresponding sorting destination again, the cargo to be sorted of taking-up is shipped to corresponding sorting destination；Or
Cargo to be sorted is taken out during traveling, is again shipped to the acquisition to be sorted of taking-up pair after waiting arrival to sort destination
The sorting destination answered.
Corresponding cargo taking-up to be sorted is specifically included according to the placement position information of cargo to be sorted：According to be sorted
The placement position information of cargo, the lifting platform 23 controlled on AGV trolleies are elevated to institute of the corresponding cargo to be sorted on shelf 2
In goods yard 21, the pushing mechanism 24 controlled on 23 bottom of lifting platform or each goods yard turns down the baffle 22 before the goods yard 21,
Cargo to be sorted is set to slide on lifting platform 23.The cargo to be sorted of taking-up is shipped to the sorting destination to specifically include：
Controlling the toggle mechanism 25 on the lifting platform 23 and sliding in the horizontal direction makes the cargo to be sorted group fall on the sorting mesh
Ground.
As shown in figure 4, a shelf 2 are arranged on AGV ontologies 1, shelf 2 include several independently arranged goods yards 21,
Bottom plate on each goods yard 21 is obliquely installed, and roller is additionally provided on bottom plate, to facilitate cargo to slide, is also set up on each goods yard 21
There are baffle 22, baffle 22 that can prevent the cargo on goods yard 21 from falling.Baffle 22 includes vertical plate and level board, vertical plate and level
Plate is connected by spring hinge, and level board is arranged in the bottom of 21 bottom plate of goods yard, and has distance between 21 bottom plate of goods yard, is erected
The front in goods yard 21 is arranged in straight panel, and vertical plate is in vertical state when without outer force effect, and vertical plate under external force may be used
Become horizontality from vertical state.Lifting platform 23 is additionally provided on shelf 2, lifting platform 23 can be slided along the short transverse of shelf 2
The bottom of dynamic setting, lifting platform 23 is equipped with pushing mechanism 24, each goods yard 21 corresponds to a pushing mechanism 24, the promotion machine
Structure 24 can be a push rod being vertically arranged, and push rod stretches out lifting platform 23 along the short transverse of shelf 2 and is arranged, and lifting platform 23 is rising
During drop, the push rod being vertically arranged first contacts the level board of baffle 22, and push rod pushes level board to move up, makes vertical plate
Become horizontality from vertical state, after vertical plate becomes horizontality from vertical state, is waited on the bottom plate that is obliquely installed
It sorts cargo under gravity, is slipped on lifting platform 23.It is additionally provided with toggle mechanism 25 on lifting platform 23, stirs machine
Structure 25 can slide in the horizontal direction, and the cargo on lifting platform 23 is dialled and falls on sorting destination.Pass through above-mentioned lifting platform 23, baffle
22, the mutual cooperation of inclined floor, pushing mechanism 24 and toggle mechanism 25 can be achieved that cargo to be sorted is taken out and delivered automatically
Effect to sorting destination not only reduces human cost, and improve sorting efficiency without human intervention.
As a kind of deformation, as shown in figure 5, the pushing mechanism 24 of 23 bottom of lifting platform can be cancelled, and in the every of shelf 2
A pushing mechanism 24 is respectively set on a goods yard 21, by the pushing mechanism 24 by the vertical plate on goods yard 21 by vertical state
Become horizontality.The pushing mechanism 24 can be the push rod etc. with Telescopic.
Meanwhile it being additionally provided with turnover panel in the two sides of lifting platform 23, when cargo to be sorted is removed and is placed on lifting platform 23
When upper, turnover panel can prevent the cargo to be sorted during lifting of lifting platform 23 from being fallen from lifting platform 23, and turnover panel is in external force
Under the action of can be under automatic turning, i.e., when toggle mechanism 25, which stirs cargo to be sorted, to be slided in the horizontal direction, turnover panel can wait for point
Under the action of picking object under automatic turning, so that cargo to be sorted is dialled and fall on sorting destination.
