CN109675818A - Automatic unmanned sorting system and method - Google Patents
Automatic unmanned sorting system and method Download PDFInfo
- Publication number
- CN109675818A CN109675818A CN201811500431.9A CN201811500431A CN109675818A CN 109675818 A CN109675818 A CN 109675818A CN 201811500431 A CN201811500431 A CN 201811500431A CN 109675818 A CN109675818 A CN 109675818A
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- China
- Prior art keywords
- storage unit
- sorting
- transporting equipment
- cargo
- storage
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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
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
Abstract
The present invention provides a kind of automatic unmanned sorting system and methods.Wherein, the sorting system includes: bogey, and for storing article, the bogey includes multiple storage units and sorting port, and each storage unit connects a corresponding sorting port；Identification sorting module Item Information and enters goods sorting in the corresponding sorting port for identification；Detect control module, whether storage volume for detecting each storage unit and the storage volume for judging the storage unit reach setting bearing capacity, and after the storage volume of a wherein storage unit reaches setting bearing capacity, item transfer is up in the storage unit of setting bearing capacity to mobile transporting equipment；The mobile transporting equipment, for receiving simultaneously conveying articles.The present invention also provides the method for sorting of the system.The present invention is transported to destination according to mobile transporting equipment replacement storage unit or the article of reception storage unit, reduces processing cost, increases working efficiency.
Description
Technical field
The present invention relates to Sorting Technique fields, in particular to automatic unmanned sorting system and method.
Background technique
In the sorting system of modernization, can be grabbed by robot various sorting objects carry out identification be put into corresponding storage
Object case, and then realize that the classification processing of sorting system operates by replacement storage tank.Very big place is sorted by robot identification again
Cargo sorting processing, keep freight classification more convenient.
Current existing robot sorting system is put into corresponding storage tank using robot identification sorting cargo, by
Worker replaces the storage tank on sorting frame, and the storage tank that cargo is filled on sorting frame is taken out, and replaces empty storage tank to sorting
Frame realizes the classification processing of cargo.But the storage tank needs on sorting frame are manually frequently replaced, and people is wasted
Power increases the cost of sorting processing, has delayed sorting speed.
With the development and progress of society, urgently need a kind of operation element convenient, operating rate is fast, and cost of investment is few
Unmanned full-automatic sorting system.
Summary of the invention
(1) goal of the invention
To overcome above-mentioned at least one defect of the existing technology, the present invention provides a kind of automatic unmanned sorting systems
And method.Using storage tank fixed in mobile transporting equipment replacement sorting port, the unmanned replacement of storage tank on sorting frame is completed,
Solve that working efficiency caused by artificial replacement storage tank is low, more than cost of investment the problem of so that freight classification processing is more
It is convenient, realize the full-automatic of sorting system.
(2) technical solution
As the first aspect of the present invention, the invention discloses a kind of automatic unmanned sorting systems, comprising:
Bogey, for storing article, the bogey includes multiple storage units and sorting port, each storage
Object unit connects a corresponding sorting port；
Identification sorting module Item Information and enters goods sorting in the corresponding sorting port for identification；
Control module is detected, for detecting the storage volume of each storage unit and judging the storing of the storage unit
Whether amount reaches setting bearing capacity, and after the storage volume of a wherein storage unit reaches setting bearing capacity, is up to
Item transfer is set in the storage unit of bearing capacity to mobile transporting equipment；
The mobile transporting equipment, for receiving simultaneously conveying articles.
In a kind of possible embodiment, the detection control module include: be installed on it is on the inside of the storage unit or outer
The first sensor of side, or it is installed on the second sensor of the identification sorting module；The first sensor or described second
Sensor is used to detect the storage volume of each storage unit.
In a kind of possible embodiment, the detection control module includes: control unit, for judging wherein one
When the storage volume of a storage unit reaches setting bearing capacity, be up to the storage unit of setting bearing capacity position be sent to it is described
Mobile transporting equipment, so that the mobile transporting equipment some or all of is moved to corresponding position and receives in the storage unit
Article.
In a kind of possible embodiment, the bogey further include: fixed switch, for controlling the storage unit
It is connected or separated with the corresponding sorting port.
In a kind of possible embodiment, the mobile transporting equipment is also used to reach described in reception setting bearing capacity
Some or all of in storage unit after article, the empty storage unit being pre-loaded with is installed on the sorting port.
In a kind of possible embodiment, there are at least two mobile transporting equipments, the mobile transport of wherein at least one is set
It is ready for use on reception article, and at least one other movement transporting equipment is used for the storing list empty in sorting port installation
Member.
In a kind of possible embodiment, the storage unit includes the bottom that controlled folding is capable of in the sorting port bottom
Plate.
In a kind of possible embodiment, the detection control module is by controlling the folding of the bottom plate for the storing
Item transfer in unit is to the mobile transporting equipment.
As a second aspect of the invention, the invention discloses a kind of automatic unmanned method for sorting, comprising the following steps:
It identifies separation step, identify Item Information and enters goods sorting in corresponding sorting port；
Rate-determining steps are detected, the storage volume for detecting each storage unit and the storage volume for judging the storage unit are
It is no to reach setting bearing capacity, and after the storage volume of a wherein storage unit reaches setting bearing capacity, it is up to setting
Item transfer is to mobile transporting equipment in the storage unit of bearing capacity；
Mobile trafficking step controls the mobile transporting equipment and receives simultaneously conveying articles.
