CN109454003B - Goods sorting method, device and computer readable storage medium - Google Patents
Goods sorting method, device and computer readable storage medium Download PDFInfo
- Publication number
- CN109454003B CN109454003B CN201811326328.7A CN201811326328A CN109454003B CN 109454003 B CN109454003 B CN 109454003B CN 201811326328 A CN201811326328 A CN 201811326328A CN 109454003 B CN109454003 B CN 109454003B
- Authority
- CN
- China
- Prior art keywords
- goods
- sorting
- cargo
- storage area
- conveyor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
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 invention discloses a goods sorting method, a device and a computer readable storage medium, wherein the goods sorting method comprises the following steps: controlling the operation of the conveying part of the conveyor to convey goods to the sorting platform; identifying goods on the sorting platform, and when the goods are successfully identified, obtaining a corresponding goods storage area according to the attribute of the goods, and controlling a mechanical arm to place the goods into the corresponding goods storage area; and controlling the sorting platform to convey the goods to a recovery part of the conveyor for transporting the goods away when the goods are identified to fail or the mechanical arm fails to grab. The invention has the effect of improving the goods sorting efficiency.
Description
Technical Field
The invention relates to the technical field of logistics sorting, in particular to a goods sorting method, a goods sorting device and a computer readable storage medium.
Background
At present, the logistics industry reaches the well blowout development period, each logistics company needs to deal with a large number of packages every day, and competition among different logistics companies is increased day by day, so that timeliness and accuracy are the targets pursued by express companies and broad clients. Among them, the speed of sorting the logistics becomes the most important limiting factor for improving the timeliness of each large logistics company.
However, existing logistics sorting systems are typically manual in nature and automated sorting equipment is relatively simple, resulting in relatively slow sorting efficiency.
Disclosure of Invention
The invention mainly aims to provide a goods sorting method, a goods sorting device and a computer readable storage medium, aiming at improving the goods sorting efficiency.
In order to achieve the above object, the present invention provides a cargo sorting method for sorting cargo, including:
controlling the operation of the conveying part of the conveyor to convey goods to the sorting platform;
identifying goods on the sorting platform, and when the goods are successfully identified, obtaining a corresponding goods storage area according to the attribute of the goods, and controlling a mechanical arm to place the goods into the corresponding goods storage area;
and controlling the sorting platform to convey the goods to a recovery part of the conveyor for transporting the goods away when the goods are identified to fail or the mechanical arm fails to grab.
Optionally, the cargo sorting method further includes:
detecting the sorting platform and controlling the conveying part of the conveyor to stop running when the goods are detected to exist on the sorting platform; otherwise, the conveying part of the conveyor is controlled to operate to transfer the goods to the sorting platform.
Optionally, the cargo sorting method further includes:
a cargo drop area of a conveying portion of the conveyor is detected, and when it is detected that cargo is present on the cargo drop area, dropping of the cargo to the cargo drop area is suspended.
Optionally, the identifying the goods on the sorting platform includes:
measuring the weight of the goods, visually measuring and calculating the volume of the goods, and scanning the identification code on the surface of the goods; obtaining the destination of the goods according to the goods identification code;
and obtaining a corresponding manipulator grabbing scheme according to the weight and volume information of the goods.
Optionally, the obtaining the corresponding storage area according to the attribute of the goods includes:
obtaining a goods destination and inquiring the route heat of the destination;
and selecting the position in the matched storage area according to the grade of the route heat degree, wherein the higher the grade of the route heat degree is, the closer the route heat degree is to the inlet and the outlet of the storage area.
Optionally, the cargo sorting method further includes:
obtaining the cargo quantity of each cargo storage area;
and when the cargo quantity of the cargo storage area reaches a preset condition, controlling the cargo storage area to emit sound, light or electric signals.