When same sorting destination corresponds to multiple cargos to be sorted, just thrown after can often taking out a cargo to be sorted
It is sent to sorting destination；Also multiple cargos to be sorted can be taken out respectively and is placed on lifting platform 23, then wait for all
Sorting cargo is shipped to sorting destination together.Since the accommodation space of lifting platform 23 is limited, in order to know on lifting platform 23
Whether cargo to be sorted has reached the upper limit, an information is then sent when AGV trolleies often take out a cargo to be sorted to host computer,
Host computer receives the information and is counted to the cargo to be sorted on lifting platform 23, to be sorted on lifting platform 23 when counting on
When cargo has reached the upper limit, AGV trolleies are sent instructions to, allow lifting platform 23 to stop picking, and will be needed on lifting platform 23
Sorting cargo is shipped to sorting destination.
For example, it is that cargo A, cargo A are placed on shelf 2 that AGV trolleies, which receive the current cargo to be sorted that host computer is sent,
4th layer of first position, cargo A sorting destination address B and positioned at direction of travel right side, travel path etc..AGV
Trolley advances to address B according to the path that host computer is planned, during walking, AGV trolleies control dialling on lifting platform 23
Motivation structure 25 is parked in the left side of AGV trolleies in advance, and control lifting platform 23 rises and rest on the 4th layer of shelf 2, at this point, lifting
Pushing mechanism 24 on platform 23 turns down the vertical plate of the 4th layer of first position, and cargo A slides under gravity to be risen
It drops on platform, lifting platform 23 declines, and then dials cargo A by the toggle mechanism 25 on lifting platform 23 and falls on address B.It can be in address
Cargo frame or platform-type tunnel is arranged in B, and cargo A is dialled and is fallen in the corresponding cargo frames of address B or platform-type tunnel.Cargo frame
Can be by the submersible AGV cargo frames carried or other containers etc., to facilitate live transport.Lifting platform 23 can be by chain drive
Or motor driving or cylinder driving etc..
As a kind of deformation, after cargo to be sorted is slipped on lifting platform 23, the rotation of lifting controllable platform 23, which tilts, to be made to wait for
Sorting cargo is slipped to corresponding sorting destination.The toggle mechanism 25 on lifting platform 23 is replaced with into rotating mechanism, is passed through
Rotating mechanism controls lifting platform 23 and rotates, and lifting platform 23 is made to tilt, to make the cargo to be sorted on lifting platform 23 be slipped to point
Pick destination.
According to the 5th embodiment provided by the invention, as shown in Fig. 2,3,6 and 7, a kind of cargo based on AGV trolleies point
Method is picked, is included the following steps：
Receive the sorting mission bit stream that host computer is sent；It includes every on the shelf 2 of AGV trolleies to sort mission bit stream
The sorting destination information of the placement position information of a cargo to be sorted and each cargo to be sorted；
According to placement position information and sorting destination information, corresponding cargo to be sorted is taken out and is shipped to corresponding
Sort destination.AGV trolleies can first advance to corresponding sorting destination according to the sorting destination information of cargo to be sorted；So
Corresponding cargo taking-up to be sorted is shipped to corresponding sorting destination again afterwards.First cargo to be sorted can also be taken out, so
It advances to corresponding sorting destination again afterwards, the cargo to be sorted of taking-up is shipped to corresponding sorting destination；Or it is expert at
Cargo to be sorted is taken out during, is again shipped to the acquisition to be sorted of taking-up after waiting arrival to sort destination corresponding
Sort destination.
Corresponding cargo taking-up to be sorted is specifically included according to the placement position information of cargo to be sorted：According to be sorted
The placement position information of cargo, the lifting platform 23 controlled on AGV trolleies are elevated to institute of the corresponding cargo to be sorted on shelf 2
In goods yard 21, the cargo to be sorted is transported to the lifting platform 23 by the conveyer belt where controlling cargo to be sorted on goods yard 21
On.The cargo to be sorted of taking-up is shipped to the sorting destination to specifically include：Control the conveyer belt on the lifting platform 23
The cargo to be sorted is transported to the sorting destination.
