CN109414731A - Automated Sorting System and sorting machine people - Google Patents
Automated Sorting System and sorting machine people Download PDFInfo
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- CN109414731A CN109414731A CN201880002123.5A CN201880002123A CN109414731A CN 109414731 A CN109414731 A CN 109414731A CN 201880002123 A CN201880002123 A CN 201880002123A CN 109414731 A CN109414731 A CN 109414731A
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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
- B07C3/10—Apparatus characterised by the means used for detection ofthe destination
-
- 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
Abstract
A kind of Automated Sorting System and automatic sorting machine people, the system includes robot (10), sorting unit (20) and sorting storage device (30), the cargo to be sorted is put into corresponding target sorting port (201) or target sorting cabinet (301) for obtaining cargo to be sorted and sorting ground information according to the target of cargo to be sorted by robot (10), cargo to be sorted is put into the trajectory path planning complexity that cargo to be sorted is put into lower than the robot (10) target sorting cabinet (301) by the trajectory path planning complexity of target sorting port (201) by robot (10).
Description
Technical field
This application involves robotic technology fields, more particularly to a kind of Automated Sorting System and automatic sorting machine people.
Background technique
Sorting system in existing shipping or logistic industry divides cargo to be sorted frequently with vertical sorting cabinet
It picks, wherein mechanical arm has only played the sorting scope of activities on vertical direction, and mechanical arm is placing cargo Shi Qilu to be sorted
Diameter planning takes a long time, and sorting efficiency is low.Another way is using individual sorting port, and mechanical arm can only play downward
Sort scope of activities.
Summary of the invention
The application provides a kind of Automated Sorting System and automatic sorting machine people, can give full play to robotic
The scope of activities of arm, the service efficiency for increasing mechanical arm and the sorting efficiency for improving robot save the sorting time.
In order to solve the above technical problems, the technical solution that the application uses is: providing a kind of Automated Sorting System, institute
The system of stating includes robot, sorting unit and sorting storage device, and the sorting unit includes multiple sorting ports, the sorting
Storage device includes multiple sorting cabinets, and the frequency of occurrences on sorting port corresponding target sorting ground is corresponding greater than the sorting cabinet
Target sorting ground the frequency of occurrences；Wherein, the robot is for obtaining cargo to be sorted and according to the cargo to be sorted
Target sorting ground information the cargo to be sorted is put into corresponding target sorting port or target sorting cabinet, the robot will
The trajectory path planning complexity that the cargo to be sorted is put into the target sorting port will be described wait divide lower than the robot
Picking object is put into the trajectory path planning complexity of the target sorting cabinet.
In order to solve the above technical problems, another technical solution that the application uses is: providing a kind of automatic sorting machine
People includes at least mechanical arm；The mechanical arm is used to sort ground information for the goods to be sorted according to the target of cargo to be sorted
Object is put into corresponding target sorting port or target sorting cabinet, wherein the cargo to be sorted is put into the mesh by the mechanical arm
The cargo to be sorted is put into the target sorting cabinet lower than the mechanical arm by the trajectory path planning complexity of mark sorting port
Trajectory path planning complexity.
The beneficial effect of the application is: being in contrast to the prior art, in embodiments herein, provides a kind of automatic
Sorting system and robot, by the way that the target sorting ground information of cargo to be sorted is divided into high frequency area and low frequency area, and will
Sorting port in the frequency of occurrences high target sorting ground information and sorting unit is bound, and the low target of the frequency of occurrences is sorted
Sorting port in ground information and sorting cabinet is bound, and the scope of activities of robot arm can be given full play to, and is increased mechanical
The service efficiency of arm, and when robot sorts ground information progress path planning according to the target of cargo to be sorted, it will be wait divide
Cargo to be sorted is put into target sorting cabinet lower than robot by the trajectory path planning complexity that picking object is put into target sorting port
Trajectory path planning complexity, while can be improved robot sorting efficiency save sorting the time.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the application Automated Sorting System first embodiment；
Fig. 2 is the structural schematic diagram of the application robot first embodiment；
Fig. 3 is the schematic top plan view of one embodiment of the application Automated Sorting System；
Fig. 4 is the structural schematic diagram of the second embodiment of the application Automated Sorting System；
Fig. 5 is the structural schematic diagram of the application automatic sorting machine people's second embodiment；
Fig. 6 is the structural schematic diagram of the application Automated Sorting System third embodiment；
Fig. 7 is the structural schematic diagram of the application sorting unit second embodiment；
Fig. 8 is the structural schematic diagram of the application sorting unit third embodiment.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiment of the application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
As shown in Figure 1, the application Automated Sorting System first embodiment includes: robot 10, sorting unit 20 and divides
Storage device 30 is picked, sorting unit 20 includes multiple sorting ports 201, and sorting storage device 30 includes multiple sorting cabinets 301.Its
In, the frequency of occurrences on the corresponding target of sorting port 201 sorting ground is greater than the appearance frequency on the corresponding target of sorting cabinet 301 sorting ground
Rate.
Robot 10 is for obtaining cargo to be sorted and sorting ground information for goods to be sorted according to the target of cargo to be sorted
Object is put into corresponding target sorting port 201 or target sorting cabinet 301.Wherein, cargo to be sorted is put into target point by robot 10
Cargo to be sorted is put into the movement road of target sorting cabinet 301 lower than robot 10 by the trajectory path planning complexity for picking mouth 201
Diameter plans complexity.
