CN109454003A - Goods sorting method, apparatus and computer readable storage medium - Google Patents
Goods sorting method, apparatus and computer readable storage medium Download PDFInfo
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- CN109454003A CN109454003A CN201811326328.7A CN201811326328A CN109454003A CN 109454003 A CN109454003 A CN 109454003A CN 201811326328 A CN201811326328 A CN 201811326328A CN 109454003 A CN109454003 A CN 109454003A
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- 238000000034 method Methods 0.000 title claims abstract description 64
- 238000011084 recovery Methods 0.000 claims abstract description 28
- 230000032258 transport Effects 0.000 claims description 47
- 230000004438 eyesight Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 5
- 230000008569 process Effects 0.000 description 7
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 239000013307 optical fiber Substances 0.000 description 3
- 238000004064 recycling Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
- B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
Abstract
The present invention discloses a kind of goods sorting method, apparatus and computer readable storage medium, and the goods sorting method includes: the transport portion partite transport row for controlling conveyer, to transmit cargo to sorting platform；It identifies the cargo on the sorting platform, and when identifying successfully, corresponding warehousing area is obtained according to the attribute of the cargo, and control manipulator and the cargo is placed into corresponding warehousing area；When identifying the cargo failure or manipulator crawl failure, the recovery section that cargo is sent to the conveyer by the sorting platform is controlled, to transport cargo.The present invention has the effect of improving goods sorting efficiency.
Description
Technical field
The present invention relates to logistics Sorting Technique fields, in particular to goods sorting method, apparatus and computer-readable storage
Medium.
Background technique
Currently, logistic industry has had reached blowout period of expansion, each logistics company will cope with a large amount of package daily,
Competition between different logistics companies also increasingly sharpens, therefore timeliness, accuracy are that express company and customers are pursued
Target.Among these, the speed of logistics sorting becomes the main restraining factors that major logistics company improves timeliness.
But existing materials-sorting system is usually based on artificial and automatic sorting apparatus is relatively simple, causes point
It is slower to pick efficiency.
Summary of the invention
The main object of the present invention is to provide goods sorting method, apparatus and computer readable storage medium, it is intended to improve
Goods sorting efficiency.
To achieve the above object, a kind of goods sorting method proposed by the present invention is used for goods sorting, the goods sorting
Method includes:
The transport portion partite transport row for controlling conveyer, to transmit cargo to sorting platform；
It identifies the cargo on the sorting platform, and when identifying successfully, is corresponded to according to the attribute of the cargo
Warehousing area, and control manipulator and the cargo be placed into corresponding warehousing area；
When identifying the cargo failure or manipulator crawl failure, the sorting platform is controlled by cargo and is sent to institute
The recovery section for stating conveyer, to transport cargo.
Optionally, the goods sorting method further include:
The sorting platform is detected, and controls the fortune of conveyer there are when cargo on detecting the sorting platform
Send part out of service；Otherwise, the transport portion partite transport row for controlling conveyer, to transmit cargo to sorting platform.
Optionally, the goods sorting method further include:
The cargo for detecting the transport part of the conveyer launches region, and on detecting cargo dispensing region
There are when cargo, cargo is thrown to the cargo and launches region by pause.
Optionally, the cargo on the identification sorting platform includes:
The weight of the cargo is measured, vision calculates the volume of cargo, and the identification code of scanning cargo surfaces；
The destination of cargo is obtained according to the cargo identification；
According to the corresponding manipulator fetching of the weight and volume information acquisition of the cargo.
Optionally, described to include: according to the corresponding warehousing area of the attribute of cargo acquisition
Cargo destination is obtained, and inquires the route temperature of destination；
According to the grade of the route temperature, the position in the warehousing area to match is selected, wherein the grade of route temperature
Higher, closer to warehousing area inlet and outlet.
Optionally, the goods sorting method further include:
Obtain the car loading in each warehousing area；
When car loading in warehousing area reaches preset condition, the warehousing area sending sound, light or electric signal are controlled.