The invention also provides a cargo sorting device, comprising: the system comprises a conveyor, a sorting platform, a goods storage area, a mechanical arm, a recognition device, a storage and a processor;
the manipulator is fixedly arranged on an external supporting surface;
the goods storage area is arranged on the peripheral side of the manipulator and is positioned within the operating radius of the manipulator;
the sorting platform is arranged on one side of the manipulator and is positioned within the operating radius of the manipulator;
the conveyor comprises a conveying part and a recovery part, wherein the conveying part is connected with the sorting platform and is used for conveying goods from the outside to the position of the sorting platform; the recovery section is connected with the sorting platform and is used for conveying goods from the position of the sorting platform to the outside;
the identification device is arranged corresponding to the sorting platform and is used for identifying the goods;
the storage stores goods sorting programs;
the processor is configured to execute the cargo sorting program to perform the steps of the cargo sorting method according to any one of claims 1 to 6.
Optionally, the conveying part and the recovery part of the conveyor are conveyor belts working in opposite directions, and the conveying part and the recovery part are arranged up and down.
Optionally, the goods storage area includes a cart inlet and a cart outlet, and the cart inlet and the cart outlet are arranged at one end far away from the manipulator;
the goods sorting device also comprises an inner trolley and an outer trolley; the inner cart is arranged on the inner side of the goods storage area, and the outer cart is arranged on the outer side, close to the inlet and the outlet, of the goods storage area.
The invention also provides a computer-readable storage medium, which is characterized in that the computer-readable storage medium stores a goods sorting program, and the goods sorting program realizes the steps of the goods sorting method when being executed by a processor.
According to the goods sorting method provided by the invention, the goods are transmitted to the sorting platform, the goods information is identified, and the goods are grabbed to the corresponding goods storage area through the manipulator, so that the whole goods sorting process is completed. And when the goods had problems, the goods on the sorting platform were returned to the conveyer to make the common situation of goods sorting process that the system can intelligent processing, reduce artificial participation degree, efficiency when improving the letter sorting.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts. Fig. 1 is a flowchart of a first embodiment of a method of sorting goods according to the invention;
fig. 2 is a flowchart of a second embodiment of the cargo sorting method of the present invention;
fig. 3 is a flowchart of a cargo sorting method according to a third embodiment of the present invention;
fig. 4 is a flowchart of a cargo sorting method according to a fourth embodiment of the present invention;
fig. 5 is a flow chart of a fifth embodiment of the cargo sorting method of the present invention;
fig. 6 is a flowchart of a sixth embodiment of the cargo sorting method of the present invention;
fig. 7 is a schematic, modular view of an embodiment of the apparatus for sorting goods according to the invention;
fig. 8 is a schematic structural view of the cargo sorting apparatus shown in fig. 5;
FIG. 9 is a schematic view of the sorting platform of FIG. 8;
fig. 10 is a schematic view of the sorting deck and conveyor of fig. 8.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example one
The embodiment provides a goods sorting method, which is used for goods sorting.
Referring to fig. 1, the cargo sorting method includes:
step S101, controlling the operation of a conveying part of a conveyor to convey goods to a sorting platform;
step S102, identifying the goods on the sorting platform, and when the goods are successfully identified, obtaining a corresponding goods storage area according to the attributes of the goods, and controlling a mechanical arm to place the goods into the corresponding goods storage area;
and S103, controlling the sorting platform to convey the goods to a recovery part of the conveyor for transporting the goods away when the goods are identified to fail or the mechanical arm fails to grab the goods.
In this embodiment, the carry section of the conveyor is first controlled to operate to transfer the goods to the sorting deck. The conveyor may be a belt conveyor, or a plurality of rollers may be arranged in a row, or a slide-down channel, etc. The conveyor comprises two sections, one being a conveying section and the other being a recovery section. The conveying part is used for conveying the goods towards the mechanical arm until the goods are conveyed to the sorting platform; the recovery section is used to transport the goods away from the robot until a trash bin or service bin or the like is reached.
In the embodiment, after the moving part of the conveyor is controlled to operate, the goods on the sorting platform are detected and identified, and when the identification is successful, the corresponding goods storage area is obtained according to the attribute of the goods, and the mechanical arm is controlled to place the goods into the corresponding goods storage area. Wherein, normally, a bar code, a two-dimensional code or an NFC tag is pasted on the surface of the goods. Therefore, the scheme for identifying the goods can be set according to the storage mode of the identification codes on the goods. For example, a barcode and a two-dimensional code are recognized by a barcode scanner; or to identify the NFC tag by an NFC sensor. Generally, after the barcode information of the goods is obtained, the attribute of the goods can be directly obtained or obtained by calling background data. These attributes may include: sender information, recipient information, weight of the goods, type of goods, and whether the goods are fragile. After obtaining the information, the corresponding storage area can be obtained. For example, according to preset rules, goods on the same destination or the same route are put into a goods storage area; the same type of goods is put into the same storage area, and the like.