Specifically, in conjunction with Fig. 1, in one application scenarios of the present embodiment, multiple sorting cabinets 301 are around to form goods sorting
Space, robot 10 and sorting unit 20 are set in goods sorting space, and the goods sorting space includes at least one and enters goods
Face B.Sorting cabinet 301 in the present embodiment around each robot 10 is set as 3, in other embodiments, of sorting cabinet
Number may be arranged as 4,5,6 etc., not further limit herein.Wherein, enter goods face B can and transport mechanism,
Such as conveyer belt docking, conveyer belt can directly dock load cargo or processing center with cargo and directly dock so as to by goods
The cargo unloaded in cabin is delivered at robot 10 by conveyer belt, and robot 10 further carries out the cargo to be sorted of unloading
Automatic sorting.Wherein, referring to Fig.2, Fig. 2 is the structural schematic diagram of the application robot first embodiment, such as Fig. 2 robot 10
Including mechanical arm 101 and Rotatable base 104, an identification device is provided on the end effector 102 of the mechanical arm 101
1011, wherein the identification device 1011 include but is not limited to rfid device, bar code identifying device, two-dimension code recognition device,
Visual sensor and optical character recognition device.Identification device 1011 also can be set in mechanical arm 101.In the present embodiment, benefit
With the rotation of Rotatable base 104, the opereating specification of mechanical arm 101 is extended, can be used for cooperating with mechanical arm 101,
It can be performed in mechanical arm 101 and assist rotation in range, to reduce the mechanical movement of mechanical arm 101.In other embodiments, the machine
10 people of device can not also include Rotatable base, by controlling the rotation in each joint of mechanical arm, by goods movement to corresponding mesh
Mark sorting port 201 or sorting cabinet 301.
Robot 10 identifies mark of cargo, such as identification bar code, two dimensional code or character etc. using identification device 1011,
The goods information of cargo to be sorted, including cargo current location to be sorted and/or current pose, target position are obtained by mark
And/or targeted attitude, obtain hold position and/or obtain hold posture, placement location and/or place posture, type, description information, size,
At least one of weight, first path, the first track, the second track and second path.
In the present embodiment, robot 10 is set to the bottom in goods sorting space, such as spud pile by a fixed mechanism
Or fixed column, sorting unit 20 are formed in the bottom in goods sorting space around robot 10.Wherein, each sorting cabinet 301
Sorting face (not shown) object manipulator 10 is arranged, and the picking face (not shown) of each sorting cabinet 301 is arranged backwards to robot 10
Or it is arranged towards ground direction.
Automated Sorting System may include it is multiple by robot 10, sorting unit 20 and sorting storage device 30 form
Small goods sorting unit composition, and each small goods sorting unit enters the goods face B at least adjacent goods sorting list with one
The goods face B that enters of member is oppositely arranged.For example, Fig. 3 is referred to, the goods sorting unit 1 of Automated Sorting System shown in Fig. 3
Enter goods face B and the goods face B that enters of goods sorting unit 2 be oppositely arranged, and it is adjacent enter goods face between there are exit passageways.Further,
Such as Fig. 3, and it is disposed adjacent taking for goods sorting unit with the picking face in addition to entering goods face B of goods sorting unit 1 or 2
Goods face is oppositely arranged, and is also provided with exit passageway between adjacent picking face.
In the present embodiment, exit passageway is set between adjacent sorting unit, robot can be prevented in the process of sorting
In due to speed it is excessive accidentally injure arrive staff, guarantee sort process in safety.
Optionally, the sorting cabinet in the application in each sorting storage device can be set to the pipeline knot bent downward
Structure, and specifically can be as one of inclined-plane pipeline, more plane bending pipelines or crooked pipeline, and the bottom of each sorting cabinet
Warehousing structure or baffle arrangement can be set, optionally, warehousing structure or baffle arrangement and pipeline knot in the present embodiment
Sensing device (not shown) has can be set in the junction of structure, for perceiving whether the cargo to be sorted fills sorting cabinet.Its
In, warehousing structure specifically can be food bag, and when sensing device senses that sorting cabinet fills cargo, food bag is about to sort certainly
Cargo in cabinet is packaged, and the cargo to be sorted after being packaged is fallen directly into corresponding goods taking device.
Optionally, sensing device is distance measuring sensor, visual sensor, near-field sensing device, touch sensor, close sensing
One of device and pressure sensor.Sensing device can identify the quantity into cargo for distance measuring sensor, can also be with
The label on cargo can be incuded for near-field sensing device, obtain goods information, such as weight, the volume of cargo etc., so as to
To know that accumulation enters total weight, the total volume etc. of cargo, using as the Rule of judgment whether being packaged.Be understood that but,
The Rule of judgment flexible setting that the goods information of acquisition can be set according to application scenarios demand.It is placed in sensing sorting cabinet
There is the cargo to be sorted that after cargo to be sorted or accumulation enters to meet packing condition, notifies goods taking device (not shown) to carry out at once
Picking, and the sorting bag or food bag being packaged to cargo to be sorted can be placed on the goods taking device.In the present embodiment,
The goods taking device can be picking robot, for example including mobile chassis and for the warehousing mechanism of bearing goods.
Sensing device can identify the quantity into cargo for distance measuring sensor, or near-field sensing device can
To incude the label on cargo, goods information, such as weight, the volume of cargo etc. are obtained, so as to know that accumulation enters goods
Total weight, total volume of object etc., using as the Rule of judgment whether being packaged.Be understood that but, the goods information of acquisition can
With the Rule of judgment flexible setting according to the setting of application scenarios demand.Be placed in sensing sorting cabinet after cargo to be sorted or
The cargo to be sorted that accumulation enters meets packing condition, notifies goods taking device to carry out picking at once, robot is fully loaded packing
Bag carries out draw-string such as and seals, and hot-press sealed, zip closure order dress sealing packaging operation etc., and the application is not done further herein
It limits.
