CN109759337A

CN109759337A - A kind of packages system and method

Info

Publication number: CN109759337A
Application number: CN201910238195.6A
Authority: CN
Inventors: 于繁迪; 刘凯
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Geekplus Technology Co Ltd; Beijing Jizhijia Technology Co Ltd
Priority date: 2019-03-27
Filing date: 2019-03-27
Publication date: 2019-05-17

Abstract

The embodiment of the invention discloses a kind of packages system and method.The inside of the packages system is layering setting, comprising: the packages layer positioned at upper layer, the removable container handling layer positioned at lower layer, package delivering robot and control equipment；Packages layer includes the modular entity platform that can carry package delivering robot；Modular entity platform is the physical platform built by multiple sliceable unit spliceds, for sorting package；Include the running region for package delivering robot traveling for being in the delivery bin of array arrangement and being made of the gap between delivery bin, the corresponding one or more delivery road directions of a delivery bin on modular entity platform；Removable container handling layer includes multiple removable containers, and part moves container and is located at the lower section for delivering bin, for receiving the package from packages layer.It controls equipment and package delivering robot cooperates and realizes to the sort operation of package, improve packages efficiency.

Description

A kind of packages system and method

Technical field

The present embodiments relate to logistic storage technical field more particularly to a kind of packages system and method.

Background technique

With the rapid development of e-commerce, automatic technology is introduced into each ring of warehousing and logistics industry by major electric business Section injects fresh vigor such as packages link to push the acceleration of this industry intelligent and automating.

Currently, one is completed by halved belt sorter system there are mainly two types of existing package automatic sorting modes The sorting of package, another kind are the sortings that package is completed by steel platform robot sorting system.But existing two kinds of packages All there is the defects of sorting system is with high costs, position is fixed, can not flexibly carry, therefore it provides a kind of in automatic sorting method New packages method is very necessary.

Summary of the invention

The present invention provides a kind of packages system and method, sorting system is at high cost to solve, and flexibility difference is asked Topic, improves packages efficiency.

In a first aspect, the inside of the system is layering setting, packet the embodiment of the invention provides a kind of packages system Include: the packages layer positioned at upper layer, the removable container handling layer positioned at lower layer, package delivering robot and control are set It is standby；

The packages layer includes the modular entity platform that can carry package delivering robot；The modular entity Platform is the physical platform built by multiple sliceable unit spliceds, for sorting package；The modular entity is flat On platform comprising in array arrangement delivery bin and be made of the gap between delivery bin for package delivering robot The running region of traveling, the corresponding one or more delivery road directions of a delivery bin；

The removable container handling layer includes multiple removable containers, and the part removable container is located at the throwing The lower section for passing bin, for receiving the package from the packages layer；

The control equipment, for the information, the information for delivering bin and presently described row according to the package The traffic information for sailing region, to determine target bin and delivery route and be sent to package delivering robot；

The package delivering robot, the delivery route for sending according to the control equipment is in the modular entity Running region operation on platform is delivered to setting by the target bin will wrap up according to the delivery route determined In the removable container below the target bin.

Further, the shape of the multiple sliceable unit include bar shaped, arc, zigzag, in triangle at least One kind, the shape of the modular entity platform built by the sliceable unit spliced include cube or circular cylinder.

Further, the inside of the modular entity platform is that single layer is arranged or multilayer is arranged；And multilayer setting It in modular entity platform, is arranged in parallel between each layer, the part removable container is located at the underface for delivering bin.

Further, in the modular entity platform of multilayer setting, the delivery bin in different level is in level side To position it is identical, or at the same position in different level delivering between bin position along the vertical direction just It is right.

Further, package is passed through the target bin according to the delivery route determined by the package delivering robot When being delivered in the removable container being arranged in below the target bin, it is specifically used for:

The package delivering robot is delivered in operation to the target bin and by package by the target bin To the removable container being arranged in below the target bin, all remains a constant speed and operation or implement to run slowly Motion state.

Further, the packages system further includes transfer robot, and the transfer robot is described for carrying Removable container.

Further, the removable container includes cage vehicle；The transfer robot is located at the lower section of the cage vehicle, is used for The cage vehicle is driven to travel in the removable container handling layer.

Further, the control equipment, the package for being also used to be collected into the removable container, which meets, collects item When part, the delivery bin that the binding of container position is moved with the target is lockked, and move container point for the target It is that first transfer robot plans transport road with the first transfer robot, and according to the position that the target moves container Diameter generates carrying corresponding with the removable container of the target and instructs, carrying instruction is sent to first carrying implement Device people, it is described to carry the transport path that instruction includes first transfer robot；

First transfer robot drives to described for instructing in response to the carrying according to the transport path Target moves at container, and the target is moved container handling to package and collects station.

Further, the collection condition includes: that the removable container collection time has been expired and/or reached to removable container；

The control equipment is judged by the following manner whether the package being collected into the removable container meets collection Condition:

If the full message of the removable container that the control equipment receives sensor transmission, judges described removable The package being collected into container meets collection condition；And/or

If the control equipment detect in removable container the total volume of delivery of packages reach preset vol threshold value or Reach the removable container collection time, then judges that the package being collected into the removable container meets collection condition.

Further, the sensor is mounted on the delivery of package delivering robot and/or the modular entity platform On bin；The detecting head of the sensor is directed toward edge on the removable container, for detecting whether the removable container fills Full package；When detecting that the removable container fills package, sending the removable container to the control equipment has expired Message.

Further, the control equipment is also used to:

For free time removable the second transfer robot of container allocation, and moved before container is handled upside down according to the target Position is that second transfer robot plans transport path, generates carrying corresponding with free time removable container and instructs, by institute It states carrying instruction and is sent to second transfer robot, it is described to carry the transport road that instruction includes second transfer robot Diameter；

Second transfer robot, for responding the carrying instruction, by the idle removable container according to Transport path is transported to the target and moves the position before container is handled upside down, and unlocks the delivery lattice with the binding positions Mouthful.

Further, it is annular delivery route that the control equipment, which is the delivery route of package delivering robot planning,.

Further, the turning of the annular delivery route is arc.

Further, the package delivering robot is using belt transmission mode, turnover panel release manner or push mode Delivery of packages.

Further, the packages system further include: barcode scanning equipment and for load bed；The barcode scanning device configuration is in institute State the barcode scanning region on modular entity platform；It is described to be used to distribute packet to be delivered to the package delivering robot for load bed It wraps up in；

The package delivering robot is also used to obtain after the package delivered from described for load bed, carries the package Into the barcode scanning region；

The barcode scanning equipment for obtaining the package information of package, and is sent to the control equipment.

Further, the control equipment is also used to:

If it is determined that the barcode scanning equipment obtains package information failure, then the exception on the modular entity platform is wrapped up Bin is as target bin.

Further, the control equipment, be also used to package delivering robot by package delivering into target bin it Afterwards, according to shortest path principle and/or most short waiting principle, the package delivering robot lower task place and traveling are determined Path is sent to the package delivering robot；

The package delivering robot is also used to according to the driving path received, on the modular entity platform Running region run to next task place and execute next task.

Further, mark icon is provided on the running region of the modular entity platform, the mark icon is used In in package delivering robot driving process, assist the package delivering robot determine current driving parameter whether with control The driving path that equipment is sent is consistent.