As shown in fig. 6, the bottom plate in each goods yard 21 on shelf 2 is respectively a conveyer belt, cargo to be sorted is placed on defeated
It send and takes, lifting platform 23 is also a conveyer belt, after AGV trolleies receive the picking mission bit stream of host computer transmission, according to working as
The sorting destination information of preceding cargo to be sorted advances to sorting destination, and controls lifting platform 23 and rise to current goods to be sorted
Goods yard 21 where object, then controls the conveyer belt work on corresponding goods yard 21 again, and current cargo to be sorted is transported to lifting platform
On 23, the work of the conveyer belt on lifting platform 23 is finally controlled again, current cargo to be sorted is transported to corresponding sorting destination.
Cargo to be sorted can be transported to the corresponding cargo frame in sorting destination in sorting destination setting cargo frame or platform-type tunnel
Or in platform-type tunnel.Cargo frame can be by the submersible AGV cargo frames carried or it is other be easy etc., to facilitate live fortune
It is defeated.It can be achieved that cargo to be sorted is taken out to and is shipped to the work for sorting destination automatically by the mutual cooperation of said conveyer belt
With without human intervention, not only reducing human cost, and improve sorting efficiency.
As a kind of deformation, after cargo to be sorted is transported to by conveyer belt on lifting platform 23, lifting controllable platform 23 rotates
Inclination makes cargo to be sorted be slipped to corresponding sorting destination.The conveyer belt on lifting platform 23 is removed, increases a rotation
Rotation mechanism, rotating mechanism control lifting platform 23 and rotate, and so that lifting platform 23 is tilted, to make the cargo to be sorted on lifting platform 23 slide
Fall on sorting destination.
As shown in fig. 7, as a kind of deformation, the conveyer belt on the conveyer belt and lifting platform 23 on goods yard 21 can be taken simultaneously
Disappear, a grasping mechanism 26 is set on lifting platform 23, grasping mechanism 26 includes a straight-bar, and straight-bar front end, which is provided with, dials hook, this is grabbed
Take mechanism 26 that can be moved along the X-direction and Y-direction of lifting platform 23.When lifting platform 23 is risen on corresponding goods yard 21, control crawl
Mechanism 26 moves (i.e. the Y-direction of lifting platform 23) along close to the direction in goods yard 21 so that straight-bar stretches into goods yard 21 and stretches into arrival
Then the rear end of object controls straight-bar and moves in the horizontal direction again, make to dial hook and the cargo contacts on goods yard 21, and subsequently control is grabbed
It takes mechanism 26 to be moved along the direction far from goods yard 21, cargo is transferred to, finally controls grasping mechanism 26 again along lifting platform 23
X-direction moves, and cargo is dialled and falls on sorting destination.When same sorting destination corresponds to multiple cargos to be sorted, gripper
First cargo to be sorted can first be taken out and be placed on lifting platform 23 by structure 26, and then the second cargo to be sorted is taken out and put
It sets on lifting platform 23, until after all corresponding cargos to be sorted are taken out, then all cargos to be sorted is dialled and are fallen on point
Pick destination.