In a kind of possible embodiment, the detection rate-determining steps include: to judge one of storage unit
When storage volume reaches setting bearing capacity, the position for being up to the storage unit of setting bearing capacity is sent to the mobile transport and sets
It is standby, so that the mobile transporting equipment some or all of is moved to corresponding position and receives in the storage unit article.
In a kind of possible embodiment, the mobile transporting equipment reaches the storing of setting bearing capacity described in the reception
Some or all of in unit after article, the empty storage unit being pre-loaded with is installed on the sorting port.
In a kind of possible embodiment, there are at least two mobile transporting equipments, the mobile transport of wherein at least one is set
It is ready for use on reception article, and at least one other movement transporting equipment is used for the storing list empty in sorting port installation
Member.
In a kind of possible embodiment, the storage unit includes the bottom that controlled folding is capable of in the sorting port bottom
Plate.
In a kind of possible embodiment, in the detection rate-determining steps, by controlling the folding of the bottom plate for institute
Item transfer in storage unit is stated to the mobile transporting equipment.
(3) beneficial effect
A kind of automatic unmanned sorting system provided by the invention and method, by replacing sorting port using mobile transporting equipment
The storage unit of upper fixation realizes that the replacement of storage unit in sorting port, or mobile transporting equipment receive storage unit opening and release
The cargo put, mobile transporting equipment by the goods handling received to destination, realize sorting system it is unmanned, complete from
It is dynamic, working efficiency not only is improved, but also reduce sorting processing cost, keeps freight classification more convenient.
Detailed description of the invention
It is exemplary below with reference to the embodiment of attached drawing description, it is intended to for the explanation and illustration present invention, and cannot manage
Solution is the limitation to protection scope of the present invention.
Fig. 1 is the structural schematic diagram of automatic unmanned sorting system provided by the invention.
Fig. 2 is the structural schematic diagram of automatic unmanned sorting system provided by the invention.
Fig. 3 is the flow diagram of automatic unmanned method for sorting provided by the invention.
Appended drawing reference:
1 robot
2 sorting ports
3 AGV trolleies
4 cargos
5 inside identification devices
Specific embodiment
To keep the purposes, technical schemes and advantages of the invention implemented clearer, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention is further described in more detail.
It should be understood that in the accompanying drawings, from beginning to end same or similar label indicate same or similar element or
Element with the same or similar functions.Described embodiments are some of the embodiments of the present invention, rather than whole implementation
Example, in the absence of conflict, the features in the embodiments and the embodiments of the present application can be combined with each other.Based in the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts,
It shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion meaning
Device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as protecting the present invention
Protect the limitation of range.
Below with reference to the first embodiment for the automatic unmanned sorting system that Fig. 1 and Fig. 2 the present invention is described in detail provides.Such as figure
Shown in 1 and Fig. 2, unmanned sorting system provided in this embodiment specifically includes that bogey, identification sorting module, detection control
Module and mobile transporting equipment.
Goods sorting is simultaneously put into corresponding bogey by identification sorting module identification goods information, detects control module
The storage volume of each storage unit is detected, and is up to cargo in the storage unit of setting bearing capacity and is transferred to mobile transporting equipment,
The empty storage unit being pre-loaded with is installed in sorting port by mobile transporting equipment, and empty storage unit continues to load cargo,
Mobile transporting equipment transports fully loaded with cargo storage unit.
Bogey, for storing cargo.In cargo out pending after being pulled receipts with pulling receipts, or cargo to be sent with charge free is being sent
Before being dispatched with sending, require to sort cargo, and in sort process, divided by bogey temporarily to hold
Cargo after picking.
Bogey includes multiple storage units and sorting port, and each storage unit connects a corresponding sorting port, storage
Object unit is for temporarily storing the cargo after being sorted.In the present embodiment, storage unit includes a storage tank or pouch, benefit
The cargo after being sorted is stored with storage tank or pouch.Cargo in sorting port is the goods in storage tank or pouch
Object.
Specifically, bogey can be sorting frame as shown in Figure 1.
In one embodiment, bogey further include: fixed switch, for controlling storage unit and corresponding sorting
Mouth connects or separates.After the storage volume of certain storage unit reaches setting bearing capacity, detection control module can inform mobile transport
Equipment comes to receive the cargo in the storage unit, receives mode specifically: for including the storage unit of storage tank, storing
Case is fixed on bogey by modes such as clamping, keyway arrangements, gear structures, and cargo is transferred to mobile fortune in storage tank
When transfer device, movement transporting equipment is in such a way that physical trigger controls or the mode of transmission wireless signal triggering controls opening admittedly
Fixed switch, for example, unclamp clamp structure, key be retracted into bogey, rotate gear makes storage tank the modes such as move down so that
Storage tank is separated with bogey.
For pouch, pouch can be to be fixed at sorting port in such a way that edge is clamped, is transported mobile
When transfer device triggers and opens fixed switch, clamp structure unclamps.
Fixed switch can also be by identification sorting module triggering, specifically, for example identification sorting module is manipulator, then machine
Tool hand can be in such a way that physical trigger controls or the mode of transmission wireless signal triggering controls and opens or closes fixed switch,
So that storage tank is separated or is connected with bogey.