In this embodiment, if the goods are not identified or the robot fails to pick, the sorting platform is controlled to transfer the goods to the recycling part of the conveyor to carry the goods away. Wherein, the scene of identifying goods failure includes: failure to scan the identification code of the good, or scan the identification codes of multiple goods, or failure to obtain the goods information through the identification codes. The scene of manipulator grabbing failure includes: the weight of the goods exceeds a preset weight threshold value, or the volume of the goods exceeds a preset volume threshold value, or errors occur in the process that the manipulator grabs the goods, and the like. When the above error or other similar error occurs, which results in the goods being on the sorting platform and not being picked, the system controls the sorting platform to transfer the goods to the reclaim section of the conveyor. The sorting platform transports the goods to the recycling part, for example, by lifting; or the sorting platforms are separated through the bottom plate, so that the goods fall to the recovery part; or a push rod and other devices arranged on the sorting platform, and the goods are directly pushed into the recovery part or indirectly conveyed to the recovery part by being pushed into a specific channel, and the like.
According to the goods sorting method provided by the embodiment, goods are conveyed to the sorting platform, the goods information is identified, and the goods are grabbed to the corresponding goods storage area through the manipulator, so that the whole goods sorting process is completed. And when the goods had problems, the goods on the sorting platform were returned to the conveyer to make the common situation of goods sorting process that the system can intelligent processing, reduce artificial participation degree, efficiency when improving the letter sorting.
Example two
The embodiment discloses a cargo sorting method, which is based on the above embodiment and adds steps as follows:
referring to fig. 2, the cargo sorting method further includes:
step S201, detecting the sorting platform, and controlling a conveying part of a conveyor to stop running when detecting that goods exist on the sorting platform;
and S202, when detecting that no goods exist on the sorting platform, controlling the operation of a conveying part of the conveyor to convey the goods to the sorting platform.
Other steps in this embodiment are the same as those in the above embodiment, and reference may be made to the above embodiment for details, which are not described herein again.
In this embodiment, the operation of the carrying section of the conveyor is controlled while detecting the presence or absence of the goods on the sorting platform, and the operation of the carrying section of the conveyor is controlled to stop when the presence of the goods on the sorting platform is detected. Wherein, the system can detect whether goods are stored on the sorting platform through various sensors. For example, by judging a change in weight, by detecting whether light is blocked, or by performing classification recognition by machine vision, and the like. When the system detects that the goods are on the sorting platform, the moving part of the conveyor is controlled to stop running, so that the problem that the goods are too much on the sorting platform to interfere with the steps of identifying and grabbing the goods is solved. The preferred solution is to have only one item at a time on the sorting platform.
In this embodiment, in the process of placing the goods into the corresponding goods storage area, the sorting platform is detected again, and when it is detected that no goods exist on the sorting platform, the operation of the conveying part of the conveyor is controlled to convey the goods to the sorting platform. The manipulator may grab the goods on the sorting table all at once, for example, once, one or more at a time, or multiple times, one or more at a time, and so on. After the goods are grabbed, when the goods do not exist on the detecting and sorting platform, the conveying part of the conveyor is controlled to operate. Thereby the circulation work realizes automatic letter sorting goods.
Of course, in other embodiments, the transport portion of the conveyor may be configured to operate at predetermined intervals. For example, it is statistically known that the safe time for the manipulator to complete the grabbing and placing of the goods is 15 seconds, and the operation interval time of the conveyor can be set to 15 seconds.
EXAMPLE III
The embodiment discloses a cargo sorting method, which is based on the above embodiment and adds steps as follows:
referring to fig. 3, the cargo sorting method further includes:
step S301, detecting a cargo release area of a conveying part of the conveyor, and suspending release of the cargo to the cargo release area when the cargo is detected to exist on the cargo release area.