According to sixth embodiment provided by the invention, as shown in Fig. 4 to 8, a kind of goods sorting side based on AGV trolleies
Method includes the following steps：
S010 scans the first identifier information of current cargo；
S020 scans the second identifier that the current cargo corresponds to goods yard 21 on the shelf 2 of AGV trolleies
Information；
S030 is according to the first identifier information and the second identifier information, by the current cargo and corresponding goods yard 21
Binding, obtains the corresponding location information of the current cargo；
S040 sends the location information to host computer；
S100 receives the sorting mission bit stream that host computer is sent；The sorting mission bit stream is by the host computer according to acquisition
Order information and the location information generate；The sorting mission bit stream includes waiting for each of on the shelf 2 of AGV trolleies point
The sorting destination information of the placement position information of picking object and each cargo to be sorted；
S200 takes out corresponding cargo to be sorted simultaneously according to the placement position information and the sorting destination information
It is shipped to corresponding sorting destination；
S300 sends sorting and finishes information to the host computer；It includes having delivered cargo in shelf that the sorting, which finishes information,
Placement position information on 2 and sorting destination information；
S400 receives the control instruction that the host computer is sent；The control instruction includes continuing sorting instruction and stopping dividing
Pick instruction；The control instruction by the host computer receive it is described sorting finish information after, according to it is described sorting finish information
It generates；
S500 judges whether the control instruction is off sorting instruction；If so, generating prompt message, and stop sorting；
Otherwise, continue to sort.
Specifically, a scanning means can be set on AGV trolleies, by scanning the first identifier information of current cargo and working as
Preceding cargo corresponds to the second identifier information in goods yard 21 on the shelf 2 of AGV trolleies, and current cargo is bound with corresponding goods yard 21,
Obtain the location information of current cargo；Above-mentioned steps are recycled, all cargos are bound with corresponding goods yard 21, it is in stockit is available to obtain institute
The location information of object.Wherein, first identifier information and second identifier information can be in Quick Response Code, bar code or radio electronic label
Any one.
Location information is sent to host computer；Host computer generates sorting according to the order information and location information got and appoints
Business information, sorting mission bit stream include the sorting purpose of the placement position information and each cargo to be sorted of each cargo to be sorted
Ground information.Wherein, order information includes the title, quantity and shipping address of cargo, and each destination of sorting corresponds to a transport
Address.Location information and shipping address generation sorting mission bit stream of the host computer according to the title, cargo of cargo on shelf 2,
If order information is cargo A, quantity is one, shipping address is address C, and the corresponding sorting destinations address C are address B, goods
Goods yards 21 of the object A on shelf 2 is the 4th layer of first position, and the sorting mission bit stream generated according to information above is currently to wait for
Sorting cargo is the 4th layer of first position, and sorting destination is address B.AGV trolleies are according to the sorting mission bit stream i.e. by the
The cargo of four layers of first position takes out and is shipped to address B.
After delivery, sends sorting and finish information to host computer, i.e., will deliver placement location of the cargo on shelf 2
Information and sorting destination information are sent to host computer, and it is shelf such as to be sent to host computer and currently delivered the placement location of cargo
4th layer of first position on 2, sorting destination are address B.Host computer receives after the sorting finishes information, according to the sorting
The location information for finishing information, order information and cargo judges whether the cargo of this time sorting is accurate, and whether sorting destination is accurate
Really, as accurate, then continue sorting instruction to the transmission of AGV trolleies, sent to AGV trolleies if inaccurate and stop sorting instruction.AGV
After the instruction for receiving host computer transmission, judge whether the instruction is off sorting instruction, if then generating prompt message, such as sends out
Go out alarm, and stops sorting；If not stopping sorting instruction, then continue to sort next time.
When being sorted, the image information that periodicity sending is acquired by the camera on the shelf 2 of AGV trolleies is to upper
Machine, host computer judge whether AGV trolleies need to replenish according to the image information, instruct and are sent to if desired, then generating to replenish
AGV trolleies, AGV trolleies receive replenish instruction after then return to upper goods area and get in stocks.