Further, the control equipment is also used to:

If package delivering robot and/or transfer robot break down, suspend removable container handling layer at least One transfer robot, so that maintenance personal enters removable container handling layer, package delivering robot to failure and/ Or transfer robot carries out maintenance operation.

Further, the packages system further include: communication equipment, the communication equipment enter institute for maintenance personal It is carried when stating removable container handling layer, the equipment for carrying out near-field communication with transfer robot；

The communication equipment, for emitting traveling pause signal to ambient enviroment；

The transfer robot, if being also used to receive the traveling pause signal of communication equipment transmitting in operational process, It is out of service, into wait state, until restoring row operation when not receiving the traveling pause signal of the communication equipment transmitting State.

Further, the multiple removable container is divided at least one set, for the removable visibly moved of at least one set Device distributes at least one corresponding package delivering robot and at least one transfer robot.

Second aspect, the embodiment of the invention also provides a kind of packages methods, this method comprises:

Control equipment according to the information of package, deliver the information of bin and the traffic information in current driving region, to It determines target bin and delivery route and is sent to package delivering robot；

The package delivering robot is according to the delivery route for controlling equipment transmission on modular entity platform Running region operation is arranged will wrap up being delivered to by the target bin according to the delivery route determined in the mesh In removable container below style mouth；

Wherein, the modular entity platform can carry package delivering robot, be located at packages layer；The modular Entity platform is the physical platform built by multiple sliceable unit spliceds, for sorting package；The modular is real On body platform comprising in array arrangement delivery bin and be made of the gap between delivery bin for package delivering machine The running region of device people traveling, the corresponding one or more delivery road directions of a delivery bin；The removable container is multiple, position In removable container handling layer, and the part removable container is located at the lower section for delivering bin, comes from institute for receiving State the package of packages layer.

Further, package is passed through the target bin according to the delivery route determined by the package delivering robot It is delivered in the removable container being arranged in below the target bin, comprising:

Further, the removable container includes cage vehicle；Transfer robot is located at the lower section of the cage vehicle, for driving The cage vehicle is travelled in the removable container handling layer.

Further, package is passed through the target bin according to the delivery route determined by the package delivering robot After being delivered in the removable container being arranged in below the target bin, further includes:

When the package being collected into the removable container meets collection condition, the control equipment is lockked and the mesh The delivery bin of removable container position binding is marked, and moves the first transfer robot of container allocation for the target, And the position of container is moved according to the target and plans transport path for first transfer robot, it generates and the target The corresponding carrying instruction of container is moved, carrying instruction is sent to first transfer robot, the carrying instruction Transport path comprising first transfer robot；

First transfer robot is instructed in response to the carrying, and driving to the target according to the transport path can At mobile container, the target is moved into container handling to package and collects station.

Further, the full message of the removable container that the sensor is sent to control equipment is true in the following way It is fixed:

The sensor being mounted on the delivery bin of package delivering robot and/or the modular entity platform passes through finger The detecting head on edge detects whether the removable container fills package on the removable container；It is described removable when detecting When container fills package, the full message of the removable container is sent to the control equipment.

Further, first transfer robot by the target move container handling to package collect station it Afterwards, further includes:

Controlling equipment is idle removable the second transfer robot of container allocation, and moves container quilt according to the target Position before carrying is that second transfer robot plans transport path, generates carrying corresponding with free time removable container and refers to It enables, carrying instruction is sent to second transfer robot, the carrying instruction includes second transfer robot Transport path；

Second transfer robot responds the carrying instruction, by the idle removable container according to the transport road Diameter is transported to the target and moves the position before container is handled upside down, and unlocks the delivery bin with the binding positions.

Further, the turning of the annular delivery route is arc.

Further, the control equipment is according to the information of package, the information of delivery bin and presently described traveling area The traffic information in domain, to determine target bin and delivery route and be sent to before package delivering robot, further includes:

The package delivering robot obtains after the package delivered from for load bed, carries the package and enters barcode scanning area Domain；

Barcode scanning equipment obtains the package information of package, and is sent to the control equipment；

Wherein, the barcode scanning device configuration is in the barcode scanning region on the modular entity platform；It is described to be used for for load bed Package to be delivered is distributed to the package delivering robot.

Further, the control equipment is according to the information of package, the information of delivery bin and presently described traveling area The traffic information in domain, to determine target bin, comprising:

If it is determined that the barcode scanning equipment obtains package information failure, then controlling equipment will be on the modular entity platform Abnormal package bin is as target bin.

The control equipment determines the package delivering robot according to shortest path principle and/or most short waiting principle Next task place and driving path are sent to the package delivering robot；

The package delivering robot is according to the driving path received, the traveling area on the modular entity platform Domain runs to next task place and executes next task.

Further, further includes: if package delivering robot and/or transfer robot break down, it is temporary to control equipment Stop at least one transfer robot of removable container handling layer, so that maintenance personal enters removable container handling layer, to out The package delivering robot and/or transfer robot of existing failure carry out maintenance operation.

Further, after the control equipment suspends at least one transfer robot for moving container handling layer, also Include:

Communication equipment emits traveling pause signal to ambient enviroment；

It is out of service if receiving the traveling pause signal of communication equipment transmitting in transfer robot operational process, into Enter wait state, until restoring row operating status when not receiving the traveling pause signal of the communication equipment transmitting；

Wherein, the communication equipment is that maintenance personal carries when entering the removable container handling layer, is used for and institute State the equipment that transfer robot carries out near-field communication.

Further, multiple removable containers are divided at least one set, are the removable container point of at least one set With at least one corresponding package delivering robot and at least one transfer robot.

The embodiment of the invention provides a kind of packages system and method, the inside of packages system is that layering is set It sets, comprising: the packages layer positioned at upper layer, removable container handling layer, package delivering robot and the control positioned at lower layer Control equipment；Packages layer is the modular entity platform that can carry package delivering robot；Modular entity platform is to pass through Multiple sliceable unit spliceds are built, for sorting the physical platform wrapped up；Comprising being in array on modular entity platform The delivery bin of formula arrangement and the running region for package delivering robot traveling being made of the gap between delivery bin, The corresponding one or more delivery road directions of one delivery bin；Removable container handling layer includes multiple removable containers, and part The removable container is located at the lower section for delivering bin, for receiving the package from packages layer.Equipment is controlled according to packet Information, the information of delivery bin and the traffic information of presently described running region wrapped up in, determine target bin and delivery route And it is sent to package delivering robot；The package delivering robot delivery route that foundation control equipment is sent again is in modular entity Running region operation on platform, and will wrap up being delivered to by target bin according to the delivery route determined and be arranged in target In removable container below bin.The technical solution of the embodiment of the present invention can solve that sorting system is at high cost, and flexibility is poor The problem of, improve packages efficiency.

Detailed description of the invention

In order to more clearly illustrate the technical scheme of the exemplary embodiment of the present invention, below to required in description embodiment The attached drawing to be used does a simple introduction.Obviously, the attached drawing introduced is present invention a part of the embodiment to be described Attached drawing, rather than whole attached drawings without creative efforts, may be used also for those of ordinary skill in the art To obtain other attached drawings according to these attached drawings.