Identification sorting module, goods information and enters goods sorting in corresponding sorting port for identification.Specifically, identification
Sorting module can be according to the information (such as cargo sends address, goods categories, urgent valuable object, cargo size etc.) of cargo
Sorting cargo is sorted, and is put into corresponding sorting port, that is, is put into corresponding storage unit and temporarily stores.
Identification sorting module can carry out the crawl and release of cargo using robot, and robot grabs cargo, according to knowledge
The goods information being clipped to is moved to corresponding sorting port and discharges in cargo to storage unit.Cargo identification method can be by outer
Portion's identification device, robot goods information and feed back to robot in identification before grabbing cargo or during crawl cargo；Cargo
Identification method can also use internal identification device, i.e., internal identification device is arranged on bogey, as shown in Figure 1, machine
The crawl cargo 4 of device people 1 is moved to internal identification device 5 and identifies, and cargo 4 is put into corresponding sorting port 2；Further
, cargo knowledge can be combined with external identification device and internal identification device otherwise, i.e., external identification device reads cargo
The information of top surface and side, internal identification device reads the information of cargo bottom surface, when external identification device reads goods information
When, robot mobile cargo is to corresponding sorting port and discharges in cargo to storage unit, when external identification device is unread to letter
When breath, on robot mobile cargo to internal identification device, to read cargo footprint information, and then realize that robot accurately divides
It picks.
Control module is detected, for detecting the storage volume of each storage unit and judging whether the storage volume of storage unit reaches
To setting bearing capacity.When occurring the storage unit that warehousing amount reaches setting bearing capacity in each storage unit, demonstrating the need for should
The cargo temporarily stored in storage unit is transported, and will lead to overload to guarantee the cargo in storage unit not or will not be because of cargo mistake
It squeezes cargo more and causes damage, the cargo being up in the storage unit of setting bearing capacity at this time is transferred to mobile transporting equipment.Tool
Body, mobile transporting equipment can be moved to the goods putting side of specified storage unit in advance, and receive the goods that storage unit releases
Object.
In one embodiment, detection control module includes: first sensor or second sensor, for detecting each storage
The storage volume of object unit, and judge whether warehousing amount reaches the foundation of setting bearing capacity as detection control module.
Wherein, first sensor is installed on the inside or outside of storage unit.For example, when storage unit is storage tank, storage
First sensor can be installed on object case side wall, first sensor can be optoelectronic switch, pass through reflection-type or correlation type photoelectricity
Switch obtains warehousing amount to detect the warehousing height of storage unit.Second sensor is installed on identification sorting module, is knowing
Not Fen Jian module (such as manipulator in robot) when cargo is put into corresponding storage unit, second sensor detects the storing
Storage volume in unit can use depth transducer, and by fathoming, distance obtains storage volume.
In one embodiment, control module is detected further include: control unit.Control unit is for judging wherein
When the storage volume of one or more storage units reaches setting bearing capacity, it is up to the position hair of the storage unit of setting bearing capacity
It send to mobile transporting equipment, so that mobile transporting equipment some or all of is moved to corresponding position and receives in the storage unit
Cargo.
It is understood that detection control module further includes the judging unit connecting with detection unit, for according to above-mentioned
Each storage unit storage volume that first sensor or second sensor or other equipment that can be realized identical function detect, judgement
Whether there is the storage volume of storage unit to reach setting bearing capacity, and is determining that the storage volume of wherein one or more storage units reaches
To when setting bearing capacity, control unit is given to send signal, so that control unit controls mobile transporting equipment movement.
In one embodiment, bearing capacity is set as the laden weight of storage unit, i.e. detection control module finds storing
When unit can not hold more cargos, the position of the storage unit being informed to, mobile transporting equipment, mobile transporting equipment are mobile
Below to the storage unit, all cargos in the storage unit are received, the storage unit in sorting port is restored to light condition,
Continue to the cargo that identification sorting module is put into.
Mobile transporting equipment, for receiving and transporting cargo.Mobile transporting equipment can be small using AGV as shown in Figure 1
Vehicle 3 intelligently, automatically can advance and transport cargo.Specifically, mobile transporting equipment is obtained by way of inquiring database
To the transport destination of cargo, for example, cargo next sortation hubs or transport by the vehicle of cargo, and extremely by goods handling
Destination.
In one embodiment, mobile transporting equipment includes: lifting assembly, for rising to the first setting position and connecing
Receive reach setting bearing capacity storage unit in some or all of cargo.Detection control module is received in mobile transporting equipment
When the storage unit received down cargo that the signal and arrival sent are specified, mobile transporting equipment controls the liter of itself outfit first
Part of coming down to a lower group rises to the first setting position, to reduce the distance between the storage unit in sorting port and mobile device, then divides
Mouth release storage unit is picked, storage unit is fallen on the lifting assembly after propradation.Mobile transporting equipment can be direct
It carries storage unit and its interior cargo leaves, the second setting position can also be first dropped to, then carry storing list again
First and its interior cargo leaves, and storage unit can be carry with side trailing edge and its interior cargo leaves, it is specifically used which kind of
Mode can be selected according to field condition.
It should be noted that mobile transporting equipment can also be made by way of driving storage tank or more/move left and right
Storage tank is detached from bogey, and no setting is required, and fixed switch can also receive storage tank and its interior cargo.