Sorting unit 20 in the present embodiment includes multiple sorting ports 201, multiple sorting ports 201 can be circular open or
Person's square aperture or other rules/irregular shape shaped opening, sorting unit 20 can be it is as shown in Figure 1 rectangular, can also
To be circle, it can also be other regular irregular shapes, be not specifically limited herein.In the present embodiment, each sorting port 201
Place is correspondingly arranged warehousing mechanism (not shown), such as warehousing bag etc..When warehousing mechanism is in cargo full load, such as goods to be sorted
The weight and/or volume of object reach the warehousing mechanism allow carrying weight and/or volume when, the cargo is beaten automatically
Packet.Wherein, the concrete operations mode of packing is depending on the type of warehousing mechanism, such as when warehousing mechanism is warehousing bag, can adopt
With draw-string sealing, hot-press sealed, zip closure, any modes such as dress sealing are ordered, is not specifically limited herein.It is completed being packaged
Afterwards, notice picking robot further takes cargo away.Certainly, the transport of above system acquisition to be sorted can also be using artificial
It is transported, is not further limited herein.
It in other embodiments, can also include control centre.
It is the second embodiment of the application Automated Sorting System referring specifically to Fig. 4, Fig. 4.The Automated Sorting System includes
Robot 10, sorting unit 20, sorting storage device 30 and control centre 50.Wherein, sorting unit 20 includes multiple sorting ports
201, sorting storage device 30 includes multiple sorting cabinets 301.
Specifically, in the Automated Sorting System, control centre 50 be stored with and each sorting port 201 and with each sorting cabinet
The corresponding relationship of 301 corresponding target sorting ground information and the target sorting ground information of cargo to be sorted.In the present embodiment,
Control centre 50 can be used for being arranged sorting port 201 and the corresponding target of each sorting cabinet 301 sorting ground information.
Optionally, control centre 50 can sort ground information according to the target of all cargos to be sorted in the present embodiment, lead to
Preset rules are crossed, the corresponding target sorting of cargo to be sorted is divided into high frequency area and low frequency area.In an application scenarios,
Control centre 50 can will test the corresponding quantity of goods to be sorted of target sorting ground information greater than first threshold (such as 300)
Target sorting it is set as the high frequency area of cargo appearance.Similarly, the corresponding goods to be sorted of target sorting ground information is being detected
The target that object quantity is less than the first threshold is set as the low frequency area of cargo appearance with sorting.The first threshold in certain the application
Value is only schematical for example, may be set to be other numberical ranges, and the first threshold in concrete application scene
Its specific value is not specifically limited herein depending on actual conditions.In addition, in other embodiments, can also directly by
It is set as to a certain target sorting the high frequency area or low frequency area of cargo appearance, is not especially limited herein.
Further, after the completion of dividing the target sorting ground information of cargo to be sorted according to above-mentioned preset rules, control
Center 50 further adjusts and/or is arranged target sorting port or sorting cabinet corresponding to above-mentioned target sorting ground.In the present embodiment,
Control centre 50 is arranged the corresponding target of sorting port 201 and sorts the frequency of occurrences on ground greater than the sorting of the corresponding target of sorting cabinet 301
The frequency of occurrences on ground.In other words, the target of high frequency area cargo to be sorted is sorted ground information and sorting unit 20 by the application
In sorting port 201 bound, the target sorting ground information of low frequency area cargo to be sorted and sorting cabinet 301 are tied up
It is fixed.Wherein, each sorting cabinet 301 further includes multiple sorting port m, and each sorting port m can respectively correspond different target sortings
Ground information can also correspond to simultaneously a target sorting ground information with multiple sorting port m.
In a specific embodiment, control centre 50 detects that the area such as Guangzhou, Shenzhen, Shanghai, Beijing is goods to be sorted
The high frequency area on object target sorting ground, then control centre 50 is respectively set the sorting port 201 in corresponding high frequency area, and by this point
It picks the corresponding target of mouth 201 sorting ground information and is adjusted to respective target sorting ground information (i.e. Guangzhou, Shenzhen, Shanghai, Beijing).
Wherein, each high frequency area correspond to sorting port 201 number can for one, also can be set a high frequency area correspond to it is multiple
Sorting port 201,201 quantity of sorting port of adjustment can according to actual needs depending on, be not specifically limited herein.Similarly, it controls
Remaining goods target sorting to be sorted is set low frequency area by center 50, further by the corresponding target in low frequency area
Sorting port m in sorting ground information sorting cabinet 301 corresponding with its is bound, wherein each low frequency area corresponds to sorting cabinet
The number of sorting port m can be one in 301, and a low frequency area also can be set and correspond to multiple sorting port m, the sorting of adjustment
In cabinet 301 quantity of sorting port m can according to actual needs depending on, be not specifically limited herein.
Optionally, which is also used to real-time update target sorting port 201 and the corresponding target of sorting cabinet 301 point
Pick the frequency of occurrences on ground.I.e. the cargo to be sorted correspond to target sorting ground information low-and high-frequency area setting can with real-time update,
It such as at a time, is a, b, c, d, increasing of the subsequent time because of quantity of goods to be sorted with meeting the target sorting in high frequency area
It adds deduct few, is a, b, c, e with meeting the target sorting in high frequency area, at this time going out according to target sorting ground, control centre 50
It is a, b, c, e that existing frequency adjusts the corresponding target of sorting port 201 sorting ground information in real time.Similarly, when the target point in low frequency area
When changing with picking, control centre 50 can also adjust each sorting port m corresponding target sorting ground information in sorting cabinet 301 in real time.
Meeting preset condition in the target sorting ground information of cargo to be sorted, (target sorting ground information meets high frequency or low frequency
Area) when, adjust sorting port and/or sorting cabinet corresponding target sorting ground information can be improved to flexibly deploy sorting port
The utilization rate and sorting efficiency of sorting port and sorting cabinet.