Figure 1A is a kind of structural block diagram for packages system that the embodiment of the present invention one provides；

Figure 1B is a kind of schematic internal view for packages system that the embodiment of the present invention one provides；

Fig. 1 C is the partial schematic diagram of the modular entity platform for the packages system that the embodiment of the present invention one provides；

Fig. 1 D is the partial schematic diagram of the removable container handling layer for the packages system that the embodiment of the present invention one provides；

Fig. 1 E is the schematic diagram for the mobile delivery of packages of package delivering robot that the embodiment of the present invention one provides；

Fig. 2 is the schematic internal view of another packages system provided by Embodiment 2 of the present invention；

Fig. 3 is the schematic internal view for another packages system that the embodiment of the present invention three provides；

Fig. 4 is a kind of flow chart for packages method that the embodiment of the present invention four provides.

Specific embodiment

The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.

Embodiment one

Figure 1A is a kind of structural block diagram for packages system that the embodiment of the present invention one provides, and the present embodiment is applicable to The case where sorting to package, the inside of the packages system are layering setting, the packages layer including being located at upper layer 10, positioned at the removable container handling layer 11 of lower layer, package delivering robot 12 and control equipment 13.

In the present embodiment, Figure 1B is a kind of schematic internal view for packages system that the embodiment of the present invention one provides. As shown in Figure 1B, dotted line frame region is the upper layer of packages internal system, i.e. packages layer 10, and solid line frame region is package Lower layer inside sorting system, i.e., removable container handling layer 11.Control equipment (being not shown in fig. ib) and package delivering machine Device people 12 establishes communication connection, for realizing the control and scheduling of entire packages system.Further, control equipment refers to Software systems with data storage, information processing capability can pass through wired or unlimited mode and package delivering robot 12 and other hardware input systems in system or software systems connection.Controlling equipment can send out to package delivering robot 12 Cloth task, statistics goods sorting situation, detection system working condition transmit information to staff and to package delivering machine People 12 assigns control command etc..Package delivering robot 12 can be led to owned intelligence system with control equipment Letter, the control instruction that receiving control apparatus is sent.

Packages layer 10 includes the modular entity platform 101 that can carry package delivering robot 12；The modular Entity platform 101 is the physical platform built by multiple sliceable unit spliceds, for sorting package；The modular Comprising being in the delivery bin 1011 of array arrangement and being made of the gap between delivery bin 1011 on entity platform 101 For the running region that package delivering robot 12 travels, the corresponding one or more delivery road directions of a delivery bin 1011.

In the present embodiment, packages layer 10 includes package delivering it can be seen from the packages layer 10 in Figure 1B Robot 12 and the modular entity platform 101 that carry package delivering robot 12 wrap up robot 12 in modular entity It is run on platform 101.Fig. 1 C is that the part of the modular entity platform for the packages system that the embodiment of the present invention one provides shows It is intended to.As shown in Fig. 1 C, the multiple sliceable units for constituting the present embodiment modular entity platform 101 can be a variety of different rule The unit of lattice, the sliceable unit (as shown in slanted bar filling block left in Fig. 1 C) as can be square, is also possible to cuboid Sliceable unit (as shown in dotted filling block in Fig. 1 C) etc..It should be noted that the shape of multiple sliceable units includes At least one of bar shaped, arc, zigzag, triangle etc., the modular built by the sliceable unit spliced The shape of entity platform includes cube (such as cuboid, square) or circular cylinder (such as annular entity cylinder or annular sky Stem body etc.) etc..To this present embodiment without limiting.

When delivery bin 1011 on modular entity platform 101 is sliceable building unit modular entity platform 101, The empty window position left, the position are arranged in array.Optionally, it can also arrange pair in other modes according to actual needs This present embodiment is without limiting.It delivers bin 1011 and package investment is located at lower layer from the bin for package delivering robot Removable container handling layer 11 removable container in.The present embodiment is built modular entity using multiple sliceable units and is put down Platform, the advantages of this arrangement are as follows platform transport, installation, convenient disassembly, reuse after can dismantling assembling according to actual needs, Improve the flexibility and scalability of modular entity platform.

It further include the region travelled for package delivering robot 12 on modular entity platform 101, which is located at each throwing It passs between bin 1011, as delivered the gap area A between bin 1011A and 1011B.That is, in the modular entity On platform 101, the region where sliceable unit is all the region wrapping up robot 12 and travelling.Bin is delivered for each For 1011, when package robot reaches the delivery bin, alternative delivery road direction can have one or more, for example, As shown in Figure 1 C, package delivering robot 12, when reaching delivery bin 1011A from position as shown in the figure, alternative road direction It can be and deliver road direction 1 and deliver road direction 2 etc., which delivery route package delivering robot 12, which is specifically chosen, travels to correspondence Delivery bin 1011A, depending on the implementation road conditions of instruction or running region etc. that issue of control equipment 13.

Removable container handling layer 11 includes multiple removable containers 110, and the part removable container 110 is located at institute The lower section for delivering bin 1011 is stated, for receiving the package from the packages layer 10.

As shown in Figure 1B, in the present embodiment, the lower section that container handling layer 11 is located at packages layer 10 is moved, is used for Removable container 110 is placed, removable container 110 can be the container for being commonly used in and storing cargo to be delivered, for example, common Cage vehicle etc., a removable container 110 is usually used in the article that carrying has predicable, for example, a certain removable container 110 For carry be sent to the city A to delivery of packages.

In the present embodiment, each of modular entity platform should all place one for the bin lower section of delivery Removable container avoids package delivering robot after delivering bin dispensing package, and package is directly fallen to be removed in removable container On the ground for transporting layer, make troubles to the storage and carrying of package.Since each delivery bin in modular entity platform is The quantity for the removable container for working at the same time, therefore being located in removable container handling layer be it is multiple, for some delivery After removable container below bin is fully loaded, there is its alternative free time to move container, collateral security packages system is just Often operation, so the quantity for moving container in the present embodiment is typically larger than the number of the delivery bin in modular entity platform Amount.Wherein, in multiple removable containers, a removable container is located at the lower section of the delivery bin of modular entity platform, For storing the package from packages layer, for example, Fig. 1 D be the embodiment of the present invention one provide packages system can The partial schematic diagram of mobile container handling layer；As shown in figure iD, relative to the partially schematic of the modular entity platform in Fig. 1 C Figure, each of entity platform deliver bin 1011 lower section be both provided with a removable container 110, for store from The package that bin 1011 is delivered above the removable container.Remaining removable container can be located at removable container handling The Accreditation Waiting Area of layer, the removable container of the waiting area are unloaded removable container, are used to replace and deliver below bin The removable container having been filled with；Remaining removable container may be located on package collect station, the package collect station can Mobile container is usually the removable container that package is housed, for waiting artificial or machine to be placed into the package wherein loaded pair Position is answered, for example, the lower right corner in Figure 1B.

Optionally, in another implementation, the modular entity platform of the packages system of the present embodiment is interior Portion is that single layer is arranged or multilayer is arranged；And in the modular entity platform of multilayer setting, it is arranged in parallel between each layer, part institute It states removable container and is located at the underface for delivering bin.In the modular entity platform of multilayer setting, it is in different level On delivery bin position in the horizontal direction it is identical, or between delivery bin at the same position in different level Position face along the vertical direction.