In one embodiment, mobile transporting equipment is also used to receiving in the storage unit for reaching setting bearing capacity
After part or all of cargo, the empty storage unit being pre-loaded with is installed on sorting port.One mobile transporting equipment is placed
Lifting structure can be respectively set to two storage units in two storage units, transport when sorting port discharges storage unit to mobile
After on transfer device, which is moved to the sorting port position for the empty storage unit being pre-loaded with
Under, mobile transporting equipment control lifting assembly rises to third setting position, empty storage unit is connected and fixed with sorting port,
For continuing to load cargo.
The present invention sorts cargo by identification sorting module and is put into corresponding bogey, and then by detection control module
The storage volume of storage unit is detected, and cargo is transferred to mobile transporting equipment, same mobile transporting equipment will be pre-loaded with
Empty storage unit is installed in sorting port, and fully loaded storage unit is transported to corresponding destination by mobile transporting equipment.It utilizes
Mobile transporting equipment realizes the replacement of storage unit fixed in sorting port, realizes the unmanned, full-automatic of sorting system, no
Working efficiency only is improved, and reduces the cost of sorting processing, so that freight classification is more convenient.
The second embodiment of automatic unmanned sorting system provided by the invention is described below in detail.Nothing provided in this embodiment
People's sorting system specifically includes that bogey, identification sorting module, detection control module and mobile transporting equipment.
Goods sorting is simultaneously put into corresponding bogey by identification sorting module identification goods information, detects control module
The storage volume of each storage unit is detected, and is up to cargo in the storage unit of setting bearing capacity and is transferred to mobile transporting equipment,
Mobile transporting equipment transports fully loaded with cargo storage unit.The sorting port of another mobile so far storage unit of mobile transporting equipment
Under position, the empty storage unit being loaded with is installed in sorting port, empty storage unit continues to load cargo.
Bogey, for storing cargo.In cargo out pending after being pulled receipts with pulling receipts, or cargo to be sent with charge free is being sent
Before being dispatched with sending, require to sort cargo, and in sort process, divided by bogey temporarily to hold
Cargo after picking.
Bogey includes multiple storage units and sorting port, and each storage unit connects a corresponding sorting port, storage
Object unit is for temporarily storing the cargo after being sorted.In the present embodiment, storage unit includes a storage tank or pouch, benefit
The cargo after being sorted is stored with storage tank or pouch.Cargo in sorting port is the goods in storage tank or pouch
Object.
In one embodiment, bogey further include: fixed switch, for controlling storage unit and corresponding sorting
Mouth connects or separates.After the storage volume of certain storage unit reaches setting bearing capacity, detection control module can inform mobile transport
Equipment comes to receive the cargo in the storage unit, receives mode specifically: for including the storage unit of storage tank, storing
Case is fixed on bogey by modes such as clamping, keyway arrangements, gear structures, and cargo is transferred to mobile fortune in storage tank
When transfer device, movement transporting equipment is in such a way that physical trigger controls or the mode of transmission wireless signal triggering controls opening admittedly
Fixed switch, for example, unclamp clamp structure, key be retracted into bogey, rotate gear makes storage tank the modes such as move down so that
Storage tank is separated with bogey.
For pouch, pouch can be to be fixed at sorting port in such a way that edge is clamped, is transported mobile
When transfer device triggers and opens fixed switch, clamp structure unclamps.
Fixed switch can also be by identification sorting module triggering, specifically, for example identification sorting module is manipulator, then machine
Tool hand can be in such a way that physical trigger controls or the mode of transmission wireless signal triggering controls and opens or closes fixed switch,
So that storage tank is separated or is connected with bogey.
Identification sorting module, goods information and enters goods sorting in corresponding sorting port for identification.Specifically, identification
Sorting module can be according to the information (such as cargo sends address, goods categories, urgent valuable object, cargo size etc.) of cargo
Sorting cargo is sorted, and is put into corresponding sorting port, that is, is put into corresponding storage unit and temporarily stores.
Identification sorting module can carry out the crawl and release of cargo using robot, and robot grabs cargo, according to knowledge
The goods information being clipped to is moved to corresponding sorting port and discharges in cargo to storage unit.Cargo identification method can be by outer
Portion's identification device, robot goods information and feed back to robot in identification before grabbing cargo or during crawl cargo；Cargo
Identification method can also use internal identification device, i.e., internal identification device is arranged on bogey, and robot grabs goods
Object is moved to internal identification device and is identified, and cargo is put into corresponding sorting port；Further, the side of cargo identification
Formula can be combined with external identification device and internal identification device, i.e., external identification device reads the letter of cargo top surface and side
Breath, internal identification device reads the information of cargo bottom surface, when external identification device reads goods information, the mobile goods of robot
Object is to corresponding sorting port and discharges in cargo to storage unit, and when external identification device is unread arrives information, robot is mobile
On cargo to internal identification device, to read cargo footprint information, and then realize that robot accurately sorts.
Control module is detected, for detecting the storage volume of each storage unit and judging whether the storage volume of storage unit reaches
To setting bearing capacity.When occurring the storage unit that warehousing amount reaches setting bearing capacity in each storage unit, demonstrating the need for should
The cargo temporarily stored in storage unit is transported, and will lead to overload to guarantee the cargo in storage unit not or will not be because of cargo mistake
It squeezes cargo more and causes damage, the cargo being up in the storage unit of setting bearing capacity at this time is transferred to mobile transporting equipment.Tool
Body, mobile transporting equipment can be moved to the goods putting side of specified storage unit in advance, and receive the goods that storage unit releases
Object.
