CN109675818A - Automatic unmanned sorting system and method - Google Patents

Automatic unmanned sorting system and method Download PDF

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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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CN
China
Prior art keywords
storage unit
sorting
transporting equipment
cargo
storage
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.)
Pending
Application number
CN201811500431.9A
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Chinese (zh)
Inventor
张�浩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Blue Fat Robot Co Ltd
Original Assignee
Shenzhen Blue Fat Robot Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenzhen Blue Fat Robot Co Ltd filed Critical Shenzhen Blue Fat Robot Co Ltd
Priority to CN201811500431.9A priority Critical patent/CN109675818A/en
Publication of CN109675818A publication Critical patent/CN109675818A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/361Processing or control devices therefor, e.g. escort memory
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/38Collecting 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

Automatic unmanned sorting system and method
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.
CN201811500431.9A 2018-12-07 2018-12-07 Automatic unmanned sorting system and method Pending CN109675818A (en)

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Application publication date: 20190426