Fig. 5 is further regarded to, Fig. 5 is the structural schematic diagram of the application automatic sorting machine people's second embodiment.This reality
It applies in example, automatic sorting machine people 10 includes at least mechanical arm 101, will for sorting ground information according to the target of cargo to be sorted
Cargo to be sorted is put into corresponding target sorting port 201 or target sorting cabinet 301.In the present embodiment, the target of cargo to be sorted
Sorting ground information can be obtained by control centre 50, can also be obtained by the identification device communicated to connect with robot 10
Cargo data obtains, which can be to be set to sorting unit 20 or sort storage device 30 to can be used for obtaining cargo
Position is such as set to the conveyer belt to sorting unit 20 and sorting 30 conveying articles of storage device, also can be set in robot
On 10, such as it is set to the joint that end effector, mechanical arm or end effector are connected with end effector.It can also be with
Combination including above-mentioned different set-up modes.As described in the previous embodiments, the goods information of cargo to be sorted can also pass through
Identification device and control centre 50 obtain, such as the mark of identification device identification cargo, and control centre 50 according to mark for obtaining
Corresponding goods information is taken, and then is supplied to robot 10.It is understood that when control centre, identification device are all set in
Robot 10, then above-mentioned control centre, the corresponding method and step of identification device can be performed in robot.
It is as described above, Fig. 2 is combined together, robot 10 further includes the end effector 102 for being connected to mechanical arm 101,
The end effector 102 can be vacuum chuck, mechanical gripper, clamping device etc..Wherein, the robot 10 is also used to obtain
The goods information of cargo to be sorted, the goods information further comprise cargo current location and/or current pose, target position
And/or targeted attitude, obtain hold position and/or obtain hold posture, placement location and/or place posture, type, description information, size,
At least one of weight, first path, the first track, the second track and second path.Further, robot 10 according to this to
The goods information of sorting cargo determines that end effector 102 holds obtaining to hold position and/or obtain and holding posture for cargo to be sorted for obtaining,
It obtains to hold position and/or obtain to hold posture and obtain and holds cargo to be sorted to control end effector 102, or, determining end effector 102
Target position and/or targeted attitude for arrangement of goods, to control end effector 102 with target position and/or target appearance
State arrangement of goods.
With further reference to Fig. 5, the application automatic sorting machine people further comprises the telecommunication circuit for being connected to mechanical arm 101
103, the telecommunication circuit 103 with external equipment for being communicated.Specifically, telecommunication circuit 103 is for receiving in control
The notification information of the heart 50, the notification information include obtaining to hold obtaining for cargo and hold position and/or obtain the mesh for holding posture and arrangement of goods
At least one of cursor position and/or targeted attitude, after receiving the notification information, robot 10 is further used for controlling end
Actuator 102 holds cargo to obtain to hold position and/or obtain to hold posture and obtain, or control end effector 102 with target position and/or
Targeted attitude arrangement of goods.
Specifically, allowed in the present embodiment by the way that the shape and size of 20 sorting port 201 of sorting unit is rationally arranged
Meet any placement of all form cargos to be sorted in high frequency area, be then not necessarily to obtain and consider the posture of cargo to be sorted,
Posture, placement posture are held and according to the position of cargo to be sorted without according to the obtaining for Attitude Calculation robot of cargo to be sorted
First path planning, the first track and the placement cargo to be sorted that first pose of appearance and robot arm end effector carries out
Second path planning and the second track.It is a target sorting is set high frequency area (assuming that wide in a specific sorting scene
Dong Sheng), then the sorting port 201 of corresponding sorting unit 20 can be set to one, then control centre 50 can be by the target point
It is bound with sorting port 201 with picking, and the posture information of sorting port 201 is fixed.Robot 10 is getting cargo to be sorted
Target sorting ground information when belonging to the high frequency area, from the corresponding relationship that the target of preservation sorts ground information and sorting port into
Row inquiry obtains the corresponding target sorting port 201 of the cargo to be sorted, according to the location information of the target sorting port 201 and works as
The location information of preceding robot 10, calculate place the cargo to be sorted needed for 101 end effector 102 of mechanical arm position with
And the rotation angle of 10 Rotatable base 104 of robot.Wherein, the position of 101 operational tip of mechanical arm, can pass through control
The rotational angle in each joint of mechanical arm 101 realizes that the operational tip reaches the position.When the position is in the current shape of robot 10
When state be can be performed except range, robot 10 can also control the Rotatable base 104 and rotate required angle, and control the machinery
Arm 101 rotates the state after required angle based on Rotatable base 104, and each articulation angle makes mechanical arm 101 operate end
The corresponding position of target sorting port 201 is held, which can be so that the end for being connected to operational tip executes
Device 102, which obtains the cargo held, can be placed in the target sorting port, finally control the end effector of 101 operational tip of mechanical arm connection
The cargo is directly put into the target sorting port 201 by 102.Similarly, in a specific embodiment, high frequency area can be according to above-mentioned
Preset rules be set as multiple, and corresponding target sorting port 201 may be set to be it is multiple.
Could be aware that, robot 10 when the target sorting ground information for identifying cargo to be sorted belongs to low frequency area,
The pose of the sorting port m in the sorting cabinet 301 of ground information inquiry and target sorting ground information matches is sorted by the target, and
According to the current pose of the current posture information of the cargo to be sorted and mechanical arm 101, obtaining the acquisition of mechanical arm 101, this is to be sorted
Pose, first path planning and the first execution track are held in obtaining for cargo, calculate placement goods to be sorted further according to the pose of sorting port m
Placement pose, the second path planning and second execution track of object etc..And cargo entrance to be sorted is being placed by robot 10
When in corresponding sorting cabinet 301, robot 10 not only needs to control the Rotatable base 104 and rotates required angle, controls the machine
Tool arm 101 rotates the state after required angle based on Rotatable base 104, it is also necessary to control each articulation angle and make machinery
101 operational tip of arm corresponds to the position height of sorting port m into the target sorting cabinet 301, and finally controlling end effector 102 will
Cargo is put into the corresponding target sorting port m of target sorting cabinet 301.Wherein, robot 10 can be initial in use, identification is each
The position or pose of each sorting port 201 and sorting cabinet 301 are stored in advance for sorting port 201 and sorting cabinet 301, or in machine
Position or the pose of each sorting port 201 and sorting cabinet 301 are preset before 10 use of device people.In other embodiments, it sorts
Sorting port 201 and sorting cabinet 301 are fixed setting, therefore, the position of each sorting port 201 and sorting cabinet 301 in unit 20
It sets or Pose Control center 50 can be known in advance.