In one embodiment, detection control module includes: first sensor or second sensor, for detecting each storage
The storage volume of object unit, and judge whether warehousing amount reaches the foundation of setting bearing capacity as detection control module.
Wherein, first sensor is installed on the inside or outside of storage unit.For example, when storage unit is storage tank, storage
First sensor can be installed on object case side wall, first sensor can be optoelectronic switch, pass through reflection-type or correlation type photoelectricity
Switch obtains warehousing amount to detect the warehousing height of storage unit.Second sensor is installed on identification sorting module, is knowing
Not Fen Jian module (such as manipulator in robot) when cargo is put into corresponding storage unit, second sensor detects the storing
Storage volume in unit can use depth transducer, and by fathoming, distance obtains storage volume.
In one embodiment, control module is detected further include: control unit.Control unit is for judging wherein
When the storage volume of one or more storage units reaches setting bearing capacity, it is up to the position hair of the storage unit of setting bearing capacity
It send to mobile transporting equipment, so that mobile transporting equipment some or all of is moved to corresponding position and receives in the storage unit
Cargo.
It is understood that detection control module further includes the judging unit connecting with detection unit, for according to above-mentioned
Each storage unit storage volume that first sensor or second sensor or other equipment that can be realized identical function detect, judgement
Whether there is the storage volume of storage unit to reach setting bearing capacity, and is determining that the storage volume of wherein one or more storage units reaches
To when setting bearing capacity, control unit is given to send signal, so that control unit controls mobile transporting equipment movement.
In one embodiment, bearing capacity is set as the laden weight of storage unit, i.e. detection control module finds storing
When unit can not hold more cargos, the position of the storage unit being informed to, mobile transporting equipment, mobile transporting equipment are mobile
Below to the storage unit, all cargos in the storage unit are received, the storage unit in sorting port is restored to light condition,
Continue to the cargo that identification sorting module is put into.
Mobile transporting equipment, for receiving and transporting cargo.Mobile transporting equipment can use AGV trolley, can be intelligent
Ground, automatically traveling and transport cargo.Specifically, mobile transporting equipment obtains the transport of cargo by way of inquiring database
Destination, for example, cargo next sortation hubs or transport by the vehicle of cargo, and by goods handling to destination.
In one embodiment, mobile transporting equipment includes: lifting assembly, for rising to the first setting position and connecing
Receive reach setting bearing capacity storage unit in some or all of cargo.Detection control module is received in mobile transporting equipment
When the storage unit received down cargo that the signal and arrival sent are specified, mobile transporting equipment controls the liter of itself outfit first
Part of coming down to a lower group rises to the first setting position, to reduce the distance between the storage unit in sorting port and mobile device, then divides
Mouth release storage unit is picked, storage unit is fallen on the lifting assembly after propradation.Mobile transporting equipment can be direct
It carries storage unit and its interior cargo leaves, the second setting position can also be first dropped to, then carry storing list again
First and its interior cargo leaves, and storage unit can be carry with side trailing edge and its interior cargo leaves, it is specifically used which kind of
Mode can be selected according to field condition.
It should be noted that mobile transporting equipment can also be made by way of driving storage tank or more/move left and right
Storage tank is detached from bogey, and no setting is required, and fixed switch can also receive storage tank and its interior cargo.
In one embodiment, mobile transporting equipment is also used to receiving the portion reached in setting bearing capacity storage unit
Point or entire cargo after, the empty storage unit being pre-loaded with is installed on sorting port.
In one embodiment, there are at least two mobile transporting equipments, the mobile transporting equipment of wherein at least one is used
In reception article, and at least one other movement transporting equipment is used for the storage unit in sorting port installation sky.One
A mobile transporting equipment places a storage unit, when on sorting port release storage unit to first movement transporting equipment, the
Two mobile transporting equipments are moved to by the sorting port position, and first movement transporting equipment carries fully loaded storage unit and leaves, the
The empty storage unit being loaded with is moved under the sorting port position by two mobile transporting equipments, and the second mobile transporting equipment control rises
Part of coming down to a lower group rises to third setting position, and empty storage unit is connected and fixed with sorting port, loads cargo for continuing.
The present invention sorts cargo by identification sorting module and is put into corresponding bogey, and then by detection control module
The storage volume of storage unit is detected, and cargo is transferred to mobile transporting equipment, another mobile transporting equipment is empty by what is be loaded with
Storage unit is installed in sorting port, is fully loaded with the mobile transporting equipment of storage unit for goods handling to corresponding destination.It utilizes
Fixed storage unit, realizes the unmanned, full-automatic of sorting system, not only makes work in mobile transporting equipment replacement sorting port
Make efficiency raising, and reduce the cost of sorting processing, so that freight classification is more convenient.
The 3rd embodiment of automatic unmanned sorting system provided by the invention is described below in detail.Nothing provided in this embodiment
People's sorting system specifically includes that bogey, identification sorting module, detection control module and mobile transporting equipment.
Goods sorting is simultaneously put into corresponding bogey by identification sorting module identification goods information, detects control module
The storage volume of each storage unit is detected, and is up to cargo in the storage unit of setting bearing capacity and is transferred to mobile transporting equipment,
Mobile transporting equipment transports cargo in storage unit, and empty storage unit continues to load cargo.
Bogey, for storing cargo.In cargo out pending after being pulled receipts with pulling receipts, or cargo to be sent with charge free is being sent
Before being dispatched with sending, require to sort cargo, and in sort process, divided by bogey temporarily to hold
Cargo after picking.
Bogey includes multiple storage units and sorting port, and each storage unit connects a corresponding sorting port, storage
Object unit is for temporarily storing the cargo after being sorted.In the present embodiment, storage unit includes that sorting port bottom controlled can open
The bottom plate of conjunction stores the cargo after being sorted using sorting port and bottom plate.Cargo in sorting port is the cargo in bottom plate,
Bottom plate is opened cargo and is released immediately.
In one embodiment, bogey further include: fixed switch, for controlling storage unit and corresponding sorting
Mouth connects or separates.After the storage volume of certain storage unit reaches setting bearing capacity, detection control module can inform mobile transport
Equipment comes to receive the cargo in the storage unit, receives mode specifically: for including the storage unit of bottom plate, bottom plate is logical
It crosses the modes such as clamping, keyway arrangements, gear structure to be fixed on bogey, cargo is transferred to mobile transport in storage unit
When equipment, mobile transporting equipment is in such a way that physical trigger controls or the mode of transmission wireless signal triggering controls opening and fixes
Switch, such as unclamp clamp structure, key be retracted into bogey, the modes such as rotate gear keeps bottom plate mobile, so that bottom plate
It opens.
Fixed switch can also be by identification sorting module triggering, specifically, for example identification sorting module is manipulator, then machine
Tool hand can be in such a way that physical trigger controls or the mode of transmission wireless signal triggering controls and opens or closes fixed switch,
So that bottom plate opens or closes.
Identification sorting module, goods information and enters goods sorting in corresponding sorting port for identification.Specifically, identification
Sorting module can be according to the information (such as cargo sends address, goods categories, urgent valuable object, cargo size etc.) of cargo
Sorting cargo is sorted, and is put into corresponding sorting port, that is, is put into corresponding storage unit and temporarily stores.
Identification sorting module can carry out the crawl and release of cargo using robot, and robot grabs cargo, according to knowledge
The goods information being clipped to is moved to corresponding sorting port and discharges in cargo to storage unit.Cargo identification method can be by outer
Portion's identification device, robot goods information and feed back to robot in identification before grabbing cargo or during crawl cargo；Cargo
Identification method can also use internal identification device, i.e., internal identification device is arranged on bogey, and robot grabs goods
Object is moved to internal identification device and is identified, and cargo is put into corresponding sorting port；Further, the side of cargo identification
Formula can be combined with external identification device and internal identification device, i.e., external identification device reads the letter of cargo top surface and side
Breath, internal identification device reads the information of cargo bottom surface, when external identification device reads goods information, the mobile goods of robot
Object is to corresponding sorting port and discharges in cargo to storage unit, and when external identification device is unread arrives information, robot is mobile
On cargo to internal identification device, to read cargo footprint information, and then realize that robot accurately sorts.
Control module is detected, for detecting the storage volume of each storage unit and judging whether the storage volume of storage unit reaches
To setting bearing capacity.When occurring the storage unit that warehousing amount reaches setting bearing capacity in each storage unit, demonstrating the need for should
The cargo temporarily stored in storage unit is transported, and will lead to overload to guarantee the cargo in storage unit not or will not be because of cargo mistake
It squeezes cargo more and causes damage, the cargo being up in the storage unit of setting bearing capacity at this time is transferred to mobile transporting equipment.Tool
Body, mobile transporting equipment can be moved to the goods putting side of specified storage unit in advance, and receive the goods that storage unit releases
Object.
In one embodiment, detection control module includes: first sensor or second sensor, for detecting each storage
The storage volume of object unit, and judge whether warehousing amount reaches the foundation of setting bearing capacity as detection control module.
Wherein, first sensor is installed in storage unit or outside storage unit.For example, when storage unit is to be installed on point
When picking the bottom plate of mouthful bottom, first sensor can be installed on sorting port side wall, first sensor can be optoelectronic switch, pass through
Reflection-type or correlation type optoelectronic switch detect the warehousing height of storage unit, and then obtain warehousing amount.Second sensor installation
Module is sorted in identification, when cargo is put into corresponding storage unit by identification sorting module (such as manipulator in robot),
Second sensor detects the storage volume in the storage unit, can use depth transducer, obtain storage by the distance that fathoms
Object amount.
In one embodiment, control module is detected further include: control unit.Control unit is for judging wherein
When the storage volume of one or more storage units reaches setting bearing capacity, it is up to the position hair of the storage unit of setting bearing capacity
It send to mobile transporting equipment, so that mobile transporting equipment some or all of is moved to corresponding position and receives in the storage unit
Cargo.
It is understood that detection control module further includes the judging unit connecting with detection unit, for according to above-mentioned
Each storage unit storage volume that first sensor or second sensor or other equipment that can be realized identical function detect, judgement
Whether there is the storage volume of storage unit to reach setting bearing capacity, and is determining that the storage volume of wherein one or more storage units reaches
To when setting bearing capacity, control unit is given to send signal, so that control unit controls mobile transporting equipment movement.