The present invention also provides a kind of cargo sorting device, the cargo sorting device include: conveyer, sorting platform,
Warehousing area, manipulator, identification device, reservoir and processor；
The manipulator is mounted on external support plane；
The warehousing area is set to the side of the manipulator, and is located within the operative radius of the manipulator；
The sorting platform is set to the side of the manipulator, and is located within the operative radius of the manipulator；
The conveyer includes transporting part and recovery section, and the transport part is connect with the sorting platform, to
Cargo is sent from outside to the position of the sorting platform；The recovery section is connect with the sorting platform, is used for cargo
Outside is transported to from the position of the sorting platform；
The identification device corresponds to the sorting platform setting, for identification cargo；
The reservoir stores goods sorting program；
The processor is for executing the goods sorting program, to execute described in 1 to 6 any one of the claims
Goods sorting method the step of.
Optionally, the transport part of the conveyer and recovery section are the conveyer belt of reverse operation, the transport part
With recovery section in setting up and down.
Optionally, the warehousing area is imported and exported including a cart, and the cart inlet and outlet are disposed far from the manipulator
One end；
The cargo sorting device further includes interior cart and outer cart；The interior cart is set on the inside of the warehousing area, institute
Outer cart is stated in the warehousing area close to the outside of the inlet and outlet.
The present invention also provides a kind of computer readable storage mediums, which is characterized in that the computer-readable storage medium
It is stored with goods sorting program in matter, such as above-mentioned goods sorting method is realized when the goods sorting program is executed by processor
The step of.
Goods sorting method provided by the present invention, by transmission cargo to sorting platform, then logical identification goods information, then
Cargo is grabbed to corresponding warehousing area, to complete entire goods sorting process by manipulator.And when there are problems for cargo
When, then by the way that the cargo sorted on platform is back to conveyer, so that system is capable of the goods sorting of intelligent processing
The common condition of process reduces artificial degree of participation, improves efficiency when sorting.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the flow chart of goods sorting method first embodiment of the present invention；
Fig. 2 is the flow chart of goods sorting method second embodiment of the present invention；
Fig. 3 is the flow chart of goods sorting method 3rd embodiment of the present invention；
Fig. 4 is the flow chart of goods sorting method fourth embodiment of the present invention；
Fig. 5 is the flow chart of the 5th embodiment of goods sorting method of the present invention；
Fig. 6 is the flow chart of goods sorting method sixth embodiment of the present invention；
Fig. 7 is the modular diagram of one embodiment of cargo sorting device of the present invention；
Fig. 8 is the structural schematic diagram of cargo sorting device shown in Fig. 5；
Fig. 9 is the structural schematic diagram that platform is sorted in Fig. 8；
Figure 10 is the structural schematic diagram that platform and conveyer are sorted in Fig. 8.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Embodiment one
A kind of goods sorting method is present embodiments provided, goods sorting is used for.
Fig. 1 is please referred to, the goods sorting method includes:
Step S101 controls the transport portion partite transport row of conveyer, to transmit cargo to sorting platform；
Step S102 identifies the cargo on the sorting platform, and when identifying successfully, according to the attribute of the cargo
Corresponding warehousing area is obtained, and controls manipulator and the cargo is placed into corresponding warehousing area；
Step S103 controls the sorting platform for goods when identifying the cargo failure or manipulator crawl failure
Object is sent to the recovery section of the conveyer, to transport cargo.
In the present embodiment, the transport portion partite transport row for controlling conveyer first, to transmit cargo to sorting platform.Its
In, conveyer can be conveyor type or multiple roller bearings form a line it is shape or sliding channel shape etc..It is defeated
Sending machine includes two parts, and a part is to transport part, another part is recovery section.Part is transported to be used for cargo court
It is transported to manipulator, until being transported to sorting platform；Recovery section is used to transport cargo far from manipulator, until reaching rubbish
Case or service kit etc. position.
In the present embodiment, the motion parts in control conveyer run and then detect and identify the sorting platform
On cargo corresponding warehousing area is obtained according to the attribute of the cargo and when identifying successfully, and controlling manipulator will
The cargo is placed into corresponding warehousing area.Wherein, it is generally the case that the surface of cargo can all put up bar code, two dimensional code or
NFC label etc..It therefore, can be according to the storing mode of the identification code on cargo, the scheme of identification cargo is arranged.For example,
Bar code and two dimensional code are identified by barcode scanning gun；Or NFC label is identified by NFC inductor.In general, in the item for acquiring cargo
After code information, the attribute of cargo can be directly obtained or obtained by way of transferring back-end data.These attributes can be with
It include: sender information, consignee's information, goods weight, cargo type and whether frangible etc. the information of cargo.Obtaining this
After a little information, corresponding warehousing area can be obtained.For example, according to preset rules, it will be on same destination or same route
Cargo be put into a warehousing area；Same class cargo is put into same warehousing area etc..
In the present embodiment, if it is flat to control the sorting when identifying the cargo failure or manipulator crawl failure
Cargo is sent to the recovery section of the conveyer by platform, to transport cargo.Wherein, the scene packet of identification cargo failure
Include: fail barcode scanning to cargo identification code perhaps barcode scanning to multiple cargos identification code or fail to obtain goods by identification code
Object information.The scene of manipulator crawl failure includes: that the weight of cargo is more than more than the volume of preset weight threshold value or cargo
During preset volume threshold or manipulator crawl cargo situations such as error etc..When appearance is above-mentioned wrong or other
Similar mistake, and cause cargo on sorting platform, when the case where not caught away, system control sorting platform passes cargo
It send to the recovery section of conveyer.Such as sorting platform passes through lifting, by goods handling to recovery section；Or sorting platform is logical
It crosses bottom plate to separate, so that cargo falls to recovery section；Or the devices such as push rod being arranged on sorting platform, cargo is directly pushed away
Enter recovery section, or is sent to recovery section etc. indirectly by being pushed into special modality.
Goods sorting method provided by the present embodiment by transmission cargo to sorting platform, then passes through identification cargo letter
Breath, then cargo is grabbed to corresponding warehousing area, to complete entire goods sorting process by manipulator.And when cargo exists
When problem, then by the way that the cargo sorted on platform is back to conveyer, so that system is capable of the cargo of intelligent processing
The common condition of sort process reduces artificial degree of participation, improves efficiency when sorting.
Embodiment two
Present embodiment discloses a kind of goods sorting method, more than the present embodiment on the basis of one embodiment, and increase
Step, specific as follows:
Please refer to Fig. 2, the goods sorting method further include:
Step S201 detects the sorting platform, and controls defeated on detecting the sorting platform there are when cargo
Send the transport part of machine out of service；
Step S202 controls the transport portion partite transport row of conveyer when cargo is not present on detecting the sorting platform,
To transmit cargo to sorting platform.
Other steps in the present embodiment are same as the previously described embodiments, specifically may refer to above-described embodiment, herein no longer
It repeats.
In the present embodiment, while controlling the transport portion partite transport row of conveyer, detect on the sorting platform whether
There are cargos, and there are the transport part for when cargo, controlling conveyer is out of service on detecting the sorting platform.Its
In, system can detect whether cargo is stored on sorting platform by multiple sensors.For example, by judging weight change
Mode detects, and detects in such a way that whether light is blocked, or carries out Classification and Identification mode detection etc. by machine vision
Deng.When system will test cargo when sorting on platform, then the motion parts for controlling conveyer are out of service, to avoid point
It is excessive to pick cargo on platform, and the identification of cargo and crawl is interfered to wait and etc..Preferable scheme is once an only cargo
On sorting platform.
In the present embodiment, during placing goods onto corresponding warehousing area, then the sorting platform is detected,
It detects on the sorting platform there is no when cargo, controls the transport portion partite transport row of conveyer, to be transmitted to sorting platform
Cargo.Wherein, manipulator, which can be, once all catches away the cargo on pigeonholes, such as grabs once, one at a time or multiple,
Or it grabs repeatedly, each one or more etc..After cargo crawl finishes, sorts cargo is not present on platform after testing
When, then control the transport portion partite transport row of conveyer.To cycle operation, automated sorting cargo is realized.
Certainly, in other embodiments, can also be arranged conveyer transport part come according to the preset time interval into
Row operation.For example, knowing by statistics, it is 15 seconds that manipulator, which completes crawl and the safety time of arrangement of goods, then can be set
The interval time of conveyer is 15 seconds.
Embodiment three
Present embodiment discloses a kind of goods sorting method, more than the present embodiment on the basis of one embodiment, and increase
Step, specific as follows:
Please refer to Fig. 3, the goods sorting method further include:
Step S301, the cargo for detecting the transport part of the conveyer launches region, and is detecting the cargo
It launches there are when cargo on region, cargo is thrown to the cargo and launches region by pause.
Other steps in the present embodiment are same as the previously described embodiments, specifically may refer to above-described embodiment, herein no longer
It repeats.
In the present embodiment, the cargo for detecting the transport part of the conveyer first launches region, and is detecting
The cargo is launched there are when cargo on region, and cargo is thrown to the cargo and launches region by pause.Wherein, before conveyer
Part is equipped with cargo and launches area, and the region is for launching cargo.System can detect whether cargo is deposited by multiple sensors
Region is launched in cargo.For example, being detected by way of judging weight change, detected in such a way that whether light is blocked,
Or Classification and Identification mode detection etc. is carried out by machine vision.When detecting that cargo launches region there are when cargo, then temporarily
Stop cargo dispensing.Such as after launching cargo, conveyer is not run, and is caused launched cargo not transported, is also rested on
Cargo is launched within region；At this time, it may be necessary to suspend cargo dispensing, cargo is left to cargo and launches region and then progress cargo
It launches.
Goods sorting method provided by the present embodiment launches region by detection cargo, and launches region in cargo
When idle, then cargo is launched to the transport part of conveyer.So that having certain interval between cargo, avoid more
Situation about entered on sorting platform in a cargo continuum occurs.
Example IV
Present embodiments provide a kind of goods sorting method.The present embodiment is based on above-described embodiment, to portion therein
It is further limited step by step.It is specific as follows:
Fig. 4 is please referred to, the cargo on the identification sorting platform includes:
Step S401, measures the weight of the cargo, and vision calculates the volume of cargo, and the identification of scanning cargo surfaces
Code；
Step S402 obtains the destination of cargo according to the cargo identification；
Step S403, according to the corresponding manipulator fetching of the weight and volume information acquisition of the cargo.
In the present embodiment, there are the weight of cargo and then the measurement cargo, visions on detecting sorting platform
Calculate the volume of cargo, and the identification code of scanning cargo surfaces.The weight of cargo is wherein measured, it can be by sorting platform
Check weighing module is installed to realize；Vision calculates the volume of cargo, cargo can be shot by depth camera, and pass through calculating
Obtain the volume of cargo；The identification code for scanning cargo surfaces, can be realized by infrared barcode scanning gun.
In the present embodiment, in the identification code for recognizing cargo and then according to the destination of identification code acquisition cargo.Its
In, system can be searched by identification code into background data base, to obtain the information filled in when posting part.Such as it receives
Part people's information, sender's information, cargo type, measurement of cargo and goods weight etc..
In the present embodiment, in the weight and volume for recognizing cargo and then according to the weight and volume of the cargo
The corresponding manipulator fetching of information acquisition.Wherein, since the attribute of cargo is different, so that different grasping movements be needed
Grab different cargos.For example, manipulator can have the scheme of multiple grasping ends or manipulator sensitive using different crawls
Degree etc..Preferably, manipulator can have multiple grasping ends, for grabbing the cargo of different weight and volume.For example, passing through sea
Continuous sucker draws flat cargo, grabs 20kg or more rectangular loads etc. by five pawl grippers, by three-jaw gripper, grabs
Take the rectangular loads etc. within 5kg.
Embodiment five
A kind of goods sorting method is present embodiments provided, the present embodiment is based on above-described embodiment, to portion therein
Specific restriction has been carried out step by step.It is specific as follows:
Fig. 5 is please referred to, it is described to include: according to the corresponding warehousing area of the attribute of cargo acquisition
Step S501 obtains cargo destination, and inquires the route temperature of destination；
Step S502 selects the position in the warehousing area to match according to the grade of the route temperature, wherein route heat
The higher grade of degree, the inlet and outlet closer to warehousing area.
In the present embodiment, it in identification cargo success, obtains the attribute of cargo and then obtains cargo destination, and
Inquire the route temperature of destination.Wherein, the route temperature of destination can be obtained by system statistics.Such as: the statistics same day
Destination quantity of goods to be sent, the quantity pending when same destination is set as most hot grade when reaching 200,000 or more, 10
Time hot grade is set as between ten thousand to 200,000,50,000 to 100,000 are set as time cold grade, and 50,000 or less are set as most cold grade.
Alternatively, according to the shipped statistics of history, to estimate the route temperature of destination.
In the present embodiment, route temperature and then according to the grade of the route temperature is being obtained, is selecting to match
Position in warehousing area, wherein the higher grade of route temperature, the inlet and outlet closer to warehousing area.Wherein, have in warehousing area
Multiple positions, each position can arrange cell therefor for packaged goods.Such as small-sized container or burlap pocket etc.
Deng.The position closer to inlet and outlet in warehousing area, it is easier to be moved.Therefore, the high cargo of route Heat range is put
It sets in the position close to inlet and outlet, the effect that can be generated is: filling within container average 10 minutes close to inlet and outlet position, it is separate
It fills container average 50 minutes of inlet and outlet position.It can be seen that the container close to inlet and outlet position is more rapidly filled, it is filled
Afterwards since it is located proximate to import and export, reduce step and time required for container taking-up is taken away, to improve whole
The working efficiency of a system.
Embodiment six
A kind of goods sorting method is present embodiments provided, the present embodiment increases based on above-described embodiment, and additionally
Step is added.It is specific as follows:
Please refer to Fig. 6, the goods sorting method further include:
Step S601 obtains the car loading in each warehousing area；
Step S602 when the car loading in warehousing area reaches preset condition, controls the warehousing area sending sound, light or telecommunications
Number.
In the present embodiment, each warehousing area of real-time detection, to obtain the car loading in each warehousing area.Wherein, it detects
Scheme can there are many, such as sense weight and detection volume etc..
In the present embodiment, it is compared when acquisition car loading and then by car loading and preset condition.In warehousing area
When car loading reaches preset condition, the warehousing area sending sound, light or electric signal are controlled.Wherein, sound can be field speech
Prompt；Light can be the specific rule flashing of report lamp；Electric signal can be the system of being sent to, by the display interface of system come into
Row report or commander subsequent robot execute step etc..
Preferably, in the present embodiment, the car loading for obtaining each warehousing area includes:
The car loading in each warehousing area is calculated by visual sensor.I.e. by machine vision, by identification image
Variation, to judge the car loading in warehousing area.Such as the cargo height in each warehousing area is calculated by neural network, when highly reaching
When to preset height, then representing car loading has expired.
Embodiment seven
Present embodiments provide a kind of cargo sorting device.
Please refer to Fig. 7 and Fig. 8, the cargo sorting device include: conveyer 100, sorting platform 200, warehousing area 300,
Manipulator 400, identification device, reservoir and processor；
Cargo of the manipulator 400 in processing operation radius is picked up and is put down；
The warehousing area 300 is set to the side of the manipulator 400, and is located at the operative radius of the manipulator 400
Within 410；
The sorting platform 200 is set to the side of the manipulator 400, and is located at the operation half of the manipulator 400
Within diameter 410；
The conveyer 100 includes transporting part 110 and recovery section 120, and the transport part 110 and the sorting are flat
Platform 200 connects, sending cargo from outside to the position of the sorting platform 200；The recovery section 120 and the sorting
Platform 200 connects, for cargo to be transported to outside from the position of the sorting platform 200；
The identification device corresponds to the sorting platform 200 and is arranged, for identification cargo；
The reservoir stores goods sorting program；
The processor is for executing the goods sorting program, to execute the step of above-mentioned any goods sorting method
Suddenly.
Since the present embodiment has all technical characteristics of above mentioned goods method for sorting, the present embodiment also has above-mentioned
Beneficial effect possessed by goods sorting method.Above-described embodiment specifically is please referred to, details are not described herein.
Incorporated by reference to referring to Figure 10, further, in the present embodiment, the transport part 110 of the conveyer 100 and recycling
Part 120 is the conveyer belt of reverse operation, the transport part 110 and recovery section 120 in setting up and down.By setting up and down
Part 110 and recovery section 120 are transported, so as to save space, so that space utilization rate is higher.Certainly, in other implementations
In example, it can also be arranged with left and right directions.
Incorporated by reference to referring to Fig. 9 and Figure 10, further, in the present embodiment, sorts platform 200 and conveyer 100 is common
Constitute the part of sorting recycling.
Sorting platform 200 is in that shape setting may be reversed, and be equipped with overturning power mechanism 220.Overturning power mechanism 220 can be with
Driving sorting platform 200 overturns predetermined angle, so that cargo slides from sorting platform 200 to recovery section 110.
Overturning power mechanism 220 in the present embodiment drives sorting platform 200 to be overturn in the way of piston push rod.
Specifically, sorting platform 200 is docked with transport part 110 when not overturning into horizontality.It is rolled in sorting platform 200
At 45 degree or so, recovery section 110 is docked.To those skilled in the art, it can also be driven and be divided by other power modes
Platform 200 is picked to be overturn to reach the technical effect with sample.
Part 110 is transported by cargo transport to sorting platform 200, system will identify the cargo on sorting platform 100 simultaneously
And carry out crawl movement.But when meeting preset condition, i.e., when sorting the sorting failure of platform 100, system opens cargo to be sorted
Piston push rod 1311 downwardly turns over sorting platform 200, so that cargo slides to recovery section 110.Recovery section 110 is logical
Transmission operation is crossed, the cargo transport being connected to is gone back into other specified places, recycling and two are carried out to cargo in bad order so as to subsequent
Secondary sorting.
Further, in the present embodiment, the warehousing area 300 includes cart inlet and outlet 310, the cart inlet and outlet
310 are disposed far from one end of the manipulator 400.
The cargo sorting device further includes interior cart 320 and outer cart 330；The interior cart 320 is set to the warehousing
300 inside of area, the outer cart 330 are set in the warehousing area 300 close to the outside of cart inlet and outlet 320.Wherein, interior
Cart 320 and outer cart 330 can be used for object of directly freighting, and can be used for packaging container, the built-in cargo of container.By in setting
One warehousing area 300 can then be divided to for two regions by cart 320 and outer cart 330.Two regions are to receive different route heat
The cargo of degree, to reach the higher effect of system effectiveness.
Referring again to Fig. 9, further, in the present embodiment, the surface of sorting platform 200 is equipped with background layer 210.Back
Background layer is equipped with the coordinate label 211 of array-like.The label can be circular, square or triangle etc. shape.
Several optical fiber 212 are additionally provided on the background layer 210, each optical fiber 212 is set to the gap between coordinate label 211
Place.By the setting of several optical fiber 212, the effect of light filling can be on the one hand played during visual sensor shoots 3-D image
Fruit；On the other hand it plays auxiliary system and carries out image classification identification.Gravity sensor is additionally provided on background layer 210 (not scheme
Show), in order to detect the weight of cargo to be sorted.
The present embodiment by be arranged the main purpose of fiber array be in order to allow machine vision more rapidly, accurately judgement point
Platform is picked with the presence or absence of cargo, next is only light filling.
Embodiment eight
Present embodiments provide a kind of computer readable storage medium.
Goods sorting program is stored on the computer readable storage medium, the goods sorting program is held by processor
It realizes when row such as the step of above-mentioned goods sorting method.