Other steps in this embodiment are the same as those in the above embodiment, and reference may be made to the above embodiment for details, which are not described herein again.
In this embodiment, a cargo drop area of the conveying portion of the conveyor is first detected, and when it is detected that cargo exists on the cargo drop area, dropping of the cargo to the cargo drop area is suspended. Wherein the front part of the conveyor is provided with a goods delivery area for delivering goods. The system can detect whether goods are stored in the goods release area through various sensors. For example, by judging a change in weight, by detecting whether light is blocked, or by performing classification recognition by machine vision, and the like. And when the goods in the goods putting area are detected, the goods putting is suspended. For example, after the goods are released, the conveyor is not operated, so that the released goods are not carried away and stay in the goods release area; at this time, the cargo release needs to be suspended, and after the cargo leaves the cargo release area, the cargo release is performed.
According to the goods sorting method provided by the embodiment, the goods are released to the conveying part of the conveyor by detecting the goods release area and when the goods release area is idle. Thereby can make to have certain interval between the goods, avoid a plurality of goods to concentrate in succession and enter into the condition emergence on the letter sorting platform.
Example four
The embodiment provides a goods sorting method. The present embodiment is based on the above embodiments, and some steps therein are further defined. The method comprises the following specific steps:
referring to fig. 4, the identifying the goods on the sorting platform includes:
step S401, measuring the weight of the goods, visually measuring and calculating the volume of the goods, and scanning an identification code on the surface of the goods;
step S402, obtaining the destination of the goods according to the goods identification code;
and S403, acquiring a corresponding manipulator grabbing scheme according to the weight and volume information of the goods.
In this embodiment, after detecting the presence of the goods on the sorting platform, the weight of the goods is measured, the volume of the goods is visually estimated, and the identification code of the surface of the goods is scanned. The weight of the goods can be measured by installing a weight measuring module on the sorting platform; visually measuring and calculating the volume of the goods, shooting the goods through a depth camera, and obtaining the volume of the goods through calculation; the identification code on the surface of the goods can be scanned through an infrared code scanning gun.
In this embodiment, after the identification code of the cargo is identified, the destination of the cargo is obtained according to the identification code. The system can search in the background database through the identification code, so as to obtain the information filled in when sending the mail. Such as recipient information, sender information, cargo type, cargo volume and cargo weight, etc.
In this embodiment, after the weight and the volume of the goods are identified, a corresponding manipulator grabbing scheme is obtained according to the weight and the volume information of the goods. Wherein, because the attributes of goods are different to different snatching actions are required to grab different goods. For example, the manipulator may have multiple gripping ends, or the manipulator may employ different gripping sensitivities, etc. Preferably, the manipulator may have a plurality of gripping ends for gripping goods of different weights and volumes. For example, flat goods are sucked by a sponge suction cup, rectangular goods of more than 20kg are grabbed by a five-claw gripper, and the like, rectangular goods within 5kg are grabbed by a three-claw gripper, and the like.
EXAMPLE five
The present embodiment provides a cargo sorting method, and the present embodiment specifically defines some steps based on the above embodiments. The method comprises the following specific steps:
referring to fig. 5, the obtaining the corresponding storage area according to the attribute of the goods includes:
step S501, a goods destination is obtained, and the route heat of the destination is inquired;
and S502, selecting the position in the matched storage area according to the grade of the route heat degree, wherein the higher the grade of the route heat degree is, the closer the route heat degree is to an inlet and an outlet of the storage area.
In the embodiment, after the goods are successfully identified and the attributes of the goods are obtained, the destination of the goods is obtained, and the route heat of the destination is inquired. Wherein, the route heat of the destination can be obtained through system statistics. For example: counting the number of goods to be sent at the destination on the day, setting the goods to be sent at the destination as the hottest grade when the number to be sent at the same destination reaches more than 20 ten thousand, setting the goods to be sent between 10 ten thousand and 20 ten thousand as the second hottest grade, setting the goods to be sent between 5 ten thousand and 10 ten thousand as the second coldest grade, and setting the goods to be sent below 5 ten thousand as the coldest grade. Alternatively, route hotness of the destination is estimated based on historical shipments statistics.