In one embodiment, bearing capacity is set as the laden weight of storage unit, i.e. detection control module finds storing
When unit can not hold more cargos, the position of the storage unit being informed to, mobile transporting equipment, mobile transporting equipment are mobile
Below to the storage unit, the cargo in the storage unit is received, after the storage unit release cargo in sorting port, is continued to
The cargo that identification sorting module is put into.
In one embodiment, the detection control module is by controlling the folding of the bottom plate for the storage unit
Interior item transfer is to the mobile transporting equipment.
Mobile transporting equipment, for receiving and transporting cargo.Mobile transporting equipment can use AGV trolley, can be intelligent
Ground, automatically traveling and transport cargo.Specifically, mobile transporting equipment obtains the transport of cargo by way of inquiring database
Destination, for example, cargo next sortation hubs or transport by the vehicle of cargo, and by goods handling to destination.
In one embodiment, mobile transporting equipment includes: lifting assembly, for rising to the first setting position and connecing
Receive reach setting bearing capacity storage unit in some or all of cargo.Detection control module is received in mobile transporting equipment
When the storage unit received down cargo that the signal and arrival sent are specified, mobile transporting equipment controls the liter of itself outfit first
Part of coming down to a lower group rises to the first setting position, to reduce the distance between the storage unit in sorting port and mobile device, then divides
It picks mouth and opens storage unit, cargo is fallen on the lifting assembly after propradation in storage unit, the storage on lifting assembly
Object case receives entire cargo, and storage unit is closed for continuing to store cargo.Mobile transporting equipment receives goods in storage unit
After object, the cargo that can directly carry in storage tank is left, and can also first drop to the second setting position, then carries storage again
Cargo in object case leaves, and can carry the cargo in storage tank with side trailing edge and leave, which kind of specifically used mode can basis
Field condition is selected.
It should be noted that mobile transporting equipment can also make bottom plate be detached from carrying by way of driving bottom plate mobile
Device, after mobile transporting equipment receives entire cargo, manipulator installation is detached from the bottom plate or new bottom plate of falling, for after continued access
Receive the cargo that identification sorting module is put into.
In one embodiment, mobile transporting equipment is also used to receive the portion in the storage unit for reaching setting bearing capacity
Distribution of goods object.When the setting bearing capacity of storage unit is greater than the capacity of the storage tank on first movement transporting equipment, storage unit
It discharges on partial cargo to first movement transporting equipment.Need to be arranged necessary structure, such as the opening of setting storage tank at this time
Area increases, or the opening of setting storage tank is bonded with sorting port bottom, and bottom plate is arranged half and opens, and avoids closing bottom
Cargo is fallen to outside storage tank when plate；Time closing plate can also be set, avoid storage tank from expiring, bottom plate is not turned off completion and makes
At cargo fall to storage tank with external position, cause the cumbersome of sorting transport.Storage unit discharges partial cargo and moves to first
On tansport equipment, the remaining cargo of storage unit can be received by the second mobile transporting equipment or storage unit continues to
The cargo of sorting is opened bottom plate release cargo in storage tank, is specifically received when storage unit reaches setting bearing capacity again
Depending on mode can be according to situation.
The present invention sorts cargo by identification sorting module and is put into corresponding bogey, and then by detection control module
The storage volume of storage unit is detected, and controls the sorting port bottom storage unit opening for reaching setting bearing capacity, cargo is shifted
To transporting equipment is moved, transporting equipment is moved by goods handling to destination.Storage unit is received using mobile transporting equipment to beat
Release the cargo put, realizes the unmanned, full-automatic of sorting system, not only improve working efficiency, but also reduce sorting
The cost of processing, so that freight classification is more convenient.
Below with reference to the first embodiment for the automatic unmanned method for sorting that Fig. 3 the present invention is described in detail provides.Such as Fig. 3 institute
Show, unmanned method for sorting provided in this embodiment mainly includes: identification separation step, detection rate-determining steps and mobile transport
Step.
It identifies separation step, identify Item Information and enters goods sorting in corresponding sorting port.
Rate-determining steps are detected, the storage volume of each storage unit is detected and judges whether the storage volume of storage unit reaches and set
Determine bearing capacity, and after the storage volume of a wherein storage unit reaches setting bearing capacity, is up to the storing of setting bearing capacity
Item transfer is to mobile transporting equipment in unit.
In one embodiment, the detection rate-determining steps include: in the storing for judging one of storage unit
When amount reaches setting bearing capacity, the position for being up to the storage unit of setting bearing capacity is sent to the mobile transporting equipment, makes
The mobile transporting equipment some or all of is moved to corresponding position and receives in the storage unit article.
In one embodiment, the mobile transporting equipment reaches the storage unit of setting bearing capacity described in the reception
After some or all of interior article, the empty storage unit being pre-loaded with is installed on the sorting port.
In one embodiment, there are at least two mobile transporting equipments, the mobile transporting equipment of wherein at least one is used
In reception article, and at least one other movement transporting equipment is used for the storage unit in sorting port installation sky.
In one embodiment, the storage unit includes storage tank or pouch.
In one embodiment, the storage unit includes the bottom plate that controlled folding is capable of in the sorting port bottom.
In one embodiment, in the detection rate-determining steps, by controlling the folding of the bottom plate for the storage
Item transfer in object unit is to the mobile transporting equipment.
Mobile trafficking step controls mobile transporting equipment and receives simultaneously conveying articles.