Optionally, in the application robot 10 by cargo to be sorted be put into target sorting port 201 first time be less than machine
Cargo to be sorted is put into the second time of target sorting cabinet 301 by device people 10.It wherein, at the first time include that robot 10 will be wait divide
(i.e. 10 path planning of robot finishes the planning time and the run duration of robot 10 that picking object is put into target sorting port 201
Afterwards, cargo to be sorted is put into the run duration of target sorting port 201).Second time included robot 10 by cargo to be sorted
Be put into target sorting cabinet 301 planning time and robot run duration (i.e. after 10 path planning of robot, will to point
Picking object is put into the run duration of target sorting cabinet 301), the sorting efficiency of robot can be improved.By preparatory in the application
The sorting port 201 being arranged in the target sorting ground information and sorting unit 20 by the cargo to be sorted in high frequency area is bound,
The target sorting ground information and sorting cabinet 301 of the cargo to be sorted in low frequency area are bound, so that the mechanical arm 101 of robot 10
It is lower than mechanical arm 101 for cargo to be sorted in the trajectory path planning complexity that cargo to be sorted is put into target sorting port 201
It is put into the trajectory path planning complexity of target sorting cabinet 301, the sorting efficiency of robot 10 can be improved.
Further, when sensing device is after perceiving sorting port 201 or sorting cabinet 301 fills cargo to be sorted, in control
The heart 50 control sorting cabinet 301 at baffle arrangement open so that cargo enter one sorting bag, goods taking device can further by
The sorting bag is packaged, such as draw-string sealing, and hot-press sealed, zip closure order dress sealing etc. or control centre 50 is logical
Know goods taking device, can be picking robot herein and be packaged the warehousing bag at sorting port 201, pass through picking after being packaged
Device is carried it to different target sorting ground.Wherein, sensing device can identify for distance measuring sensor into cargo
Quantity, or near-field sensing device can incude the label on cargo, obtain goods information, for example, cargo weight,
Volume etc., so as to know that accumulation enters total weight, the total volume etc. of cargo, using as the Rule of judgment whether being packaged.It can
With understanding but, the Rule of judgment flexible setting that the goods information of acquisition can be set according to application scenarios demand.Incuding
It is placed with the cargo to be sorted that after cargo to be sorted or accumulation enters into sorting cabinet and meets packing condition, notifies picking dress at once
Set carry out picking.
Optionally, it according to the demand of entire transportation system, can be pasted on above-mentioned sorting bag or warehousing bag wait divide
The package information of picking object, and the package information includes at least this and is packaged the unifying identifier of cargo, quantity of goods to be sorted letter
It ceases, the target of cargo to be sorted sorts ground information, means of transport identification code information, transit information and cargo to be sorted
One of mark, the mark of cargo to be sorted, the odd numbers information of cargo to be sorted.The unification is beaten in order to provide subsequent operation
At least one cargo being wrapped together carries out tracking or the again operation such as sorting.
In above-described embodiment, by the way that the target sorting ground information of cargo to be sorted is divided into high frequency area and low frequency area,
And bind the sorting port in the frequency of occurrences high target sorting ground information and sorting unit, by the low target of the frequency of occurrences
Sorting port in sorting ground information and sorting cabinet is bound, and the scope of activities of robot arm can be given full play to, and is increased
The service efficiency of mechanical arm.In addition, when robot sorts ground information progress path planning according to the target of cargo to be sorted,
Cargo to be sorted is put into target lower than robot by the trajectory path planning complexity that cargo to be sorted is put into target sorting port
The trajectory path planning complexity of sorting cabinet, while the sorting efficiency that robot can be improved saves the sorting time.
Referring to Fig. 6, Fig. 6 is the structural schematic diagram of the application Automated Sorting System third embodiment, such as Fig. 6, this reality
Applying example is further expanding on the basis of this Shen Automated Sorting System first embodiment, and something in common no longer describes.
Referring to Fig. 6, the Automated Sorting System in the present embodiment further includes an elevating mechanism 60, sorting unit 20 and robot
10 are fixed in goods sorting space by elevating mechanism 60.Its elevating mechanism 60 can be electric lift, hydraulic lifting
Machine, Self-propelled lifter, or spud pile or spud pile etc. do not further limit herein.The elevating mechanism 60
Adjustable robot 10 and sorting unit 20 facilitate robot 10 right relative to each sorting port or the height of sorting cabinet
The sorting of cargo to be sorted.
In the present embodiment, the corresponding sorting output port 202 of multiple sorting ports 201 of sorting unit 20, the sorting shipment
It is provided with warehousing mechanism 203 at mouthfuls 202, after cargo to be sorted is put into target sorting port 201 by robot 10, cargo is from sorting out
Goods mouth 202, which enters in the warehousing mechanism 203, to be stored, wherein the warehousing mechanism 203 includes but is not limited to warehousing case or warehousing bag.
Warehousing mechanism 203 reaches the weight that the warehousing mechanism 203 allows carrying in cargo full load, such as the weight and/or volume of cargo
When amount and/or volume, the cargo is packaged automatically.Wherein, the concrete operations mode of packing regards the type of warehousing mechanism 203
Depending on, such as when warehousing mechanism 203 is warehousing bag, can using draw-string sealing, hot-press sealed, zip closure, order dress and seal etc.
Any mode, is not specifically limited herein.
For example, further regarding to Fig. 6, can be sorted out in Fig. 6 with the corresponding sorting output port 202 of multiple sorting ports 201
It is provided with warehousing bag 203 at goods mouth 202, robot 10 will obtain after the cargo held is put into corresponding target sorting port 201, the cargo
Then entering warehousing bag 203 from the corresponding sorting output port 202 of sorting port 201, sorting output port 202 is provided with sensing device 204,
Such as proximity sensor, when there is cargo B to enter the warehousing bag 203 by the sorting output port 202, the proximity sensor 204 sense
Cargo B is measured, is sensing that warehousing bag 203 is fully loaded, the cargo of such as storage has been stacked near to or in contact with to the sorting shipment
When mouth 202,203 automatic packaging of warehousing bag, the warehousing bag 203 after packing can fall downwards, using artificial, conveyer belt or take
Goods device is transported to target sorting ground.Wherein, multiple sorting ports can respectively correspond different types of cargo, a sorting port
A kind of corresponding cargo type, but same sorting output port corresponding target sorting ground information is identical, so that realizing has identical mesh
The different type cargo of mark sorting ground information enters warehousing mechanism by different sorting ports respectively.Certainly, multiple sorting ports can also
With the different target sorting ground information of correspondence, wherein the corresponding target of multiple sorting ports of same sorting output port sorts position
It is adjacent, the cargo of the same sorting output port can be successively transported to adjacent target sorting with primary conveying in order to subsequent
Ground is repeatedly conveyed to avoid needs such as goods taking device or conveyer belts.
In other embodiments, a baffle also can be set between the sorting output port and the warehousing mechanism, on the baffle
It is provided with sensing device, which can be pressure sensor etc., for sensing the goods weight of baffle carrying, thus
Preset weight can be reached in the goods weight of carrying, such as reach warehousing case allow carrying weight when, open the baffle so that
Cargo enters warehousing mechanism, so that warehousing mechanism carries out packaging operation.
Sorting storage device in the present embodiment is identical with the structure of the sorting storage device in first embodiment, is detailed in
Specific descriptions in above-mentioned first embodiment, details are not described herein again.
It is similar with sorting mode in first embodiment in the present embodiment, be equally according to preset rules, will be to be sorted
Cargo target sorting ground information be divided into high frequency area and low frequency area, and by the frequency of occurrences it is high target sorting ground information and point
The sorting port picked in unit is bound, and the sorting port in the frequency of occurrences low target sorting ground information and sorting cabinet is tied up
It is fixed.Robot can sort the appearance of ground information after the target sorting ground information for recognizing cargo to be sorted according to the target
Cargo is directly placed into corresponding target sorting port or target sorting cabinet and corresponds to sorting port by frequency.Wherein, robot will
Cargo to be sorted is put into target point lower than robot by the trajectory path planning complexity that cargo to be sorted is put into target sorting port
The trajectory path planning complexity for picking cabinet, can be further improved the sorting efficiency of robot, and by sorting cabinet and sorting unit
In conjunction with the sorting for carrying out cargo, the scope of activities of robot arm can be given full play to, increases the use effect of mechanical arm
Rate.
In addition, in the application robot 10 by cargo to be sorted be put into target sorting port 201 first time be less than machine
Cargo to be sorted is put into the second time of target sorting cabinet 301 by people 10.Wherein, including robot 10 at the first time will be to be sorted
Cargo be put into target sorting port 201 planning time and robot 10 run duration (i.e. after 10 path planning of robot,
Cargo to be sorted is put into the run duration of target sorting port 201).Second time included that cargo to be sorted is put by robot 10
The planning time of target sorting cabinet 301 and the run duration of robot are (i.e. after 10 path planning of robot, by goods to be sorted
Object is put into the run duration of target sorting cabinet 301), it can be further improved the sorting efficiency of robot.
In other embodiments, each sorting port can also be used as a sorting output port, at each sorting output port
A warehousing mechanism can be set.
Specifically as shown in fig. 7, the structural schematic diagram of the application sorting unit second embodiment, at least one sorting port pair
One warehousing mechanism should be set, which, in cargo full load, is automatically packaged cargo for storing cargo,
So that the cargo with same target sorting ground information can carry out classifying packing according to cargo type, and pass through same point
It is same with being transported to target sorting to pick output port.Wherein, which includes but is not limited to warehousing case or warehousing bag.
Specifically, as shown in fig. 7, four sorting ports 201a, 201b, 201c, 201d correspond to a sorting output port 202,
Four sorting ports, which respectively correspond, is provided with warehousing bag 204, and each sorting port respectively corresponds different cargo types, so that having
Difference of the cargo of same target sorting ground information according to cargo type, classifying packing are defeated by identical sorting output port 202
Out, can unify to convey.It wherein, include being divided into big package, small packet, mail according to different sizes according to cargo type classification
Deng；Be divided into rigid objects according to cargo form, rigidity can changing object, liquid etc.；It is divided into frangible object, general according to security level
Logical object, high supporting degree object, etc..
In other embodiments, a warehousing mechanism 203, such as warehousing can also be set again at each sorting output port
Case, the warehousing bag 204 after corresponding multiple sorting ports are packaged are packaged in a warehousing mechanism 203, so as to reforwarding after carrying out
It send.
As shown in figure 8, the structural schematic diagram of the application sorting unit third embodiment, each sorting of sorting unit 20
Mouth 201 is a sorting bag closed at one end, cargo access of the opening of the sorting bag as sorting port 201.Robot 10 obtains
After the corresponding target sorting port 201a of target sorting ground information of picking object, cargo is put into this from the opening of sorting bag 201a
Sort bag 201a.In the sorting bag 201a full load, for example, be set to sorting the bottom bag 201a pressure sensor sense this
When the goods weight that sorting bag 201a is loaded reaches the Maximum Allowable Weight of sorting bag 201a, then automatically by sorting bag 201a
It is packaged.Wherein, the specific packaging method of the sorting bag can be with reference to warehousing bag in the application Automated Sorting System second embodiment
Packaging method, be not repeated herein.
As shown in figure 8, the goods taking device 40 in the Automated Sorting System can be transport mechanism, wherein the transport mechanism
40 include a slideway 401 and conveyer belt 402, which can also include directly a conveyer belt, not do specific limit herein
It is fixed.Wherein, which is set to the lower section of sorting port 201 and sorting cabinet 301, and the sorting bag after packing enters the transmission
After mechanism 40, corresponding target sorting ground is transported to by the transport mechanism 40.
Target sorting ground information is pasted or is printed on sorting bag after packing, and target sorting ground information can be using not
The marks such as same color, different pattern (such as bar code, two dimensional code) or text are distinguished, and transport mechanism 40 can be somebody's turn to do in subsequent identification
The sorting bag on different target sorting ground is transported to corresponding sorting ground by mark.In other application example, which is also possible to
It is pasted before packing or while packing or is printed on sorting bag, or food bag itself has above-mentioned mark,
Respectively correspond different target sorting ground information.For example, the bag that arrives of different colours or texture corresponds to different target sorting port.This is right
It should be related to can be predefined setting, or system dynamically distributes association.It is understood that on this programme may include
The step of stating stickup or printing mark, can not also include the step, by identifying the incidence relation with target sorting ground information
Know that sorting bag corresponds to the point of delivery of target sorting ground information.The point of delivery can be the cargo hold of the sortation hubs final output,
Or the intermediate transit point for sorting conveying again.
It is similar with sorting mode in first embodiment in the present embodiment, be equally according to preset rules, will be to be sorted
Cargo target sorting ground information be divided into high frequency area and low frequency area, and by the frequency of occurrences it is high target sorting ground information and point
The sorting port picked in unit is bound, and the sorting port in the frequency of occurrences low target sorting ground information and sorting cabinet is tied up
It is fixed.Robot can sort the appearance of ground information after the target sorting ground information for recognizing cargo to be sorted according to the target
Cargo is directly placed into corresponding target sorting port or target sorting cabinet and corresponds to sorting port by frequency.Wherein, robot will
Cargo to be sorted is put into target point lower than robot by the trajectory path planning complexity that cargo to be sorted is put into target sorting port
The trajectory path planning complexity for picking cabinet, can be further improved the sorting efficiency of robot, and by sorting cabinet and sorting unit
In conjunction with the sorting for carrying out cargo, the scope of activities of robot arm can be given full play to, the service efficiency of mechanical arm is increased.
The foregoing is merely presently filed embodiments, are not intended to limit the scope of the patents of the application, all to utilize this
Equivalent structure or equivalent flow shift made by application specification and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field similarly includes in the scope of patent protection of the application.
Claims (20)
1. a kind of Automated Sorting System, which is characterized in that the system comprises robot, sorting unit and sorting storage dresses
It sets, the sorting unit includes multiple sorting ports, and the sorting storage device includes multiple sorting cabinets, and the sorting port is corresponding
The frequency of occurrences on target sorting ground is greater than the frequency of occurrences on the sorting cabinet corresponding target sorting ground；
Wherein, the robot is for obtaining cargo to be sorted and sorting ground information for institute according to the target of the cargo to be sorted
It states cargo to be sorted and is put into corresponding target sorting port or target sorting cabinet, the cargo to be sorted is put into institute by the robot
The cargo to be sorted is put into the target point lower than the robot by the trajectory path planning complexity for stating target sorting port
Pick the trajectory path planning complexity of cabinet.
2. Automated Sorting System according to claim 1, which is characterized in that the cargo to be sorted is put by the robot
The first time of the target sorting port is less than the robot and the cargo to be sorted is put into the of the target sorting cabinet
Two times.
3. Automated Sorting System according to claim 2, which is characterized in that the first time includes the robot by institute
It states cargo to be sorted and is put into the planning time of the target sorting port and the run duration of the robot；
Second time include the robot by the cargo to be sorted be put into the target sorting cabinet planning time and
The run duration of the robot.
4. Automated Sorting System according to claim 1, which is characterized in that the system further comprises control centre, institute
The frequency of occurrences of the control centre for the corresponding target sorting of target sorting port and the sorting cabinet described in real-time update ground is stated, with
And；
According to the frequency of occurrences setting on target sorting ground and/or adjust the sorting cabinet and the corresponding target of the sorting port
Sorting ground information.
5. Automated Sorting System according to claim 1, which is characterized in that the robot is also used to obtain described to be sorted
The goods information of cargo, the identification of the goods information using radio frequency identification, bar code identification, two dimensional code identification, visual identity and
One of optical character identification.
6. Automated Sorting System according to claim 5, which is characterized in that the goods information includes the cargo to be sorted
Current location and/or current pose, target position and/or targeted attitude, obtain hold position and/or obtain hold posture, placement location and/
Or it places in posture, type, description information, size, weight, first path, the first track, the second track and the second path extremely
It is one few.
7. Automated Sorting System according to claim 1, which is characterized in that the multiple sorting cabinet is around to form cargo point
Space is picked, the robot and the sorting unit are set in the goods sorting space, and the goods sorting space is at least
Including entering goods face.
8. Automated Sorting System according to claim 7, which is characterized in that further comprise elevating mechanism, the sorting is single
The first and described robot is fixed in the goods sorting space by the elevating mechanism.