In this embodiment, after obtaining the route heat, the location in the storage area is selected according to the grade of the route heat, wherein the higher the grade of the route heat is, the closer the inlet and outlet of the storage area is.
Wherein the storage area has a plurality of positions therein, each position being capable of arranging a respective container for packaging goods. Such as a compact cargo box, or a sack of scrim, etc. The closer the position in the cargo storage area to the entrance and exit, the easier the movement is. Therefore, the goods with high route heat level are placed at the position close to the entrance and the exit, and the following effects can be produced: on average, containers closer to the point of ingress and egress fill for 10 minutes, and on average, containers farther from the point of ingress and egress fill for 50 minutes. Therefore, the container close to the inlet and the outlet is filled more quickly, and after the container is filled, the position of the container close to the inlet and the outlet is reduced, so that the steps and time for taking the container out and away are reduced, and the working efficiency of the whole system is improved.
EXAMPLE six
The embodiment provides a goods sorting method, and the embodiment is based on the above embodiment and additionally adds steps. The method comprises the following specific steps:
referring to fig. 6, the cargo sorting method further includes:
step S601, the cargo quantity of each cargo storage area is obtained;
step S602, when the cargo quantity in the cargo storage area reaches the preset condition, controlling the cargo storage area to emit sound, light or electric signals.
In the embodiment, each storage area is detected in real time, so that the cargo quantity of each storage area is obtained. The detection scheme can be various, such as weight detection, volume detection and the like.
In this embodiment, after the cargo amount is obtained, the cargo amount is compared with the preset condition. And when the cargo quantity of the cargo storage area reaches a preset condition, controlling the cargo storage area to emit sound, light or electric signals. Wherein the sound may be a live voice prompt; the light may be a report light flashing at a certain regular rate; the electrical signals may be sent to the system, reported by a display interface of the system, or direct subsequent robots to perform steps, etc.
Preferably, in this embodiment, the obtaining the cargo amount of each cargo storage area includes:
and measuring and calculating the cargo quantity of each cargo storage area through a visual sensor. Namely, the goods amount in the goods storage area is judged by machine vision and by identifying the change on the image. The cargo height of each cargo storage area is measured through a neural network, for example, and when the height reaches a preset height, the cargo amount is full.
EXAMPLE seven
The embodiment provides a goods sorting device.
Referring to fig. 7 and 8, the goods sorting apparatus includes: a conveyor 100, a sorting platform 200, a storage area 300, a manipulator 400, an identification device, a storage and a processor;
the manipulator 400 is used for handling goods pick-up and put-down within an operating radius;
the cargo storage area 300 is arranged on the peripheral side of the manipulator 400 and is positioned within the operating radius 410 of the manipulator 400;
the sorting platform 200 is disposed at one side of the robot 400 and is located within an operating radius 410 of the robot 400;
the conveyor 100 includes a carrying portion 110 and a recycling portion 120, the carrying portion 110 is connected to the sorting platform 200 to transfer goods from the outside to a position of the sorting platform 200;
the recycling part 120 is connected to the sorting platform 200 for transporting goods from the location of the sorting platform 200 to the outside;
the identification device is arranged corresponding to the sorting platform 200 and is used for identifying the goods;
the storage stores goods sorting programs;
the processor is configured to execute the cargo sorting program to perform any of the steps of the cargo sorting method described above.
Since the present embodiment has all the technical features of the above goods sorting method, the present embodiment also has the beneficial effects of the above goods sorting method. Please refer to the above embodiments, which are not described herein.
Referring to fig. 10 in combination, in this embodiment, the conveying portion 110 and the recycling portion 120 of the conveyor 100 are reversely operated belts, and the conveying portion 110 and the recycling portion 120 are disposed above and below each other. By arranging the carrying section 110 and the recovery section 120 one above the other, space can be saved, resulting in higher space utilization. Of course, in other embodiments, the left and right directions may be provided.
Referring to fig. 9 and 10 in combination, further, in the present embodiment, the sorting platform 200 and the conveyor 100 together form a sorting and recycling portion.