According to the 7th embodiment provided by the invention, as shown in Fig. 2 to 8, a kind of goods sorting side based on AGV trolleies
Method includes the following steps：
S010 scans the first identifier information of current cargo；
S020 scans the second identifier information that the current cargo corresponds to goods yard 21 on the shelf 2 of AGV trolleies；
S030 is according to the first identifier information and the second identifier information, by the current cargo and corresponding goods yard 21
Binding, obtains the corresponding location information of the current cargo；
S040 sends the location information to host computer；
S100 receives the sorting mission bit stream that host computer is sent；The sorting mission bit stream is by the host computer according to acquisition
Order information and the location information generate；The sorting mission bit stream includes waiting for each of on the shelf 1 of AGV trolleies point
The sorting destination information of the placement position information of picking object and each cargo to be sorted；
S200 takes out corresponding cargo to be sorted simultaneously according to the placement position information and the sorting destination information
It is shipped to corresponding sorting destination；
AGV trolleies can first advance to corresponding sorting destination according to the sorting destination information of cargo to be sorted；Then
Corresponding cargo taking-up to be sorted is shipped to corresponding sorting destination again.First cargo to be sorted can also be taken out, then
Corresponding sorting destination is advanced to again, and the cargo to be sorted of taking-up is shipped to corresponding sorting destination；Or it is advancing
During cargo to be sorted is taken out, wait arrival sort destination after the acquisition to be sorted of taking-up is shipped to corresponding point again
Pick destination.
Corresponding cargo taking-up to be sorted is specifically included according to the placement position information of cargo to be sorted：According to be sorted
The placement position information of cargo, the lifting platform 23 controlled on AGV trolleies are elevated to institute of the corresponding cargo to be sorted on shelf 2
In goods yard 21, the pushing mechanism 24 controlled on 23 bottom of lifting platform or each goods yard 21 turns down the baffle 22 before the goods yard,
The cargo to be sorted is set to slide on the lifting platform 23.Or the placement position information according to cargo to be sorted, control AGV
Lifting platform 23 on trolley is elevated to place goods yard 21 of the corresponding cargo to be sorted on shelf 2, controls cargo institute to be sorted
The cargo to be sorted is transported on the lifting platform 23 by the conveyer belt on goods yard 21.Or the lifting on control AGV trolleies
When platform 23 is elevated on corresponding goods yard 21, control grasping mechanism 26 moves (the i.e. Y of lifting platform 23 along close to the direction in goods yard 21
Direction) so that straight-bar stretches into goods yard 21 and extend into the rear end of cargo, then controls grasping mechanism 26 and moves in the horizontal direction,
Make grasping mechanism 26 and cargo contacts, subsequently controls grasping mechanism 26 and moved along the direction far from goods yard 21, cargo is dialled
Go out, finally control grasping mechanism 26 again and moved along the X-direction of lifting platform 23, cargo is dialled and falls on sorting destination.
The cargo to be sorted of taking-up is shipped to the sorting destination to specifically include：It controls on the lifting platform 23
Toggle mechanism 25 slides in the horizontal direction makes the cargo to be sorted group fall on the sorting destination.Or the control lifting platform
23 rotations, which tilt, makes the cargo to be sorted be slipped to the sorting destination.
S300 sends sorting and finishes information to the host computer；It includes having delivered cargo in shelf that the sorting, which finishes information,
Placement position information on 2 and sorting destination information；
S400 receives the control instruction that the host computer is sent；The control instruction includes continuing sorting instruction and stopping dividing
Pick instruction；The control instruction by the host computer receive it is described sorting finish information after, according to it is described sorting finish information
It generates；
S500 judges whether the control instruction is off sorting instruction；If so, generating prompt message, and stop sorting；
Otherwise, continue to sort.
Specifically, a scanning means can be set on AGV trolleies, by scanning the first identifier information of current cargo and working as
Preceding cargo corresponds to the second identifier information in goods yard 21 on the shelf 2 of AGV trolleies, and current cargo is bound with corresponding goods yard 21,
Obtain the location information of current cargo；Above-mentioned steps are recycled, all cargos are bound with corresponding goods yard 21, it is in stockit is available to obtain institute
The location information of object.Wherein, first identifier information and second identifier information can be in Quick Response Code, bar code or radio electronic label
Any one.