Specifically, the entity platform in the present embodiment is not limited in the setting of single layer shown in Figure 1B, multilayer can also be Setting, and be arranged in parallel in the horizontal direction between multilayer, each layer is built using sliceable unit spliced, And in each layer equally comprising in array arrangement deliverys bin and be made of the gap between delivery bin for package throwing Pass the running region of robot traveling.And the delivery bin position in the horizontal direction in different layers is identical, alternatively, It in the position of vertical direction is face between delivery bin at the same position in different level.It needs to illustrate It is that it does not include Z axis position on vertical direction that the same position, which refers to the XY axis position of horizontal direction,.Between each layer Height be at least the height of a package delivering robot, to guarantee that package delivering robot between the layers can be just Often traveling, the delivery operation wrapped up.Optionally, the height between adjacent two layers may be the same or different.It will package The inside of the modular entity platform of sorting system is to be set as multilayer, such to be advantageous in that, removable container can be with The package that multiple package delivering robots from multilayer are launched is received simultaneously, improves the sorting effect of entire packages system Rate.

Wherein, mark icon can be two dimensional code, bar code or colour band etc., can be printing or is mounted on modular entity The running region of platform.Optionally, it can be and an expression icon be set every pre-determined distance (such as 1m).Package delivering robot During traveling, the mark icon of running region can be scanned, obtains current location information, the traveling sent with control equipment Path is compared, so that it is determined that whether current location is the position controlled in facility planning path, and current driving direction is It is no correct etc..Optionally, in order to increase the frictional force between running region package delivering robot and modular entity platform, also One layer of ground glue or carpet wear-resisting, frictional force is big, glue or ground on ground can be covered on the running region of modular entity platform Mark icon is printed or installed on blanket.

The packages system specific work process of the present embodiment is:

The control equipment, for the information, the information for delivering bin and presently described row according to the package The traffic information for sailing region, to determine target bin and delivery route and be sent to package delivering robot.

Wherein, the information of package can be the urban information to be delivered of package, be also possible to wrap up the type of interior article Information can also be the attribute information etc. of article in wrapping up.For example, to the city to package to be sorted according to posting address It is sorted, then the information wrapped up at this time can be urban information to be delivered；To package to be sorted according in package Type of items carries out point, then the information wrapped up at this time can be wrap up in cargo type information.

The information for delivering bin is related to the information of package, if the urban information that package information is to be delivered, delivers bin Information is exactly the corresponding urban information of each delivery bin；If package information is the type information of article in wrapping up, bin is delivered Information is exactly the corresponding type of items information of each delivery bin；If package information is the attribute information of article in wrapping up, deliver Bin information is exactly the corresponding attribute information of each delivery bin.The traffic information of running region can refer to flat in modular entity On platform, there are package delivering robot, states of existing package delivering robot etc. for which position in each running region.

In the present embodiment, it can be when determining target bin each in the information and modular entity platform according to package The information of bin is delivered to determine, finds the delivery lattice to match with package information in each delivery bin specifically, can be Mouth is used as target bin.Each information for delivering bin can be previously stored with by such as controlling equipment, after obtaining package information, by this Package information is matched with pre-stored each information for delivering bin, using the delivery bin of successful match as target lattice Mouthful.It can be when determining delivery route after determining target bin according to the information of the information of package, delivery bin, according to Target bin and the traffic information in current driving region further determine that delivery route, specifically, can be target bin As terminal, the package delivering robot position of this package delivering will be carried out as starting point, cooking up at least one can Travel route can travel the traffic information of route region then in conjunction with each item, therefrom select degree of crowding it is minimum and The shortest route in path is as this delivery route.Equipment is controlled after target bin and delivery route has been determined, by target lattice Mouth and delivery route are sent to the package delivering robot for carrying out this package delivering.

The package delivering robot, the delivery route for sending according to control equipment is in the modular entity platform On running region operation, to according to the delivery route determined by package by the target bin be delivered to setting in institute It states in the removable container below target bin.

In the present embodiment, after package delivering robot receives the target bin and delivery route that control equipment is sent, It is driven at target bin according to the delivery route received, then launches the package carried into the target bin, it should Package will be entered in the removable container below the target bin by target bin.

Optionally, package delivering robot is passing through another implementation of target bin delivery of packages in the present embodiment Be: the package delivering robot is delivered to setting by the target bin in operation to the target bin and by package During removable container below the target bin, all remains a constant speed and operation or implement the movement shape to run slowly State.

Fig. 1 E is the schematic diagram of the mobile delivery of packages of package delivering robot in the embodiment of the present invention one, such as Fig. 1 E institute Show, when the first boundary E1 of package delivering robot is overlapped with the first boundary E3 of target bin, package delivering robot is protected Hold drive at a constant speed or Reduced Speed Now and start execute delivery movement, it is to be wrapped to be delivered to the corresponding removable container of target bin； When package delivering robot the second boundary E2 is overlapped with the second boundary of target bin E4, the traveling that remains a constant speed or Reduced Speed Now And terminate delivery movement.It should be noted that boundary E5 refers to the first boundary E1 and target bin of package delivering robot When first boundary E3 is overlapped, the position of package delivering robot the second boundary；Boundary E6 refers to the second side of package delivering robot When boundary E2 is overlapped with the second boundary of target bin E4, the position on the first boundary of package delivering robot.Package delivering robot The safe range of delivery is L, and when the speed of service of package delivering robot is V, the delivery movement for delivering mechanism must be in T Interior completion, wherein T=L/V.When the delivery movement for delivering mechanism is not completed in T time, stop delivery movement, it will Abnormal package bin is delivered to delivery of packages.Or it travels a loop again and is delivered again later.Further, institute Package delivering robot is stated using belt transmission mode, turnover panel release manner or push mode delivery of packages, wherein push side Formula delivery of packages can be is equipped with telescopic device (such as telescopic spring device) in package delivering robot, when being wrapped When wrapping up in delivery, which is protruded horizontally up, and is contacted with package, and the package placed in package delivering robot is pushed to correspondence In bin.

Optionally, the quantity of the delivery bin on modular entity platform may need the type divided (to deliver than package Road direction) it is more, then the quantity of the delivery bin on modular entity platform is rich at this time, can set for a kind of delivery road direction of package Multiple delivery bins are set, and each different location delivered bin and be distributed in modular entity platform, reduces package delivering robot Congestion phenomenon in delivery process, and after a delivery bin is locked, package delivering robot can also be to same road direction Other deliver bin delivery of packages.Further, due to package delivering robot.Further, due to package delivering machine Motion frequency of the people in packages system is larger, therefore can set Te Dugao for the big delivery road direction of package delivering amount Road direction, and the delivery bin near piece supplying table is set by the corresponding delivery bin of the road direction, to shorten package delivering machine The range ability of people improves packages efficiency.

Packages system provided in this embodiment, the inside of packages system are layering setting, comprising: are located at upper layer Packages layer, the removable container handling layer positioned at lower layer, package delivering robot and control equipment；Packages layer It is the modular entity platform that can carry package delivering robot；Modular entity platform is to pass through multiple sliceable unit spliceds It builds, the physical platform for sorting package；On modular entity platform comprising in array arrangement delivery bin with And the running region for package delivering robot traveling being made of the gap between delivery bin, a delivery bin corresponding one A or multiple delivery road directions；Removable container handling layer includes multiple removable containers, and the part removable container is located at The lower section for delivering bin, for receiving the package from packages layer.Control equipment according to the information of package, deliver bin The traffic information of information and presently described running region determines target bin and delivery route and is sent to package delivering machine People；Package delivering robot is transported according to running region of the delivery route of control equipment transmission on modular entity platform again Row, and will wrap up according to the delivery route determined be delivered to by target bin be arranged in it is removable visibly moved below target bin In device.The technical solution of the embodiment of the present invention can solve that sorting system is at high cost, the problem of flexibility difference, improve package point Pick efficiency.

Embodiment two

The present embodiment has advanced optimized goods sorting system on the basis of the various embodiments described above.Fig. 2 is of the invention real The schematic internal view of another packages system of the offer of example two is provided；Packages system after optimization further includes conveying robot People 14, the transfer robot 14, for carrying the removable container 110.The removable container 110 includes cage vehicle；Institute The lower section that transfer robot 14 is located at the cage vehicle is stated, for driving the cage vehicle in removable 11 row of container handling layer It sails.

In the present embodiment, transfer robot 14 is located at the removable container handling layer 11 of packages system, for removing Removable container 110 is transported, for example, removable container 110 is carried to package below delivery bin 1011 collects station, or It is to be carried to removable container 110 from waiting area to deliver 1011 lower section of bin etc..As shown in Fig. 2, transfer robot 14 exists It when carrying removable container 110, first travels to the lower section of removable container 110 (such as cage vehicle), to drive removable container 110 It is travelled in removable container handling layer 11, removable container is removed 110 and is transported on corresponding position.

Packages system described in the present embodiment increases following work on the basis of above-described embodiment course of work Make process:

The control equipment is also used to when the package being collected into the removable container meets collection condition, is lockked The delivery bin of container position binding is moved with the target, and is moved container allocation first for the target and carried Robot, and according to the target move container position be first transfer robot plan transport path, generate with The target moves the corresponding carrying instruction of container, and carrying instruction is sent to first transfer robot.

The control equipment is also used to: moving the second transfer robot of container allocation for the free time, and according to the target Position before removable container is handled upside down is that second transfer robot plans transport path, is generated and idle removable container Carryings instruction is sent to second transfer robot by corresponding carrying instruction, and it includes described that carryings, which instructs, The transport path of two transfer robots.

Wherein, the collection condition includes: that the removable container collection time has been expired and/or reached to removable container.It is optional , removable container can completely refer to that the package stored in removable container has reached the maximum storage circle of removable container Limit, it is preferred that the maximum storage boundary of removable container and the top of removable container have a certain distance, prevent from moving The case where storage package overfill is fallen in container appearance.The acquisition time of removable container can be control equipment according to removable Feature (frequency of the size, such package appearance wrapped up such as such) setting of the package of container storage, people can also be What work was arranged according to demand, specific acquisition time can be adjusted according to the actual situation.

In the present embodiment, transfer robot can be communicated with control equipment, be connect with owned intelligence system The control instruction that control equipment is sent is received, it is described to carry the transport path that instruction includes first transfer robot.

Optionally, in the present embodiment, the control equipment, which is judged by the following manner in the removable container, collects To package whether meet collection condition:

If the full message of the removable container that mode one, the control equipment receive sensor transmission, judges institute It states the package being collected into removable container and meets collection condition；And/or

If mode two, the control equipment detect that the total volume of delivery of packages reaches preset vol in removable container Threshold value reaches the removable container collection time, then judges that the package being collected into the removable container meets collection condition.

Specifically, when employing mode a period of time, the sensor may be mounted at package delivering robot and/or the module On the delivery bin of formula entity platform；The detecting head of the sensor is directed toward edge on the removable container, described for detecting Whether removable container fills package；When detecting that the removable container fills package, institute is sent to the control equipment State the full message of removable container.For example, red in the front end of package delivering robot or the edge installation one of delivery bin Outer sensor can not be communicated if infrared sensor is mounted on the edge for delivering bin due to delivering bin with control equipment, So also needing delivering one wireless communication module of bin edge installation, the detecting head of infrared sensor, which is directed toward, to be delivered under bin The removable container of side will wrap up full message when infrared sensor detects that the package in removable container has been filled with Control equipment is sent to by wireless communication module.

When employing mode two, control equipment can be estimated according to the volume for being delivered to each package in removable container The total volume of delivery of packages in removable container, it is compared with the preset vol threshold value for moving container, if The total volume of delivery of packages is greater than or equal to the preset vol threshold value of the removable container, then judges to collect in the removable container To package meet collection condition.In addition, control equipment can also be by moving the acquisition time of container to determine whether full Sufficient collection condition moves progress timing container is placed below delivery bin since this as controlled equipment, can when reaching this When the acquisition time of mobile container, then judge that the package being collected into the removable container meets collection condition.

When the package that control equipment is collected in removable container meets collection condition, the target can be lockked and move container The delivery bin of corresponding position forbids package delivering robot to continue to launch package to the delivery bin, while controlling equipment also One transfer robot of container allocation (i.e. the first transfer robot) can be moved for the target and container is moved according to target Position, the first transfer robot position and package collect station, plan and carry for first transfer robot Path (moves the path of container from the first transfer robot position to target, and moves container institute from target The path of station is collected to package in position), generate corresponding with target mobile robot carrying and instruct, be sent to this One transfer robot after first transfer robot receives carrying instruction, will respond carrying instruction, be removed according to described It transports route to move at container to the target, then the target is moved into container handling to package and collects station.

As shown in Fig. 2, moving container 110A at this time is target if meeting the removable container 110A of collection condition Removable container, control equipment can lock the delivery bin 1011A that the target moves the position container 110A, in modular The package delivering robot 12 travelled on entity platform 101, which stops launching to the delivery bin 1011A, to be wrapped up.Equipment is controlled simultaneously Container 110A also is moved for the target and distributes the first transfer robot 14A, and plans transport road for the first transfer robot 14A Diameter, generation carrying instruction is sent to the first transfer robot 14A, the first transfer robot 14A and will instruct according to carrying, by this Target moves container 110A and is carried to package collection station.

Optionally, in order to which artificial or machine is when package collects station and collects removable container, so that removable container is inclined From normal place, can be using the fixed removable container of transfer robot bracing means；It is also possible to increase on the ground and adds It is fixedly mounted with and sets, the position of fixed removable container.

In the present embodiment, after target is moved container handling to package collection station by the first transfer robot, in order to keep away Exempt from package delivering robot and fall to the ground to the package that bin is delivered is delivered, control equipment distributes another conveying robot simultaneously People's (i.e. the second transfer robot), planning transport path for the second transfer robot, (i.e. the second transfer robot is from current location Position before reaching the removable container handling of target to the path of idle removable container and from free time removable container Path), generating the free time moves corresponding carryings of container and instructs, and is sent to the second transfer robot, second carrying implement After device people receives carrying instruction, carrying instruction is responded, and (i.e. unloaded is removable visibly moved by the free time removable container Device) it is transported to the position before the removable container of target is handled upside down.After free time removable container places, which has been placed with The new removable container for continuing storage package, can unlock the delivery bin with the binding positions at this time, in modular reality The package delivering robot travelled on body platform, which can restore to launch to the delivery bin, to be wrapped up.It should be noted that this process It can be in the first transfer robot to move target after container handling collects station to package and execute, be also possible to the One transfer robot is carried while target moves container and is carried out, to reduce the locking time of binding bin.

It as shown in Fig. 2, control equipment can distinguish the second transfer robot 14B to idle removable container 110B, and is the Two transfer robot 14B plan transport path, generate carrying instruction and are sent to the second transfer robot 14B, the second conveying robot People 14B will be instructed according to carrying, and idle removable container 110B is carried to the lower section for delivering bin 1011A, is released at this time Locking to bin 1011A is delivered, the package delivering robot 12 travelled on recovery module formula entity platform 101 is to the delivery lattice Mouth 1011A launches package.

Further, the path that control takes the robot planning in the packages system that equipment is the present embodiment is ring Shape path.Above-mentioned robot includes that (including the first transfer robot and second is carried for package delivering robot and transfer robot Robot), as the delivery route of package delivering robot planning is annular delivery route, for the carrying of transfer robot planning Path is annular transport path.Further, the turning of annular delivery route and annular transport path is arc.In this implementation In example, the annular delivery route of package delivering robot and the annular transport path of transfer robot have straight line path and arc Shape path is constituted.Wherein, curved path refers to that robot is travelled in turning using curved path, and robot may be implemented and turning Do not stop when curved, saves the runing time of robot.

Further, in another implementation of the present embodiment, the multiple removable container can be divided into At least one set, at least one corresponding package delivering robot of removable container allocation of at least one set and at least one Transfer robot.

In the present embodiment, the removable container layout density moved in container handling layer is high, each removable container Combination is flexible, therefore at least two removable containers can be divided at least one set according to certain rules, improves The scalability and flexibility of removable container layout.For example, as shown in figure iD, two can be divided by container is moved in figure Group, the removable container in three, the left side are one group, and the removable container in three, the right is one group, and respectively each group moves container allocation At least one package delivering robot moves the delivery bin above container to the group and launches package, and respectively each group can Mobile at least one transfer robot of container allocation is used to carry the group when the removable container of the group meets collection condition removable Visibly moved device.

Packages system provided in this embodiment, on the basis of the above embodiments, in packages layer package delivering Robot will launch target bin according to the delivery route that control equipment is sent to delivery of packages, while remove in removable container Layer is transported, when the package that control equipment can be collected into removable container meets collection condition, lock onto target moves container institute In the delivery bin of binding positions, package delivering robot is forbidden to continue delivery of packages to the delivery bin, while can be the mesh It marks removable container and is divided into the first transfer robot, and plan that transport path is sent to the first transfer robot for it, so that the Target is moved container handling to package according to transport path and collects station by one transfer robot, while being controlled equipment and can be also Free time removable the second transfer robot of container allocation, also plans that a transportation route is sent to the second transfer robot for it, So that idle removable container handling is moved the position before container is handled upside down to target by the second transfer robot, finally solving The delivery bin of lock and the binding positions wraps so that the package delivering robot of packages layer continues to launch to the delivery bin It wraps up in.It realizes transfer robot and package delivering robot to run in two different planes, route does not interfere mutually, entirely Packages system uses parallel operation mode, improves packages efficiency.

Embodiment three

The present embodiment has advanced optimized goods sorting system on the basis of the various embodiments described above.Fig. 3 is of the invention real The schematic internal view of another packages system of the offer of example three is provided.The base of packages system after optimization in above system On plinth further include: barcode scanning equipment 16 and piece supplying table 17.The barcode scanning equipment 16 is configured on the modular entity platform 101 Barcode scanning region；It is described to be used to distribute package to be delivered to the package delivering robot 12 for load bed 17；

The package delivering robot 12 is also used to obtain after the package delivered from described for load bed 17, described in carrying Package enters the barcode scanning region；

The barcode scanning equipment 16 for obtaining the package information of package, and is sent to the control equipment.

In the packages system of the present embodiment, piece supplying table be can be set on the ground, also can be set ground it It is upper or under, the situation such as 3 shown in is the setting of piece supplying table 17 on ground.Package to be sorted is arrived by robotic conveyance Piece supplying table region is placed in package delivering robot after taking package by artificial or machine, optionally, waits the packet of package to be obtained Wrap up in that deliver the number of robot may not be one, it, can be according to reaching piece supplying table when the package delivering robot of waiting is more Sequencing sequence etc. package to be obtained.Optionally, package delivering robot can be when obtaining package and run to piece supplying After station, reduction of speed, which slowly runs or defaults, stops preset time, so that package is placed on package delivering machine by artificial or machine On people, after package delivering robot obtains package, then carries package and enter barcode scanning region, the barcode scanning equipment inspection in barcode scanning region Measure by package delivering robot run over Lai when, can the package carried in package delivering robot is scanned automatically, such as It can be two dimensional code or bar code that scanning superscribes, obtain the package information of package, and the package information that will acquire is sent to Control equipment.Controlling equipment can be according to the road conditions of the information of package, each information for delivering bin and presently described running region Information determines target bin and delivery route and is sent to package delivering robot, so that package delivering robot is according to control Running region operation of the delivery route that equipment is sent on modular entity platform, and will be wrapped according to the delivery route determined It wraps up in the removable container for being delivered to and being arranged in below target bin by target bin.

Further, if barcode scanning equipment obtains package information failure, i.e. control equipment is not received by the package delivering machine The package information of device people carrying, or to receive package information wrong, then controls equipment and be also used to the modular entity platform On abnormal package bin be used as target bin, for the package delivering robot planning to the delivery route for wrapping up bin extremely. Wherein, the number of abnormal package bin is either one or more, when the number of package bin extremely is multiple, is Meet different location and abnormal wrap up quickly is put into bin for package delivering robot at load bed, abnormal can be wrapped multiple Bin scattering device is wrapped up in the different location of modular entity platform.

Further, control equipment, be also used to package delivering robot by package delivering into target bin after, according to According to shortest path principle and/or most short waiting principle, the package delivering robot lower task place and driving path are determined, It is sent to the package delivering robot；The package delivering robot is also used to according to the driving path received, described Running region on modular entity platform runs to next task place and executes next task.

Wherein, the type in the task place in the application can have very much, for example, can have piece supplying table, charging station, rest Area etc., and the task place of each type can have again it is multiple, for example, may exist multiple confessions for packages system Part platform, charging station and rest area.

Specifically, package delivering robot, after completing a package delivering, control equipment can be somebody's turn to do according to the actual situation Package delivering robot determines next task, such as reaches piece supplying table and obtains next package to be delivered, charging station is gone to throw package Robot is passed charge or rest to rest area.After next task has been determined, control equipment can be according to the package Each task place for delivering robot position and next task, it is more according to shortest path principle and/or most short waiting principle One is selected in a task place, and is the package delivering robot planning driving path, and next task and driving path are sent out It send to package delivering robot.The meeting of package delivering robot and driving path is received, is run on modular entity platform Next task is executed to next task place.

Optionally, in another embodiment of the invention, control equipment be also used to: if package delivering robot and/or Transfer robot breaks down, then suspends at least one transfer robot of removable container handling layer, so as to maintenance personal into Enter removable container handling layer, maintenance operation is carried out to the package delivering robot and/or transfer robot of failure.

Specifically, package delivering robot and/or transfer robot may during the operation of packages system It breaks down, in the packages system of the present embodiment, if robot breaks down, is either located at the packet of packages layer It wraps up in and delivers the transfer robot failure that robot is still located at removable container handling layer, maintenance personal is to pass through entrance The packages layer of lower layer repairs, and can not influence the normal work of upper layer package delivering robot in maintenance in this way. At least one transfer robot that the corresponding removable container handling layer of failed machines people's near zone need to only be suspended, to the greatest extent may be used Influence of the reduction of energy to packages system sorting efficiency.Optionally, it can be control equipment and detect that event occurs for robot After barrier, the relevant information (such as failure cause, failed machines people position) of failed machines people can be sent to maintenance personal, Maintenance personal is entered by removable container handling layer, reaches the robot position of failure, to failed machines people into Row maintenance.Optionally, if the artificial package delivering robot of machine to break down, maintenance personal can first be locked by controlling equipment Fixed and failure package delivering robot probes into packages layer by the bin, to the packet of failure apart from nearest delivery bin It wraps up in delivery robot to repair, if the artificial transfer robot of machine to break down, maintenance personal can be directly removable Container handling layer reaches the failure transfer robot position, repairs to the transfer robot of failure.

Optionally, in the present embodiment, dimension is interfered in the operation for moving the transfer robot of container handling layer in order to prevent Personnel are repaired to the maintenance operation of failed machines people.The packages system of the present embodiment can also include communication equipment 18, described What communication equipment carried when entering the removable container handling layer for maintenance personal, lead to for carrying out near field with transfer robot The equipment of letter；

Optionally, in the present embodiment, when maintenance personal's carrying communication equipment enters removable container handling layer, communication equipment It can be communicated automatically with the transfer robot around maintenance personal, communication equipment emits traveling pause signal to ambient enviroment, The signal cover is the ' locked ' zone of removable container handling layer, and the transfer robot in ' locked ' zone can receive The traveling pause signal of communication equipment transmitting, it is out of service, into wait state, until the transfer robot is not in lock room Domain, that is, when not receiving the traveling pause signal of communication equipment transmitting, state of just resuming operation.Optionally, if the waiting time compared with Often, then the transfer robot that controlling equipment can be waited for again plans transport path again.Optionally, communication is set The traveling pause signal that preparation is penetrated is stronger, and the corresponding ' locked ' zone of coverage area is bigger, and the range of the ' locked ' zone is sent out The power for the traveling pause signal penetrated, can be artificial settings, be also possible to control equipment according to the position of failed machines people, Communication equipment is sent to after being calculated automatically from.

Packages system provided in this embodiment increases barcode scanning equipment, piece supplying table and communication equipment, package delivering machine Device people carries the package after delivery of packages from piece supplying table acquisition and enters barcode scanning region.Barcode scanning equipment obtains package delivering robot On package information be sent to control equipment, control equipment can be according to the information of package, the information for delivering bin and current institute The traffic information for stating running region determines target bin and delivery route and is sent to package delivering robot, so that package is thrown It passs robot to run according to running region of the delivery route of control equipment transmission on modular entity platform, and according to determination Package is delivered in the removable container being arranged in below target bin by delivery route out by target bin.So that package Sort process is more intelligent, improves the Accuracy and high efficiency of sorting.When event occurs in the robot in packages system When barrier, suspend at least one transfer robot of removable container handling layer, maintenance personal's carrying communication equipment enters removable Container handling layer is repaired failed machines people for maintenance personal and is mentioned by the communication between communication equipment and surrounding transfer robot For good repair and maintaining, while the influence to packages system sorting efficiency is reduced as far as possible.

Example IV

Fig. 4 is the flow chart for the packages method that the embodiment of the present invention four provides.

The present embodiment is applicable to the case where sorting to package, and this method can be mentioned by the various embodiments described above of the present invention The packages system of confession executes, and specifically comprises the following steps:

S401, package delivering robot obtain after the package delivered from for load bed, and carrying package enters barcode scanning region.

Wherein, described to be used to distribute package to be delivered to the package delivering robot for load bed.

S402, barcode scanning equipment obtain the package information of package, and are sent to control equipment.

Wherein, the barcode scanning device configuration is in the barcode scanning region on the modular entity platform.

S403, control equipment according to the information of package, deliver the information of bin and the traffic information in current driving region, To determine target bin and delivery route and be sent to package delivering robot.

Wherein, it is annular delivery route that the control equipment, which is the delivery route of package delivering robot planning,.Further , the turning of the annular delivery route is arc.

Further, however, it is determined that the barcode scanning equipment obtains package information failure, then controls equipment the modular is real Abnormal package bin on body platform is as target bin.

Traveling of the delivery route that S404, package delivering robot foundation control equipment are sent on modular entity platform Area operation is arranged in below target bin to be delivered to package by target bin according to the delivery route determined In removable container.

Optionally, the inside of the modular entity platform is that single layer is arranged or multilayer is arranged；And the mould of multilayer setting It in block formula entity platform, is arranged in parallel between each layer, the part removable container is located at the underface for delivering bin.Into One step, in the modular entity platform of multilayer setting, the delivery bin position phase in the horizontal direction in different level Together, the position face delivered between bin along the vertical direction or at the same position in different level.

Optionally, mark icon is provided on the running region of the modular entity platform, the mark icon is used for In package delivering robot driving process, the package delivering robot is assisted to determine whether current driving parameter sets with control The driving path that preparation is sent is consistent.

Further, package is passed through the target bin according to the delivery route determined by the package delivering robot It is delivered in the removable container being arranged in below the target bin, comprising: the package delivering robot is in operation to institute It states target bin and package is delivered to the removable container being arranged in below the target bin by the target bin During, it all remains a constant speed and operation or implements the motion state that runs slowly.

S405, control equipment determine one under package delivering robot according to shortest path principle and/or most short waiting principle Task place and driving path are sent to package delivering robot.

S406, package delivering robot are according to the driving path received, the running region on modular entity platform Operation to next task place executes next task.

S407, when the package being collected into removable container meets collection condition, control equipment is lockked removable with target The delivery bin of visibly moved device position binding, and the first transfer robot of container allocation is moved for target, and according to target The position of removable container is that the first transfer robot plans transport path, generates carrying corresponding with the removable container of target and refers to It enables, instruction will be carried and be sent to the first transfer robot.

Wherein, the transport path that instruction includes first transfer robot is carried.The collection condition includes: removable The removable container collection time has been expired and/or reached to container.

Further, whether the control equipment is judged by the following manner the package that is collected into the removable container Meet collection condition:

Further, the full message of the removable container that the sensor is sent to control equipment is true in the following way It is fixed: to be mounted on the sensor of package delivering robot and/or the modular entity platform delivered on bin by being directed toward institute The detecting head for stating edge on removable container detects whether the removable container fills package；When detecting the removable container When filling package, the full message of the removable container is sent to the control equipment.

S408, the first transfer robot are instructed in response to carrying, and are driven to target according to transport path and are moved at container, Target is moved into container handling to package and collects station.

Wherein, the removable container includes cage vehicle；Transfer robot is located at the lower section of the cage vehicle, described for driving Cage vehicle is travelled in the removable container handling layer.