The sorting platform 200 is arranged in a turnable manner and is provided with a turning power mechanism 220. The flipping mechanism 220 may drive the sorting platform 200 to flip by a predetermined angle, so that the goods slide down from the sorting platform 200 to the recycling part 110.
The overturning power mechanism 220 in this embodiment drives the sorting platform 200 by means of a piston push rod
And (6) turning over. Specifically, sorting deck 200 interfaces with transport section 110 when not flipped to a horizontal position. The recovery section 110 is docked while the sorting platform 200 is tilted by about 45 degrees. For those skilled in the art, other power methods can be used to drive the sorting platform 200 to turn over to achieve the technical effect.
The delivery section 110 transports the goods to the sorting platform 200 and the system will identify the goods on the sorting platform 100 and perform a grabbing movement. However, when a preset condition is satisfied, that is, the goods to be sorted fails to be sorted at the sorting platform 100, the system activates the piston push rod 1311 to turn the sorting platform 200 downward, so that the goods slide down to the recovery part 110. The recycling part 110 transports the received goods to other designated places through a transporting operation for subsequent recycling and secondary sorting of the problem goods.
Further, in the present embodiment, the cargo storage area 300 includes a cart access opening 310, and the cart access opening 310 is disposed at an end away from the robot 400.
The cargo sorting apparatus further comprises an inner cart 320 and an outer cart 310; the inner cart 320 is disposed inside the storage area 300, and the outer cart 310 is disposed outside the storage area 300 near the cart entrance/exit 320. The inner cart 320 and the outer cart 310 may be used for loading goods directly or for loading containers with goods. By providing the inner cart 320 and the outer cart 310, one cargo area 300 can be divided into two areas. The two areas receive goods with different line heat degrees, so that the effect of higher system efficiency is achieved.
Referring to fig. 9 again, in the present embodiment, a background layer 210 is disposed on the surface of the sorting platform 200. The background layer is provided with an array of coordinate marks 211. The mark may be circular, square or triangular, etc.
The background layer 210 is further provided with a plurality of optical fibers 212, and each optical fiber 212 is arranged in a gap between the coordinate marks 211. Through the arrangement of the optical fibers 212, the effect of light supplement can be achieved on one hand in the process of shooting the three-dimensional image by the vision sensor; and on the other hand, the method is used for assisting the system to classify and identify the images. A gravity sensor (not shown) is also provided on the background layer 210 in order to detect the weight of the goods to be sorted.
This embodiment is through setting up the most main objective of fiber array in order to let machine vision more quick, accurately judge whether there is the goods in letter sorting platform, and secondly be the light filling.
Example eight
The present embodiment provides a computer-readable storage medium.
The computer readable storage medium has stored thereon a goods sorting program which, when executed by a processor, implements the steps of the goods sorting method as described above.
Since the present embodiment has all the technical features of the above goods sorting method, the present embodiment also has the beneficial effects of the above goods sorting method. Please refer to the above embodiments, which are not described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A method for sorting goods, the method comprising:
controlling the operation of the conveying part of the conveyor to convey goods to the sorting platform;
identifying goods on the sorting platform, and when the goods are successfully identified, obtaining a corresponding goods storage area according to the attribute of the goods, and controlling a mechanical arm to place the goods into the corresponding goods storage area;
when the goods are identified to fail or the mechanical arm fails to grab, controlling the sorting platform to convey the goods to a recovery part of the conveyor so as to convey the goods away;
wherein the obtaining of the corresponding storage area according to the attribute of the goods comprises:
obtaining a goods destination and inquiring the route heat of the destination;
and selecting the position in the matched storage area according to the grade of the route heat degree, wherein the higher the grade of the route heat degree is, the closer the route heat degree is to the inlet and the outlet of the storage area.
2. The method of sorting goods as in claim 1, further comprising:
detecting the sorting platform and controlling the conveying part of the conveyor to stop running when the goods are detected to exist on the sorting platform; otherwise, the conveying part of the conveyor is controlled to operate to transfer the goods to the sorting platform.
3. The method of sorting goods as in claim 1, further comprising:
a cargo drop area of a conveying portion of the conveyor is detected, and when it is detected that cargo is present on the cargo drop area, dropping of the cargo to the cargo drop area is suspended.