9. Automated Sorting System according to claim 8, which is characterized in that at least one of sorting unit sorting
Mouth corresponds to a sorting output port, is correspondingly arranged goods taking device at each sorting output port, is used for the goods handling
Ground information corresponding target sorting ground is sorted to the target.
10. Automated Sorting System according to claim 8, which is characterized in that the sorting output port of each sorting unit
Place is provided with warehousing mechanism, and the warehousing mechanism is for storing the cargo and in the cargo full load, automatically to the goods
Object is packaged.
11. Automated Sorting System according to claim 10, which is characterized in that be correspondingly arranged and take at each warehousing mechanism
The goods handling after the packing to the target is sorted ground information corresponding target sorting ground by goods device.
12. Automated Sorting System according to claim 10, which is characterized in that be provided with perception on each sorting unit
Device, the sensing device is for incuding whether the cargo fills the warehousing mechanism.
13. Automated Sorting System according to claim 5, which is characterized in that the sorting of each sorting cabinet is facing towards institute
Robot setting is stated, the picking face of each sorting cabinet is arranged backwards to the robot.
14. Automated Sorting System according to claim 5, which is characterized in that each goods sorting space enters goods face
At least the goods face that enters in the adjacent goods sorting space is oppositely arranged with one, to form exit passageway.
15. Automated Sorting System according to claim 5, which is characterized in that each sorting cabinet is set as bending downward
Pipeline configuration, and the bottom of each sorting cabinet is provided with warehousing structure or baffle arrangement.
16. Automated Sorting System according to claim 15, which is characterized in that the warehousing structure or the baffle arrangement with
The junction of the pipeline configuration is provided with sensing device, and the sensing device is for perceiving cargo to be sorted.
17. 2 or 16 Automated Sorting System according to claim 1, which is characterized in that the sensing device is ranging sensing
One of device, visual sensor, near-field sensing device, touch sensor, proximity sensor and pressure sensor.
18. a kind of automatic sorting machine people, which is characterized in that include at least mechanical arm；
The mechanical arm, which is used to sort ground information according to the target of cargo to be sorted, is put into corresponding mesh for the cargo to be sorted
Mark sorting port or target sorting cabinet, wherein the cargo to be sorted is put into the movement of the target sorting port by the mechanical arm
The cargo to be sorted is put into the trajectory path planning of the target sorting cabinet lower than the mechanical arm by path planning complexity
Complexity.
19. robot according to claim 18, which is characterized in that the robot includes the end for being connected to mechanical arm
Actuator；
The robot is further used for obtaining the goods information of cargo to be sorted, and determines the end according to the goods information
End actuator, which is used to obtain, holds obtaining to hold position and/or obtain and holding posture for the cargo to be sorted, with control the end effector with
It is described obtain to hold position and/or obtain to hold posture and obtain hold the cargo to be sorted, or, determining that the end effector is described for placing
The target position of cargo to be sorted and/or targeted attitude, to control the end effector with the target position and/or target
Posture places the cargo to be sorted.
20. robot according to claim 18, which is characterized in that the robot further includes the end for being connected to mechanical arm
Hold actuator and telecommunication circuit；
For the telecommunication circuit for receiving the notification information from control centre, the notification information includes obtaining to hold the cargo
It obtains to hold position and/or obtain and holds posture, and at least one of target position and/or targeted attitude for placing the cargo；
The robot be further used for controlling the end effector with it is described obtain hold position and/or obtain hold posture obtain hold it is described
Cargo, or, placing the cargo with the target position and/or targeted attitude.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/091805 WO2019241906A1 (en) | 2018-06-19 | 2018-06-19 | Automatic sorting system and sorting robot |
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| Publication Number | Publication Date |
|---|---|
| CN109414731A true CN109414731A (en) | 2019-03-01 |
| CN109414731B CN109414731B (en) | 2021-02-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880002123.5A Active CN109414731B (en) | 2018-06-19 | 2018-06-19 | Automatic sorting system and sorting robot |
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| CN (1) | CN109414731B (en) |
| WO (1) | WO2019241906A1 (en) |
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| CN110125010A (en) * | 2019-04-28 | 2019-08-16 | 深圳蓝胖子机器人有限公司 | A kind of intelligent storage logistics system and its article delivery method |
| CN110482089A (en) * | 2019-07-31 | 2019-11-22 | 深圳市海柔创新科技有限公司 | A kind of intelligent sorting system, method, storage robot and processing terminal |
| CN110615227A (en) * | 2019-09-10 | 2019-12-27 | 灵动科技（北京）有限公司 | Automatic handling system |
| CN110961358A (en) * | 2019-12-25 | 2020-04-07 | 深圳蓝胖子机器人有限公司 | Transfer system and method for goods stored in sorting cabinet |
| CN112024412A (en) * | 2019-06-04 | 2020-12-04 | 菜鸟智能物流控股有限公司 | Sorting apparatus and control method thereof |
| CN112238452A (en) * | 2019-07-19 | 2021-01-19 | 顺丰科技有限公司 | Mechanical arm path planning method and device, industrial control equipment and storage medium |
| CN112643684A (en) * | 2019-10-12 | 2021-04-13 | 顺丰科技有限公司 | End effector, robot, article sorting method, article sorting system, and storage medium |
| CN113145496A (en) * | 2021-04-14 | 2021-07-23 | 浙江德马科技股份有限公司 | Multilayer combined type sliding chute and sorting method |
| CN114589103A (en) * | 2021-07-06 | 2022-06-07 | 深圳蓝胖子机器智能有限公司 | Control method for cargo sorting system |
| CN114733771A (en) * | 2021-07-06 | 2022-07-12 | 深圳蓝胖子机器智能有限公司 | Three-dimensional sorting system and control method thereof |
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| Publication number | Publication date |
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| CN109414731B (en) | 2021-02-26 |
| WO2019241906A1 (en) | 2019-12-26 |
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