S409, control equipment are idle removable the second transfer robot of container allocation, and move container according to target Position before being handled upside down is that the second transfer robot plans transport path, generates carrying corresponding with free time removable container and refers to It enables, instruction will be carried and be sent to the second transfer robot, carry the transport path that instruction includes the second transfer robot.

Instruction is carried in S410, the response of the second transfer robot, and free time removable container is transported to mesh according to transport path The position before removable container is handled upside down is marked, and unlocks the delivery bin with binding positions.

Further, in the present embodiment, it if package delivering robot and/or transfer robot break down, controls Equipment suspends at least one transfer robot of removable container handling layer, so that maintenance personal enters removable container handling Layer carries out maintenance operation to the package delivering robot and/or transfer robot of failure.Optionally, it can be set in control Standby at least one transfer robot for suspending removable container handling layer, maintenance personal enter after removable container handling layer, Further include:

Communication equipment emits traveling pause signal to ambient enviroment；

Further, in the present embodiment, the multiple removable container can be divided at least one set, for described at least At least one corresponding package delivering robot of one group of removable container allocation and at least one transfer robot.

The embodiment of the invention provides a kind of packages method, control equipment according to the information of package, deliver bin The traffic information of information and presently described running region determines target bin and delivery route and is sent to package delivering machine People；Package delivering robot is transported according to running region of the delivery route of control equipment transmission on modular entity platform again Row, and will wrap up according to the delivery route determined be delivered to by target bin be arranged in it is removable visibly moved below target bin In device, when the package being collected into removable container is fully loaded with collection condition, control equipment locked on moves container, and is First transfer robot plans transport path, can by target according to the route of control facility planning to control the first transfer robot Mobile container handling to package collects station, then plans transport path again for the second transfer robot, is carried with control second Free time removable container is transported to the target according to the transport path according to the route of control facility planning by robot can The position before container is handled upside down is moved, and unlocks the delivery bin with the binding positions.The technical solution of the embodiment of the present invention can Sorting system is at high cost to solve, the problem of flexibility difference, realizes transfer robot and package delivering robot at two not It is run in same plane, route does not interfere mutually, and entire packages system uses parallel operation mode, improves packages Efficiency.

Packages method provided by the embodiment of the present invention can be by packages provided by any embodiment of the invention System executes, and has the corresponding functional module of system and beneficial effect.

Above-described embodiment serial number is for illustration only, does not represent the advantages or disadvantages of the embodiments.

Will be appreciated by those skilled in the art that each module of the above-mentioned embodiment of the present invention or each operation can be used and lead to Computing device realizes that they can be concentrated on single computing device, or be distributed in multiple computing devices and formed Network on, optionally, they can be realized with the program code that computer installation can be performed, so as to storing them Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they In multiple modules or operation be fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific The combination of hardware and software.

All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with The difference of other embodiments, the same or similar part between each embodiment may refer to each other.

The above description is only a preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art For, the invention can have various changes and changes.All any modifications made within the spirit and principles of the present invention are equal Replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims

1. a kind of packages system, which is characterized in that the inside of the packages system is layering setting, comprising: is located at The packages layer on upper layer, the removable container handling layer positioned at lower layer, package delivering robot and control equipment；

The packages layer includes the modular entity platform that can carry package delivering robot；The modular entity platform Physical platform to be built by multiple sliceable unit spliceds, for sorting package；On the modular entity platform What is constituted comprising the delivery bin in array arrangement and by the gap between delivery bin travels for package delivering robot Running region, delivery bin is corresponding one or more to deliver road directions；

The removable container handling layer includes multiple removable containers, and the part removable container is located at the delivery lattice The lower section of mouth, for receiving the package from the packages layer；

The control equipment, for the information, the information for delivering bin and presently described traveling area according to the package The traffic information in domain, to determine target bin and delivery route and be sent to package delivering robot；

The package delivering robot, the delivery route for sending according to the control equipment is in the modular entity platform On running region operation, to according to the delivery route determined by package by the target bin be delivered to setting in institute It states in the removable container below target bin.

2. system according to claim 1, which is characterized in that the shape of the multiple sliceable unit includes bar shaped, arc At least one of shape, zigzag, triangle, by the shape for the modular entity platform that the sliceable unit spliced is built Shape includes cube or circular cylinder.

3. system according to claim 1, which is characterized in that the inside of the modular entity platform be single layer be arranged or The setting of person's multilayer；And in the modular entity platform of multilayer setting, it is arranged in parallel between each layer, the part removable container position In the underface for delivering bin.

4. system according to claim 3, which is characterized in that in the modular entity platform of multilayer setting, in difference Delivery bin position in the horizontal direction in level is identical, or the delivery bin at the same position in different level Between position face along the vertical direction.

5. system according to claim 1, which is characterized in that the package delivering robot is according to the delivery road determined It is specific to use when package is delivered in the removable container being arranged in below the target bin by diameter by the target bin In:

The package delivering robot is set in operation to the target bin and by wrapping up being delivered to by the target bin During setting the removable container below the target bin, all remains a constant speed and operation or implement the movement run slowly State.

6. system according to claim 1, which is characterized in that the packages system further includes transfer robot, institute Transfer robot is stated for carrying the removable container.

7. system according to claim 6, which is characterized in that

The removable container includes cage vehicle；The transfer robot is located at the lower section of the cage vehicle, for driving the cage vehicle It is travelled in the removable container handling layer.

8. system according to claim 6, which is characterized in that the control equipment is also used to when the removable container In the package that is collected into when meeting collection condition, lock the delivery bin that the binding of container position is moved with the target, And the first transfer robot of container allocation is moved for the target, and it is described for moving the position of container according to the target First transfer robot plans transport path, generates carrying corresponding with the removable container of the target and instructs, by the carrying Instruction is sent to first transfer robot, described to carry the transport path that instruction includes first transfer robot；

First transfer robot drives to the target according to the transport path for instructing in response to the carrying At removable container, the target is moved into container handling to package and collects station.

9. system according to claim 8, which is characterized in that the collection condition include: removable container expired and/or Reach the removable container collection time；

If the full message of the removable container that the control equipment receives sensor transmission, judges the removable container In the package that is collected into meet collection condition；And/or

If the control equipment detects that the total volume of delivery of packages reaches preset vol threshold value or reaches in removable container The removable container collection time, then judge that the package being collected into the removable container meets collection condition.

10. a kind of packages method characterized by comprising

Equipment is controlled according to the information, the information of delivery bin and the traffic information in current driving region of package, to determination Target bin and delivery route are simultaneously sent to package delivering robot；

Traveling of the package delivering robot according to the delivery route for controlling equipment transmission on modular entity platform Area operation is arranged will wrap up being delivered to by the target bin according to the delivery route determined in the target lattice In removable container below mouthful；

Wherein, the modular entity platform can carry package delivering robot, be located at packages layer；The modular entity Platform is the physical platform built by multiple sliceable unit spliceds, for sorting package；The modular entity is flat On platform comprising in array arrangement delivery bin and be made of the gap between delivery bin for package delivering robot The running region of traveling, the corresponding one or more delivery road directions of a delivery bin；The removable container be it is multiple, be located at can Mobile container handling layer, and the part removable container is located at the lower section for delivering bin, comes from the packet for receiving Wrap up in the package of sorting layer.