The storage tank that the present invention passes through mobile transporting equipment overhead replaces the storage tank being fully loaded in sorting port, or by moving
Storage tank on transporting equipment receives the cargo in sorting port, mobile transporting equipment again by goods handling to next sortation hubs or
Person carries out realizing the full-automatic of sorting system by the vehicle of cargo next stage transport, eliminates artificial replacement storage tank
Processing cost is sorted, improves work efficiency, facilitates the classification of cargo.
A kind of automatic unmanned sorting system provided by the invention and method, pass through control storage unit and mobile transporting equipment
Quantity, select more suitable mode to receive the cargo in storage unit, reduce cost of investment, facilitate the sorting of cargo
And handling process.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those familiar with the art, all answers
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be with the scope of protection of the claims
It is quasi-.
Claims (14)
1. a kind of automatic unmanned sorting system characterized by comprising
Bogey, for storing article, the bogey includes multiple storage units and sorting port, each storing list
Member one corresponding sorting port of connection；
Identification sorting module Item Information and enters goods sorting in the corresponding sorting port for identification；
Control module is detected, storage volume for detecting each storage unit and the storage volume for judging the storage unit are
It is no to reach setting bearing capacity, and after the storage volume of a wherein storage unit reaches setting bearing capacity, it is up to setting
Item transfer is to mobile transporting equipment in the storage unit of bearing capacity；
The mobile transporting equipment, for receiving simultaneously conveying articles.
2. unmanned sorting system according to claim 1, which is characterized in that the detection control module includes: to be installed on
First sensor on the inside or outside of the storage unit, or it is installed on the second sensor of the identification sorting module；It is described
First sensor or the second sensor are used to detect the storage volume of each storage unit.
3. unmanned sorting system according to claim 1, which is characterized in that the detection control module includes: that control is single
Member, for being up to the storage of setting bearing capacity when judging that the storage volume of one of storage unit reaches setting bearing capacity
The position of object unit is sent to the mobile transporting equipment, is somebody's turn to do so that the mobile transporting equipment is moved to corresponding position and receives
Article some or all of in storage unit.
4. unmanned sorting system according to claim 1, which is characterized in that the bogey further include: fixed switch,
It is connected or separated for controlling the storage unit with the corresponding sorting port.
5. unmanned sorting system according to claim 4, which is characterized in that the mobile transporting equipment is also used to receiving
Some or all of in the storage unit for reaching setting bearing capacity after article, the empty storage unit being pre-loaded with is pacified
Loaded on the sorting port.
6. unmanned sorting system according to claim 5, which is characterized in that there are at least two mobile transporting equipments,
In at least one movement transporting equipment for receiving article, and at least one other movement transporting equipment is used at described point
Pick the empty storage unit of mouth installation.
7. unmanned sorting system according to claim 1, which is characterized in that the storage unit includes the sorting port bottom
It is capable of the bottom plate of controlled folding in portion.
8. unmanned sorting system according to claim 7, which is characterized in that the detection control module passes through described in control
The folding of bottom plate is by the item transfer in the storage unit to the mobile transporting equipment.
9. a kind of automatic unmanned method for sorting, which comprises the following steps:
It identifies separation step, identify Item Information and enters goods sorting in corresponding sorting port；
Rate-determining steps are detected, the storage volume of each storage unit is detected and judge whether the storage volume of the storage unit reaches
To setting bearing capacity, and after the storage volume of a wherein storage unit reaches setting bearing capacity, it is up to setting carrying
Item transfer is to mobile transporting equipment in the storage unit of amount；
Mobile trafficking step controls the mobile transporting equipment and receives simultaneously conveying articles.
10. unmanned method for sorting according to claim 9, which is characterized in that the detection rate-determining steps include: to judge
When the storage volume of one of storage unit reaches setting bearing capacity out, it is up to the position hair of the storage unit of setting bearing capacity
It send to the mobile transporting equipment, so that the mobile transporting equipment is moved to corresponding position and receives the portion in the storage unit
Point or storewide.
11. unmanned method for sorting according to claim 9, which is characterized in that the mobile transporting equipment, described in reception
Some or all of reach in the storage unit of setting bearing capacity after article, the empty storage unit being pre-loaded with is installed on
The sorting port.
12. unmanned method for sorting according to claim 11, which is characterized in that there are at least two mobile transporting equipments,
The mobile transporting equipment of wherein at least one is for receiving article, and at least one other movement transporting equipment is used for described
The empty storage unit of sorting port installation.
13. unmanned method for sorting according to claim 9, which is characterized in that the storage unit includes the sorting port
It is capable of the bottom plate of controlled folding in bottom.
14. unmanned method for sorting according to claim 13, which is characterized in that in the detection rate-determining steps, pass through
The folding of the bottom plate is controlled by the item transfer in the storage unit to the mobile transporting equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811500431.9A CN109675818A (en) | 2018-12-07 | 2018-12-07 | Automatic unmanned sorting system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811500431.9A CN109675818A (en) | 2018-12-07 | 2018-12-07 | Automatic unmanned sorting system and method |
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| CN113522799A (en) * | 2021-07-13 | 2021-10-22 | 河北建筑工程学院 | Signaling mechanism and control method of modular sorting machine |
| WO2023065605A1 (en) * | 2021-10-20 | 2023-04-27 | 浙江立镖机器人有限公司 | Three-dimensional sorting control method, three-dimensional sorting robot and related device |
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Application publication date: 20190426 |