Location information is sent to host computer；Host computer generates sorting according to the order information and location information got and appoints
Business information, sorting mission bit stream include the sorting purpose of the placement position information and each cargo to be sorted of each cargo to be sorted
Ground information.Wherein, order information includes the title, quantity and shipping address of cargo, and each destination of sorting corresponds to a transport
Address.Location information and shipping address generation sorting mission bit stream of the host computer according to the title, cargo of cargo on shelf 2,
If order information is cargo A, quantity is one, shipping address is address C, and the corresponding sorting destinations address C are address B, goods
Goods yards 21 of the object A on shelf 2 is the 4th layer of first position, and the sorting mission bit stream generated according to information above is currently to wait for
Sorting cargo is the 4th layer of first position, and sorting destination is address B.AGV trolleies are according to the sorting mission bit stream i.e. by the
The cargo of four layers of first position takes out and is shipped to address B.
After delivery, sends sorting and finish information to host computer, i.e., will deliver placement location of the cargo on shelf 2
Information and sorting destination information are sent to host computer, and it is shelf such as to be sent to host computer and currently delivered the placement location of cargo
4th layer of first position on 2, sorting destination are address B.Host computer receives after the sorting finishes information, according to the sorting
The location information for finishing information, order information and cargo judges whether the cargo of this time sorting is accurate, and whether sorting destination is accurate
Really, as accurate, then continue sorting instruction to the transmission of AGV trolleies, sent to AGV trolleies if inaccurate and stop sorting instruction.AGV
After the instruction for receiving host computer transmission, judge whether the instruction is off sorting instruction, if then generating prompt message, such as sends out
Go out alarm, and stops sorting；If not stopping sorting instruction, then continue to sort next time.
When being sorted, the image information that periodicity sending is acquired by the camera on the shelf 2 of AGV trolleies is to upper
Machine, host computer judge whether AGV trolleies need to replenish according to the image information, instruct and are sent to if desired, then generating to replenish
AGV trolleies, AGV trolleies receive replenish instruction after then return to upper goods area and get in stocks.
It should be noted that above-described embodiment can be freely combined as needed.The above is only the preferred of the present invention
Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, several improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of goods sorting method based on AGV trolleies, which is characterized in that include the following steps：
S100 receives the sorting mission bit stream that host computer is sent；The sorting mission bit stream includes on the shelf of AGV trolleies
The sorting destination information of the placement position information of each cargo to be sorted and each cargo to be sorted；
S200 takes out and delivers according to the placement position information and the sorting destination information, by corresponding cargo to be sorted
To corresponding sorting destination.
2. the goods sorting method according to claim 1 based on AGV trolleies, which is characterized in that the step S200 tools
Body includes：
Corresponding sorting destination is advanced to according to the sorting destination information of cargo to be sorted；
Corresponding cargo to be sorted is taken out according to the placement position information of cargo to be sorted；
The cargo to be sorted of taking-up is shipped to the sorting destination.
3. the goods sorting method according to claim 1 based on AGV trolleies, which is characterized in that the step S200 tools
Body includes：
Corresponding cargo to be sorted is taken out according to the placement position information of cargo to be sorted；
Corresponding sorting destination is advanced to according to the sorting destination information of cargo to be sorted；
The cargo to be sorted of taking-up is shipped to the sorting destination.
4. the goods sorting method according to claim 2 or 3 based on AGV trolleies, which is characterized in that the basis waits for point
The placement position information of picking object specifically includes corresponding cargo taking-up to be sorted：
According to the placement position information of cargo to be sorted, lifting of lifting table on AGV trolleies is controlled to corresponding cargo to be sorted
Place goods yard on shelf, the pushing mechanism controlled on lifting platform bottom or each goods yard turn over the baffle before the goods yard
Under, so that the cargo to be sorted is slided on the lifting platform；
It is described the cargo to be sorted of taking-up is shipped to the sorting destination to specifically include：
Control the toggle mechanism on the lifting platform slide in the horizontal direction by the cargo to be sorted dial fall on the sorting mesh
Ground.