4. The method of sorting goods as in claim 1, wherein the identifying goods on the sorting platform comprises:
measuring the weight of the goods, visually measuring and calculating the volume of the goods, and scanning the identification code on the surface of the goods;
obtaining the destination of the goods according to the goods identification code;
and obtaining a corresponding manipulator grabbing scheme according to the weight and volume information of the goods.
5. The method of sorting goods as in claim 1, further comprising:
obtaining the cargo quantity of each cargo storage area;
and when the cargo quantity of the cargo storage area reaches a preset condition, controlling the cargo storage area to emit sound, light or electric signals.
6. A cargo sorting apparatus, characterized in that the cargo sorting apparatus comprises: the system comprises a conveyor, a sorting platform, a goods storage area, a mechanical arm, a recognition device, a storage and a processor;
the manipulator is fixedly arranged on an external supporting surface;
the goods storage area is arranged on the peripheral side of the manipulator and is positioned within the operating radius of the manipulator;
the sorting platform is arranged on one side of the manipulator and is positioned within the operating radius of the manipulator;
the conveyor comprises a conveying part and a recovery part, wherein the conveying part is connected with the sorting platform and is used for conveying goods from the outside to the position of the sorting platform; the recovery section is connected with the sorting platform and is used for conveying goods from the position of the sorting platform to the outside;
the identification device is arranged corresponding to the sorting platform and is used for identifying the goods;
the storage stores goods sorting programs;
the processor is configured to execute the cargo sorting program to perform the steps of the cargo sorting method according to any one of claims 1 to 5.
7. The apparatus for sorting goods as claimed in claim 6, wherein the delivery section and the recovery section of the conveyor are oppositely operating belts, the delivery section and the recovery section being disposed one above the other.
8. The apparatus as claimed in claim 6, wherein said storage area includes a cart access opening, said cart access opening being disposed at an end remote from said robot;
the goods sorting device also comprises an inner trolley and an outer trolley; the inner cart is arranged on the inner side of the goods storage area, and the outer cart is arranged on the outer side, close to the inlet and the outlet, of the goods storage area.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a goods sorting program which, when executed by a processor, implements the steps of the goods sorting method according to any one of claims 1 to 5.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811326328.7A CN109454003B (en) | 2018-11-08 | 2018-11-08 | Goods sorting method, device and computer readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109454003A CN109454003A (en) | 2019-03-12 |
| CN109454003B true CN109454003B (en) | 2021-01-26 |
Family
ID=65609758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811326328.7A Active CN109454003B (en) | 2018-08-17 | 2018-11-08 | Goods sorting method, device and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109454003B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111687057B (en) * | 2019-03-15 | 2022-11-25 | 深圳蓝胖子机器智能有限公司 | Article sorting method, sorting system, sorting equipment and readable storage medium |
| CN111744796A (en) * | 2019-05-14 | 2020-10-09 | 北京京东尚科信息技术有限公司 | Goods sorting system and goods sorting method |
| CN110525946B (en) * | 2019-07-30 | 2022-03-08 | 深圳蓝胖子机器人有限公司 | Goods sorting method, device and system |
| CN110449367A (en) * | 2019-09-06 | 2019-11-15 | 承递自动化设备（昆山）有限公司 | A kind of goods sorting methods, devices and systems |
| JP7308770B2 (en) * | 2020-01-22 | 2023-07-14 | アンリツ株式会社 | Packaging inspection system and packaging inspection method |
| CN111292045B (en) * | 2020-03-06 | 2023-10-20 | 安歌软件(嘉兴)有限公司 | Exit management method for intelligent warehouse |
| CN112517410B (en) * | 2020-10-30 | 2022-07-12 | 锶瑞创想(上海)科技有限公司 | Loading and sorting equipment for logistics storage and working method thereof |