Since the present embodiment has all technical characteristics of above mentioned goods method for sorting, the present embodiment also has above-mentioned
Beneficial effect possessed by goods sorting method.Above-described embodiment specifically is please referred to, details are not described herein.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal (can be mobile phone, computer, service
Device, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (10)
1. a kind of goods sorting method, it to be used for goods sorting, which is characterized in that the goods sorting method includes:
The transport portion partite transport row for controlling conveyer, to transmit cargo to sorting platform；
It identifies the cargo on the sorting platform, and when identifying successfully, corresponding storage is obtained according to the attribute of the cargo
Goods area, and control manipulator and the cargo is placed into corresponding warehousing area；
When identifying the cargo failure or manipulator crawl failure, cargo is sent to described defeated by the control sorting platform
The recovery section for sending machine, to transport cargo.
2. goods sorting method as described in claim 1, which is characterized in that the goods sorting method further include:
The sorting platform is detected, and controls the transport portion of conveyer there are when cargo on detecting the sorting platform
Divide out of service；Otherwise, the transport portion partite transport row for controlling conveyer, to transmit cargo to sorting platform.
3. goods sorting method as described in claim 1, which is characterized in that the goods sorting method further include:
The cargo for detecting the transport part of the conveyer launches region, and exists detecting the cargo to launch on region
When cargo, cargo is thrown to the cargo and launches region by pause.
4. goods sorting method as described in claim 1, which is characterized in that the cargo packet on the identification sorting platform
It includes:
The weight of the cargo is measured, vision calculates the volume of cargo, and the identification code of scanning cargo surfaces；
The destination of cargo is obtained according to the cargo identification；
According to the corresponding manipulator fetching of the weight and volume information acquisition of the cargo.
5. goods sorting method as claimed in claim 4, which is characterized in that the attribute according to the cargo is corresponded to
Warehousing area include:
Cargo destination is obtained, and inquires the route temperature of destination；
According to the grade of the route temperature, the position in the warehousing area to match is selected, wherein the higher grade of route temperature,
Inlet and outlet closer to warehousing area.
6. goods sorting method as described in claim 1, which is characterized in that the goods sorting method further include:
Obtain the car loading in each warehousing area；
When car loading in warehousing area reaches preset condition, the warehousing area sending sound, light or electric signal are controlled.
7. a kind of cargo sorting device, which is characterized in that the cargo sorting device includes: conveyer, sorting platform, warehousing
Area, manipulator, identification device, reservoir and processor；
The manipulator is mounted on external support plane；
The warehousing area is set to the side of the manipulator, and is located within the operative radius of the manipulator；
The sorting platform is set to the side of the manipulator, and is located within the operative radius of the manipulator；
The conveyer includes transporting part and recovery section, and transports partially is connect with the sorting platform, to by goods
Object is sent from outside to the position of the sorting platform；The recovery section is connect with the sorting platform, for by cargo from institute
The position for stating sorting platform is transported to outside；
The identification device corresponds to the sorting platform setting, for identification cargo；
The reservoir stores goods sorting program；
The processor is for executing the goods sorting program, to execute the described in any item goods of the claims 1 to 6
The step of object method for sorting.
8. cargo sorting device as claimed in claim 7, which is characterized in that the transport part of the conveyer and recovery section
For the conveyer belt of reverse operation, the transport part and recovery section are in setting up and down.
9. cargo sorting device as claimed in claim 7, which is characterized in that the warehousing area is imported and exported including a cart, institute
State one end that cart inlet and outlet are disposed far from the manipulator；
The cargo sorting device further includes interior cart and outer cart；The interior cart is set on the inside of the warehousing area, described outer
Cart is set to the outside in the warehousing area close to the inlet and outlet.
10. a kind of computer readable storage medium, which is characterized in that be stored with cargo point on the computer readable storage medium
Program is picked, such as goods sorting side as claimed in any one of claims 1 to 6 is realized when the goods sorting program is executed by processor
The step of method.
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| CN201811326328.7A CN109454003B (en) | 2018-11-08 | 2018-11-08 | Goods sorting method, device and computer readable storage medium |
| US16/538,852 US11433429B2 (en) | 2018-08-17 | 2019-08-13 | Logistics sorting system and logistics sorting method |
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