5. the goods sorting method according to claim 2 or 3 based on AGV trolleies, which is characterized in that the basis waits for point
The placement position information of picking object specifically includes corresponding cargo taking-up to be sorted：
According to the placement position information of cargo to be sorted, lifting of lifting table on AGV trolleies is controlled to corresponding cargo to be sorted
Place goods yard on shelf, the pushing mechanism controlled on lifting platform bottom or each goods yard turn over the baffle before the goods yard
Under, so that the cargo to be sorted is slided on the lifting platform；
It is described the cargo to be sorted of taking-up is shipped to the sorting destination to specifically include：
Controlling the lifting platform rotation and tilting makes the cargo to be sorted be slipped to the sorting destination.
6. the goods sorting method according to claim 2 or 3 based on AGV trolleies, which is characterized in that the basis waits for point
The placement position information of picking object specifically includes corresponding cargo taking-up to be sorted：
According to the placement position information of cargo to be sorted, lifting of lifting table on AGV trolleies is controlled to corresponding cargo to be sorted
The cargo to be sorted is transported to described by the place goods yard on shelf, the conveyer belt where controlling cargo to be sorted on goods yard
On lifting platform；
It is described the cargo to be sorted of taking-up is shipped to the sorting destination to specifically include：
The cargo to be sorted is transported to the sorting destination by the conveyer belt controlled on the lifting platform.
7. the goods sorting method according to claim 2 or 3 based on AGV trolleies, which is characterized in that the basis waits for point
The placement position information of picking object specifically includes corresponding cargo taking-up to be sorted：
According to the placement position information of cargo to be sorted, lifting of lifting table on AGV trolleies is controlled to corresponding cargo to be sorted
The cargo to be sorted is transported to described by the place goods yard on shelf, the conveyer belt where controlling cargo to be sorted on goods yard
On lifting platform；
It is described the cargo to be sorted of taking-up is shipped to the sorting destination to specifically include：
Controlling the lifting platform rotation and tilting makes the cargo to be sorted be slipped to corresponding sorting destination.
8. the goods sorting method according to claim 2 or 3 based on AGV trolleies, which is characterized in that the basis waits for point
The placement position information of picking object specifically includes corresponding cargo taking-up to be sorted：
According to the placement position information of cargo to be sorted, lifting of lifting table on AGV trolleies is controlled to corresponding cargo to be sorted
Place goods yard on shelf, the grasping mechanism controlled on lifting platform fall on the cargo to be sorted group on the lifting platform；
It is described the cargo to be sorted of taking-up is shipped to the sorting destination to specifically include：
Control the grasping mechanism on the lifting platform slide in the horizontal direction by the cargo to be sorted dial fall on the sorting mesh
Ground.
9. the goods sorting method according to claim 1 based on AGV trolleies, which is characterized in that the step S100 it
Before further include：
S010 scans the first identifier information of current cargo；
S020 scans the second identifier information that the current cargo corresponds to goods yard on the shelf of AGV trolleies；
S030 is bound according to the first identifier information and the second identifier information, by the current cargo with corresponding goods yard,
Obtain the corresponding location information of the current cargo；
S040 sends the location information to host computer；
The step S100 includes specific steps：
Receive the sorting mission bit stream that host computer is sent；The sorting mission bit stream ordering according to acquisition by the host computer
Single information and the location information generate.
10. the goods sorting method according to claim 1 based on AGV trolleies, which is characterized in that the step S200 it
After further include：
S300 sends sorting and finishes information to the host computer；It includes having delivered cargo on shelf that the sorting, which finishes information,
Placement position information and sorting destination information；
S400 receives the control instruction that the host computer is sent；The control instruction includes continuing sorting instruction and stopping sorting to refer to
It enables；The control instruction by the host computer receive it is described sorting finish information after, according to it is described sorting finish information generate；
S500 judges whether the control instruction is off sorting instruction；If so, generating prompt message, and stop sorting；Otherwise,
Continue to sort.
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