| CN112561882B (en) * | 2020-12-16 | 2023-05-12 | 深圳市六合智能感知系统科技有限公司 | Logistics sorting method, system, equipment and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007253005A (en) * | 2006-03-22 | 2007-10-04 | Toshiba Corp | Mail processing system and mail processing method |
| CN105293088A (en) * | 2015-04-08 | 2016-02-03 | 杨立超 | Automatic loading system |
| CN205879313U (en) * | 2016-07-07 | 2017-01-11 | 北京永松菱控技术有限公司 | Product quality detection platform based on servo control technique |
| CN206597716U (en) * | 2017-03-18 | 2017-10-31 | 王静静 | A kind of express delivery automatic sorting device |
| CN206604779U (en) * | 2017-04-06 | 2017-11-03 | 长春职业技术学院 | Sorting mail device |
| CN107886275A (en) * | 2017-11-20 | 2018-04-06 | 清远市易通科技有限公司 | A kind of goods intelligent sorting managing and control system and its implementation |
| CN108672308A (en) * | 2018-05-18 | 2018-10-19 | 北京极智嘉科技有限公司 | A kind of goods sorting system and method |
| CN208033071U (en) * | 2018-02-02 | 2018-11-02 | 叶舟 | A kind of medical apparatus sterilizing supply sorting equipment |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9767419B2 (en) * | 2014-01-24 | 2017-09-19 | Microsoft Technology Licensing, Llc | Crowdsourcing system with community learning |
| CN106694395B (en) * | 2015-07-24 | 2019-03-19 | 苏宁易购集团股份有限公司 | A kind of method for sorting and sorting system of the one more than one piece commodity in logistic storage field |
| CN106845732B (en) * | 2017-02-20 | 2021-08-20 | 浙江大学 | Satellite type logistics express delivery method |
-
2018
- 2018-11-08 CN CN201811326328.7A patent/CN109454003B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007253005A (en) * | 2006-03-22 | 2007-10-04 | Toshiba Corp | Mail processing system and mail processing method |
| CN105293088A (en) * | 2015-04-08 | 2016-02-03 | 杨立超 | Automatic loading system |
| CN205879313U (en) * | 2016-07-07 | 2017-01-11 | 北京永松菱控技术有限公司 | Product quality detection platform based on servo control technique |
| CN206597716U (en) * | 2017-03-18 | 2017-10-31 | 王静静 | A kind of express delivery automatic sorting device |
| CN206604779U (en) * | 2017-04-06 | 2017-11-03 | 长春职业技术学院 | Sorting mail device |
| CN107886275A (en) * | 2017-11-20 | 2018-04-06 | 清远市易通科技有限公司 | A kind of goods intelligent sorting managing and control system and its implementation |
| CN208033071U (en) * | 2018-02-02 | 2018-11-02 | 叶舟 | A kind of medical apparatus sterilizing supply sorting equipment |
| CN108672308A (en) * | 2018-05-18 | 2018-10-19 | 北京极智嘉科技有限公司 | A kind of goods sorting system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109454003A (en) | 2019-03-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109454003B (en) | Goods sorting method, device and computer readable storage medium | |
| US11433429B2 (en) | Logistics sorting system and logistics sorting method | |
| US10796116B2 (en) | Systems and methods for processing objects including space efficient distribution stations and automated output processing | |
| CN110199231B (en) | System and method for processing objects | |
| US11205059B2 (en) | Systems and methods for separating objects using conveyor transfer with one or more object processing systems | |
| CN110049934B (en) | System and method for processing items arranged in a vehicle | |
| CN112969652B (en) | System and method for processing objects comprising a semi-autonomous master station and automated output processing | |
| WO2020146487A1 (en) | Systems and methods for separating objects using conveyor transfer with one or more object processing systems | |
| US20220261738A1 (en) | Systems and methods for dynamic processing of objects with data verification | |
| US20230264901A1 (en) | System and method for detecting a number of goods in a load carrier | |
| CN114275425A (en) | Automatic-check robot seeding and sorting system, method, equipment and medium | |
| CN114084562B (en) | Stacking-based regulation and control system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: B701-702, industrialization building, Shenzhen Virtual University Park, No.2, Yuexing Third Road, Nanshan District, Shenzhen, Guangdong Province Applicant after: Shenzhen Lan pangzi machine intelligence Co., Ltd Address before: B701-702, industrialization building, Shenzhen Virtual University Park, No.2, Yuexing Third Road, Nanshan District, Shenzhen, Guangdong Province Applicant before: SHENZHEN DORABOT ROBOTICS Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |