CN109954687A

CN109954687A - Equipment control method and device

Info

Publication number: CN109954687A
Application number: CN201711436586.6A
Authority: CN
Inventors: 朱礼君; 张剑波; 周恺; 林杰; 刘衡; 赵良乾; 李建军
Original assignee: Cainiao Smart Logistics Holding Ltd
Current assignee: Cainiao Smart Logistics Holding Ltd
Priority date: 2017-12-26
Filing date: 2017-12-26
Publication date: 2019-07-02
Anticipated expiration: 2037-12-26
Also published as: CN109954687B; TW201928560A; WO2019128907A1

Abstract

The application provides a device control method and device, and relates to the technical field of logistics information. The method comprises the following steps: after the object collecting equipment acquires the logistics objects from the object sorting equipment, the corresponding transporting equipment is controlled to transport the object collecting equipment to the corresponding destination according to the use characteristics of the object collecting equipment. In the logistics package connection process, manual processing is not needed when people slide to the opening, but the object collecting equipment is automatically moved (transported to a destination), so that the manual participation degree is low, and the automation degree is high; workers do not need to work near the slideway port of the steel frame platform, so that the workers are prevented from working in the severe working environment; moreover, the flexibility of the system is greatly improved due to the automatic mobile processing of the object collecting equipment.

Description

A kind of apparatus control method and device

Technical field

This application involves logistics information technique fields, more particularly to a kind of apparatus control method and device.

Background technique

With the development of e-commerce, more and more users in online purchase commodity, and due to user purchase commodity increase More, express delivery amount is also increasing, and the pressure of logistic industry is also increasing.In logistic industry, sorting is one of core link, Based on the violent growth of above-mentioned express delivery amount, the mode of manual sorting's express delivery also increasingly can not meet demand, thus produce certainly Dynamicization sort plan.

In first technology, the automated sorting scheme used often requires to rely on fixed sorting device progress, such as Conveyer belt, sorting platform etc..Its scheme requires to customize steel construction sorting platform for place, then on steel construction sorting platform Automated sorting equipment is set.Such as traditional side that automated sorting is carried out using transporting equipments such as AGV (automatic guided vehicle) Case is usually that AGV is allowed to move on steel construction sorting platform.There is work station in square side on the platform, sets in platform plane Many sorting bins are equipped with, slideway is connected to below bin, are object collecting device below slideway.AGV receives object from work station Flow object；Then AGV is moved to barcode scanning point, obtains logistics characteristics of objects information by barcode scanning device barcode scanning；Again via control system It determines its corresponding bin and controls the AGV and be moved to corresponding bin, then AGV topples over object, is fallen to by slideway In collecting device.It is fought each other and is wrapped with manpower again later, then the collection bag after packing is plugged into and is transported to sorting export.

Inventor has found that first technology has the following disadvantages: during application above scheme

Since it uses hand press-packing and transport, human cost is high, not flexible.

Summary of the invention

In view of the above problems, the embodiment of the present application provides a kind of apparatus control method, by object collecting device from right After obtaining logistics object as sorting device, according to the use feature of the object collecting device, controlling corresponding transporting equipment will The object collecting device is transported to corresponding destination, solves the problems, such as that human cost is high, inflexible in first technology.

Correspondingly, the embodiment of the present application also provides a kind of plant control unit, to guarantee the above method realization and Using.

To solve the above-mentioned problems, the embodiment of the present application discloses a kind of apparatus control method, comprising:

After object collecting device obtains logistics object from object sorting device, according to the use of the object collecting device Feature controls corresponding transporting equipment and transports the object collecting device to corresponding destination.

Correspondingly, the embodiment of the present application also discloses a kind of plant control unit, comprising:

First movement control module is used for after object collecting device obtains logistics object from object sorting device, according to The use feature of the object collecting device controls corresponding transporting equipment and transports the object collecting device to corresponding mesh Ground.

Correspondingly, the embodiment of the present application also discloses a kind of device characterized by comprising

One or more processors；With

One or more machine readable medias of instruction are stored thereon with, when by one or more of processors execution institute When stating instruction, so that described device executes a kind of apparatus control method.

Correspondingly, the embodiment of the present application also discloses one or more machine readable medias, be stored thereon with instruction, when by When one or more processors execute described instruction, a kind of apparatus control method is executed.

The embodiment of the present application includes the following advantages:

The embodiment of the present application is received after the logistics object that object collecting device receives that object sorting device obtains according to object The use feature for collecting equipment, which is transported to corresponding destination, subtract using a corresponding transporting equipment The artificial degree of participation in sort process is lacked, has improved automation process, has reduced human cost, improves flexibility.

Detailed description of the invention

Figure 1A is a kind of logistics system floor map that one embodiment of the application provides；

Figure 1B is a kind of object sorting equipment schematic diagram that one embodiment of the application provides；

Fig. 1 C is a kind of object collection device schematic diagram that one embodiment of the application provides；

Fig. 1 D is a kind of transporting equipment schematic diagram that one embodiment of the application provides；

Fig. 1 E is a kind of logistics object schematic diagram of transfer process that one embodiment of the application provides；

Fig. 1 F is a kind of apparatus control method schematic diagram that one embodiment of the application provides；

Fig. 1 G is the equipment configuration diagram that one embodiment of the application provides；

Fig. 2 is a kind of step flow chart for apparatus control method that one embodiment of the application provides server side；

Fig. 3 A is the specific steps flow chart for another apparatus control method that one embodiment of the application provides server side；

Fig. 3 B is the specific steps flow chart for another apparatus control method that one embodiment of the application provides server side；

Fig. 4 is that one embodiment of the application provides a kind of step flow chart of system-level apparatus control method；

Fig. 5 is that one embodiment of the application provides the specific steps flow chart of system-level another apparatus control method；

Fig. 6 A is a kind of structure chart for plant control unit embodiment that one embodiment of the application provides；

Fig. 6 B is a kind of concrete structure diagram for plant control unit identical embodiment that one embodiment of the application provides；

Fig. 7 is a kind of hardware structural diagram for device that another embodiment of the application provides；

Fig. 8 is a kind of structural schematic diagram for sorting system that one embodiment of the application provides；

Fig. 9 is the object sorting device structural schematic diagram that one embodiment of the application provides；

Figure 10 is the transporting equipment structural schematic diagram that one embodiment of the application provides；

Figure 11 is the object collecting device structural schematic diagram that one embodiment of the application provides；

Figure 12 is the sorting system structural schematic diagram that another embodiment of the application provides；

Figure 13 is the object collecting device structural schematic diagram that another embodiment of the application provides；

Figure 14 is the transporting equipment structural schematic diagram that one embodiment of the application provides；

Figure 15 is the object sorting device structural schematic diagram that another embodiment of the application provides；

Figure 16 is the object collecting device structural schematic diagram that another embodiment of the application provides.

Specific embodiment

In order to make the above objects, features, and advantages of the present application more apparent, with reference to the accompanying drawing and it is specific real Applying mode, the present application will be further described in detail.

Firstly, introducing the term that the embodiment of the present application is used:

Feeding area: refer to the region logistics object to be sorted on truck kept near work station；

Work station: referring to that worker put the region of package operation, logistics object can be placed on AGV by worker.It needs Bright is the logistics characteristics of objects information for needing to be equipped with information acquisition apparatus herein and carrying out automatic identification logistics object, subsequent to carry out The calculating of task.

Datapath section: the region that may be occupied when referring to sorting AGV, the AGV that plugs into walking, usually smooth；

Pocket area: referring to that the region of placing objects collecting device, object collecting device are used to collect the logistics of sorting AGV transfer Object；

Bagging area: refer to that worker is the region that object collecting device carries out seam package operation.

Wherein logistics object can be understood as the objects such as logistics package.

In embodiment, logistics system includes: server, multiple first transporting equipments, object sorting device, to the application Two transporting equipments, object collecting device, information acquisition apparatus.In conjunction with Figure 1A, Figure 1B, Fig. 1 C, Fig. 1 D, Fig. 1 E, Fig. 1 F, Fig. 1 G, System introduction is carried out to the embodiment of the present application.

A referring to Fig.1 is a kind of logistics system floor map of the embodiment of the present application.The place sorted in figure is not The place of rule, the embodiment of the present application divide functional area according to the shape in place.Such as Figure 1A, by place entirety cutting For work-yard datapath section U13, feeding area U12, bagging area U17.It is provided with work station U14 based on feeding area, is set at work station Information acquisition apparatus (not shown) is set.

Multiple first transporting equipments, object sorting device, the second transporting equipment, object collecting device are in work-yard path It works in area.

Wherein such as U15 in Figure 1A, the case where being integrated for the first transporting equipment and object sorting device, U15 can be with It is interpreted as sorting AGV, sorting AGV and has gathered the function of both the first transporting equipment, object sorting device.Such as Figure 1B, it is The schematic diagram of sorting AGV of the embodiment of the present application a kind of, wherein M10 is object sorting device, and M11 is the first transporting equipment, right As sorting device M10 is placed on the first transporting equipment M11, then first transporting equipment, that is, movable objects sorting is set It is standby.The first transporting equipment and object sorting device can separate in certain practical application, and corresponding object sorting device structure is also fitted The modification of answering property, the embodiment of the present invention do not limit it.

U11 in Figure 1A is object collecting device, for collecting the logistics object of sorting AGV transfer.In Fig. 1 C, M12 For a kind of example of object collecting device.

U16 is the second transporting equipment in Figure 1A, it can be understood as plug into AGV.If Fig. 1 D, M14 are the application one kind second The example of transporting equipment.It is appreciated that the AGV that plugs into can be bound with object collecting device, can also separate.It needs to illustrate It is that the first transporting equipment can be the same or different with the second transporting equipment.

Object collecting device U11 in so Figure 1A can be set in the datapath section U13 of work-yard, sorting AGVU15, The AGVU16 that plugs into walks in the datapath section U13 of work-yard.Certainly the operating path of sorting AGV and the AGV that plugs into can also bases Demand is walked across work-yard datapath section, for example is run in feeding area U12 and work-yard datapath section U13.

It sorts AGVU15 and receives logistics object in work station U14, the information acquisition apparatus of work station U14 obtains the logistics pair The logistics characteristics of objects information of elephant is to server, the subsequent position for calculating the corresponding object collecting device of the logistics object of server It sets namely the corresponding area that pockets of object collecting device, and planning reaches the path of object collecting device U11.Then lead to Know that sorting AGV is moved to object collecting device U11.After being moved to object collecting device U11 such as Fig. 1 E sorting AGV, object point It picks equipment M10 and the logistics object is transferred to object collecting device M12.In Fig. 1 E, object sorting device is provided with Dumpage type The top of mode transfer object, this kind of mode object sorting device is compared as the high preset value of the entrance of collecting device, facilitates object Sorting device rises top plate, and logistics object is poured into object collecting device M12.

Feature detection device can also be set in object collecting device in practical applications, test object collecting device Using feature, for example, object collecting device amount of capacity, have waiting time after object, object in object collecting device Occupy capacity etc..Then object collecting device can will use feature to be sent to server, such as full in capacity, or wait Time is more than preset threshold.Server can send a second transporting equipment M14 to reach the object collecting device position, Lai Yidong The object collecting device.Such as in Fig. 1 E, the second transporting equipment M14 enters under object collecting device M12, and then rising makes pair As collecting device leaves ground, the object collecting device is then moved to bagging area U17, carries out bagging operation.

F referring to Fig.1, it illustrates a kind of apparatus control method of the embodiment of the present application interaction schematic diagrames.

S1, object sorting device receive logistics object from work station.

In conjunction with previous example, the object sorting device M10 sorted on AGV receives logistics object A in work station.

S2, mobile object sorting device of the first transporting equipment to information acquisition apparatus position.

The first transporting equipment for carrying sorting AGV starts to move, and is moved to the acquisition of information being arranged in work station and sets Under standby.

It should be noted that the information acquisition apparatus of the embodiment of the present application can take various forms, such as camera, The logistics characteristics of objects information obtained on logistics object can be scanned.

S3, information acquisition apparatus obtain the logistics characteristics of objects information of logistics object, and are sent to server.

After information acquisition apparatus scanning to the logistics characteristics of objects information of the logistics object, by the logistics characteristics of objects information It is sent to server.Certainly, information acquisition apparatus can also will transport the mark of the first transporting equipment of the logistics object to clothes Business device, so that follow-up is returned to first transporting equipment by server.

S4, server determine an object collecting device according to logistics characteristics of objects information, and are back to first transport and set It is standby.

Server according to the position of each object collecting device, using feature, select one from available object collecting device A object collecting device, for example object collecting device B has been selected, it then returns to relevant information and gives first transporting equipment.

In addition, server can also be set according to information such as the positions of equipment each in the datapath section of work-yard to the first transport Standby planning returns to the first transporting equipment from current location to the path in the area that pockets of object collecting device B.

Certainly in practical applications, due to also having received corresponding first when server receives the logistics characteristics of objects information The mark of transporting equipment, then above- mentioned information can be returned to first transporting equipment according to the mark by server.

Certainly be stored in practical applications, in server the first transporting equipment information (the first transporting equipment in real time to Server reports self information), above- mentioned information can be returned to the first transporting equipment by server.

S5, the first transporting equipment mobile object sorting device to object collecting device position.

After first transporting equipment receives above- mentioned information, it is known that be moved to where and how to move, then Near then can be with mobile object sorting device to the area that pockets of object collecting device B, the object sorting device for facilitating it to move turns Move logistics object.

In certain practical application, the first transporting equipment can also automatic avoiding barrier etc., collected until reaching the object Near the area that pockets of equipment B.Then direction is adjusted, object sorting device transfer flow object is facilitated.

Logistics object is transferred to object collecting device by S6, object sorting device.

After first transporting equipment is near the area that pockets for reaching object collecting device B, server can be sorted to object Equipment sends transfer instruction, and logistics object is transferred in object collecting device B with control object sorting device.

In practical applications, the position of itself can be sent to server by the first transporting equipment, and then basis should for server Position determines whether first transporting equipment reaches the area that pockets of object collecting device B.Server is if it is determined that reach then can be with Give the object sorting device send transfer instruction, the object sorting device then transfer flow object into object collecting device B. In addition, the first transporting equipment can also independently judge whether to reach the area that pockets of object collecting device B, it, can be with if reached It is sent to server and reaches information.Server receives the arrival information, then device can send transfer instruction to object sorting device, Logistics object is transferred in object collecting device B with control object sorting device.Detailed process the embodiment of the present application is not to it It limits.

Such as Fig. 1 E, logistics object can be transferred to object collecting device B by the way of Dumpage type by object sorting device In, wherein object sorting device has certain height, and toppling over for top is higher than this after sub-device is dug to mode is toppled over The entrance of object collecting device, this, which topples over sub-device, can allow logistics object to be slipped in object collecting device.

It is, of course, also possible to using modes such as transmission, ejections.Such as to the kind of drive, object sorting device has certain Height, and its holding tray surface is flushed with object collecting device entrance, at this time sorting device can pass through belt the modes such as be driven will Logistics object is passed in object collecting device；To ejection mode, object sorting device has ejectability, and holding tray surface can be low Object collection is sent into a manner of similar shooting in object collecting device entrance, after sorting device bounces logistics object at this time to set In standby.

After by the transfer of logistics object, server can control its first transporting equipment and continues to move to object sorting device Work station transports next logistics object.

It certainly,, can be according to the quantity of work station logistics object, work when there are multiple work stations in practical application The parameters such as the number of the sorting AGV to stand, are scheduled sorting AGV.For example work station logistics object is greater than certain amount threshold Value, and the corresponding sorting AGV of the work station is less than predetermined number numerical value, then the sorting AGV of more free time can be arranged extremely should Work station.

S7, object collecting device send to server and use feature.

Object collecting device can be therein using feature by the feature detection device detection being disposed therein, this makes Include: whether object collecting device capacity is less than preset capacity threshold value with feature, and/or have receive after logistics object it is next It is accumulative whether the logistics object waiting time is greater than or equal to the logistics object in preset time threshold and/or object collecting device Whether weight is greater than or equal to preset weight threshold value, certainly can also include other information, such as the object mark of logistics object Know etc..

Object collecting device can be less than preset capacity threshold value in the capacity in practical applications or the waiting time is greater than Or the logistics object cumulative weight being equal in preset time threshold or object collecting device is greater than or equal to preset weight threshold value When to server send this using feature.Can certainly the transmission when being unsatisfactory for above-mentioned condition, the embodiment of the present application is not to it It is limited.

S8, server notify the second transporting equipment according to using feature to determine the first destination.

If the capacity is less than preset capacity threshold value, perhaps the waiting time is greater than or equal to preset time threshold or right As the logistics object cumulative weight in collecting device be greater than or equal to preset weight threshold value, then server can determine the object receive Collect equipment the first destination, such as in earlier figures 1A bagging area which sorting export, then notify this second transport set Standby mobile, destination is the sorting export.

Certainly, server can save the logistics of the logistics object of the secondary collection in the object collecting device in practical application Characteristics of objects information goes to determine first using feature in conjunction with these after the use feature for receiving the transmission of object collecting device Destination.

S9, mobile object collecting device of the second transporting equipment to the first destination.

After second transporting equipment receives the notice, then the object collecting device B can be moved to the sorting export, then Staff can carry out bagging operation to collection bag therein, then be transferred to next logistics links.

S10, object collecting device send idle state information to server.

After logistics object in object collecting device is taken out, feature detection device therein can then detect that this is right As collecting device is in idle condition, then idle state information can be sent to server.

S11, server notify the second transporting equipment according to the second destination of preset schedule policy selection.

Server then can select the second destination according to preset scheduling strategy, and notify the second transporting equipment.

For example, server according to from each starting point to each destination logistics object uninterrupted and the object collect The amount of capacity of equipment determines the second destination of the object collecting device.Wherein the such as each work station in starting point is upper Goods mouth.Specifically, being such as greater than flow threshold from the logistics object flow of some mouthful M1 to some sorting export N1 that gets in stocks, say Its bright demand is big, then the object collecting device that capacity can be arranged bigger to the area that pockets between mouthful M1 to sorting export N1 that gets in stocks K1 can then arrange its area K1 that pockets to this if that the object collecting device is greater than capacity threshold.And from some mouth of getting in stocks The logistics object flow of M2 to some sorting export N3 is less than flow threshold, illustrates that its demand is small, then capacity can be arranged small Object collecting device holds to the area K3 that pockets between mouthful M2 to sorting export N3 that gets in stocks if that the object collecting device is less than Threshold value is measured, then can arrange its area K3 that pockets to this.

Certainly, in practical applications, multiple range intervals can be set for logistics object flow, different range section Flow can correspond to the object collecting device of different capabilities, thus the object collecting device of respective volume grade can be arranged to need Ask the second destination of the object collecting device.

It should be noted that in practical application, it can also be only according to from each starting point to the logistics object data stream of each destination Size is measured, determines the second destination of the object collecting device.This kind of situation does not consider that the total capacity of object collecting device is big It is small, it is believed that the total capacity of each object collecting device is identical.

It, can be according to from each starting it should be noted that the second destination is not fixed, such as the area that pockets in Figure 1A Ground is dynamic to adjust the second mesh to the logistics object uninterrupted of each destination and the amount of capacity of the object collecting device Ground, to improve conevying efficiency.

S12, mobile object collecting device of the second transporting equipment to the second destination.

Sorting transport in the prior art has the following disadvantages, such as: 1, subsequent to the more demanding of place shape and space Scalability is poor；2, it picks platform and slideway capital construction difficulty is big, it is at high cost；3, the object after sorting is collected, cost of plugging into is excessively high, automatically Change degree is low.The embodiment of the present application provides logistics system and overcomes disadvantages mentioned above well:

In a first aspect, the logistics system of the embodiment of the present application is independent of (such as the steel construction sorting of fixed sorting device Platform), all transporting equipments move in same layer place, and all object sorting devices and object collecting device are also located In same layer；Also, the embodiment of the present application sorting pockets has carried out innovation processing with bagging, so as to obtain it is higher from Dynamicization.Platform and slideway are sorted due to eliminating steel construction, brings following benefit:

1, to place shape no requirement (NR), it is adaptable to the place of random appearance；To place headroom also no requirement (NR), normal architectural It all can meet demand.To obtain extremely strong scalability to cope with business in following and increase.

2, the construction cost and installation period of system are reduced.Capital construction occupies most system installation in the prior art One of time and the chief component of system cost.The installation period of system can be reduced significantly using the embodiment of the present application With capital construction cost.

3, dynamic adjustment flexibly can be carried out to lifting system efficiency to layout.Sorting device is once built in the prior art At, can not position to wherein collecting device, size, quantity modify, however use the embodiment of the present application being capable of root at any time According to the position of the distribution situation dynamic regulating object collecting device of object flow direction, size, quantity, for example, if it is expected that whereabouts somewhere Number of objects increase considerably, then can be by increasing the quantity of object collecting device on the whereabouts ground, pair on the whereabouts ground As collecting device size, adjust the whereabouts ground object collecting device position it is closer from object entrance, thus lifting system Efficiency.

4, the cost of place migration is greatly decreased.In first technology logistics system be for the customization of a certain place, once build up It is difficult to move to the use of another place, increases the cost of place migration.However it is only needed using the embodiment of the present application to fortune The heads such as transfer device, object collecting device, object sorting device, information acquisition apparatus are carried, and new place installation Period is short, place can flexible expansion, not by place differentia influence, thus be greatly decreased place migration cost.

Second aspect: the embodiment of the present application greatly improves the automatization level for the process of plugging into, and implements simple, efficiency High, place limits small.

1, in the application implementation, other than collection packet procedures accomplish full-automation, due to eliminating the fixed dress such as slideway It sets, the transporting equipment for participating in collection packet procedures is acted on one's own in place, to significantly improve system effectiveness.And If collection packet procedures are using manpower scheme in first technology, it will lead to that the working environment of workers is poor, large labor intensity, human cost It is high；It is limited by influence of the slideway height to conveyer belt and transporting equipment if using conveyer belt and transporting equipment, moves field Ground is limited, and efficiency is very limited.

2, for ease of maintenaince, space requirement is small for system.Since there are upper layer and lower layer in first technology, have one to the height in place Provisioning request, some existing places can not use first technology due to height limitation；And the embodiment of the present application is to the height in place It substantially reduces, can be applied in almost all of sorting place.Furthermore when event occurs in automation collection packet system in traditional scheme When barrier, limitation and slideway due to sorting device height occupy big quantity space therein, so that worker is very difficult to enter it In place under repair to it, and in the embodiment of the present application, since all systems are all run on the same layer, so that the work of worker Environment is more preferable, and system maintenance is easier.

3, on the basis of first technology, though consider AGV is introduced during plugging into, due to slideway can occupy AGV can With the path of traveling, cause the place for AGV movement of plugging into very limited, one side software optimizing scheduling space is smaller, limit The efficiency for AGV device of individually plugging into is made, if on the other hand in that case, being still to guarantee certain efficiency of plugging into, then needing It wants the more AGV that plugs into complete work of plugging into, whole system cost is caused to increase severely.

Referring to Fig. 2, a kind of step flow chart of apparatus control method embodiment of the application is shown from server side, is had Body may include steps of:

Step 210, it after object collecting device obtains logistics object from object sorting device, is set according to object collection Standby use feature controls corresponding transporting equipment and transports the object collecting device to corresponding destination.

Object sorting device, object collecting device, transporting equipment are provided in logistics system in the embodiment of the present application.Wherein Transporting equipment can be used for mobile object sorting device.It is, of course, also possible to include the server for controlling each equipment operation.

In the embodiment of the present application, logistics system can use traditional steelframe and slideway structure, and object sorting device is in steel It is run on body panel, logistics object is then poured into slideway, then the available logistics object of object collecting device.

Certainly, object sorting device, object collecting device, transporting equipment can also be arranged same for the embodiment of the present application Level, such as same floor.Object sorting device can be transported by its corresponding transporting equipment to object collecting device, server Logistics object is transferred at object collecting device by control object sorting device.

It should be noted that logistics object can be the objects such as logistics package.

Wherein, in the embodiment of the present application, object sorting device can gather sorting and locomotive function.Certain object sorting Equipment can only carry out object sorting function, and the mobile object sorting device of a transporting equipment is then arranged, and the application is implemented Example is without restriction to its；It should be noted that the corresponding transporting equipment of object collecting device in the case of this kind, it can be with object The corresponding transporting equipment of sorting device is identical, can also be different, and the embodiment of the present application does not limit it.

Object collecting device after getting logistics object, can by the use feature of the object collecting device in real time or Timing is uploaded to server, and server then can control corresponding transport and set according to the use feature of the object collecting device It is standby to transport the object collecting device to corresponding destination.

Wherein, sorting export of the destination of object collecting device than bagging area as the aforementioned.

It should be noted that the object collecting device include: using feature object collecting device residual capacity, right As the logistics object of collecting device receives waiting time, the logistics object cumulative weight wherein at least one in object collecting device It is a.Certainly, the use feature of the object collecting device can also include other kinds of information, and the embodiment of the present application is not to it It limits.

It since object collecting device is after getting logistics object, is received according to the object in the embodiment of the present application The use feature for collecting equipment, controls corresponding transporting equipment and transports the object collecting device to corresponding destination, in reality During the plugging into of existing logistics package, manually do not carry out artificial treatment sliding into mouth, but automatically to object collecting device into The mobile processing of row (transport to destination), artificial degree of participation is low, high degree of automation, reduces human cost；And worker is not Slideway mouth used in steelframe platform nearby works, and avoids worker and works under this kind of severe working environment；Furthermore due to certainly It is dynamic that mobile processing is carried out to object collecting device, substantially increase the flexibility of system.

Referring to Fig. 3 A, a kind of step flow chart of apparatus control method embodiment of the application is shown from server side, It can specifically include following steps:

Step 310, after object sorting device receives logistics object, according to the logistics characteristics of objects information, control The mobile object sorting device of corresponding transporting equipment, so that the logistics object is transferred to institute by the object sorting device State object collecting device.

Such as the description of Figure 1A-Fig. 1 E, after object sorting device receives logistics object, then server can be according to this The logistics characteristics of objects information of logistics object, by the mobile object sorting device of the first transporting equipment, so that the object The logistics object is transferred to the object collecting device by sorting device.

Preferably, step 310 includes: sub-step 311-313

Sub-step 311 receives the logistics characteristics of objects information for being obtained and being sent by information acquisition apparatus；

In the embodiment of the present application, the characteristic information of the logistics object can be obtained due to the information acquisition apparatus being additionally arranged It takes, server is then sent to by the characteristic information that information acquisition apparatus will acquire.

Preferably, the logistics characteristics of objects information by the information acquisition apparatus in the object sorting device by described After corresponding transporting equipment is moved at the information acquisition apparatus position, from the logistics object in the object sorting device It obtains.

It is appreciated that the corresponding transporting equipment of object sorting device can be the first transporting equipment.

Preferably, the information acquisition apparatus includes camera, scanner, and the logistics characteristics of objects information is taken the photograph by described It is obtained as head or the scanner scan the encoding of graphs on the logistics object；

Wherein image coding can be two dimensional code or bar code, and the embodiment of the present application does not limit it.The image The logistics characteristics of objects information based on logistics object is encoded to generate.

Alternatively, the information acquisition apparatus includes RF Reader, the logistics characteristics of objects information is known by the radio frequency Other device scans the acquisition of the RF tag on the logistics object.

It should be noted that record has the logistics characteristics of objects of logistics object to believe in the RF tag in this way Breath, then RF Reader can scan RF tag to obtain the logistics characteristics of objects information.May be used also in practical applications In a manner of using the communication of other scenes, the embodiment of the present application is not limited it.

Sub-step 312 determines corresponding object collecting device according to the logistics characteristics of objects information；

It, can be right according to logistics characteristics of objects information distribution one after server receives the logistics characteristics of objects information As collecting device.

In practical applications, which may include the information such as object ID, posting address.

Preferably, sub-step 312 includes: sub-step A21-A22

Sub-step A21 obtains the first location information of the logistics object, the second location information of each object collecting device With use feature, and obtain the third place information and mobile status information of each second transporting equipment；

In practical applications, since there are multiple first transporting equipments, multiple second transporting equipments, multiple in working region Object collecting device.Wherein the first transporting equipment is used for mobile object sorting device, and the second transporting equipment is received for mobile object Collect equipment.Multiple first transporting equipment, multiple second transporting equipments, multiple object collecting devices can be carried out with server Interaction, such as Fig. 1 G.Server, which can receive, receives the location information that the object sorting device of logistics object uploads, to obtain it In logistics object first location information.Each object collecting device can by its current second location information and use feature It is sent to server, its current the third place information and mobile status information can be uploaded to clothes by each second transporting equipment Business device.Server then can receive above- mentioned information.

Sub-step A22 according to the first location information, second location information, uses feature, the third place information and shifting Dynamic status information, determines corresponding object collecting device.

Wherein mobile status information includes whether to carry object collecting device, if carried, if carry the free time Object collecting device etc..For example, the address of logistics object 1 is L1, and L1 is destined to sorting export M1's, there is 3 at this time Object collecting device P1, P2, P3 have wherein had the object for reaching M1 in P1, and 1 object of capacity difference, P2 also have arrival M1 Object, but capacity is also very much, and P3 is idle.And nearest from P1, P2, P3 respectively do not carry the of object collecting device Two transporting equipments are T1, T2, T3.Wherein L1 is nearest from P1.The object collecting device that can so determine logistics object 1 is P1, Its distance recently, and can quickly carry out subsequent transport.

Certainly, in practical application, an object collecting device can be trained to determine model, joined above- mentioned information as input Number inputs the model, so that it is determined that object collecting device.

It is, of course, preferable to, first transporting equipment and the object sorting device binding connect, the second transporting equipment with The object collecting device binding connection

If the first transporting equipment and the second transporting equipment, bound respectively with object sorting device and object collecting device, Then only need to obtain the relevant information of the first transporting equipment, the second transporting equipment.It determines the process of object collecting device It is similar.

Sub-step 313 notifies the mobile object sorting device of the first transporting equipment to the position of the object collecting device It sets, and behind the position that the first transporting equipment reaches object collecting device, notifies the object sorting device by the logistics pair As being transferred to the object collecting device.

Server can notify the object where logistics object 1 after determining the corresponding object collecting device of logistics object 1 The first transporting equipment that sorting device is connected, Xiang Suoshu object collecting device is mobile, is being moved near object collecting device Afterwards, then it can control object collecting device and logistics object be transferred to the object collecting device.

Preferably, sub-step 313 includes: sub-step A31-A33

Sub-step A31, obtains the 4th location information and the third destination of first transporting equipment, and obtains second 5th location information of transporting equipment, the 4th destination and the 6th of planning path and remaining object collecting device Confidence breath；

In order to plan that optimal path, server can be interacted with each terminal in the embodiment of the present application, above-mentioned the is obtained 4th location information of one transporting equipment and third destination, and obtain the 5th location information of remaining transporting equipment, 6th location information of four destinations and planning path and remaining object collecting device.

Wherein, third destination is object collecting device position, than the area that pockets as the aforementioned.

Sub-step A32, according to the 4th location information, third destination, the 5th location information, the 4th destination, Planning path, the 6th location information, determine first transporting equipment to the third destination planning path；

Then according to the above-mentioned information got, determine first transporting equipment from current position be moved to this The optimal path of three destinations.

Certainly, in practical application, a path determination model can also be trained, then using above- mentioned information as the defeated of model Enter, determines the planning path.

It should be noted that the training of above-mentioned model can use arbitrary machine training pattern, the embodiment of the present application is not right It is limited.

Sub-step A33 notifies first transporting equipment according to the mobile object sorting device of the planning path extremely The position of corresponding object collecting device.

The planning path can be sent to after planning path has been determined and transport the of the object sorting device by server One transporting equipment, then according to the planning path mobile object sorting device to object collecting device position at.Facilitate object point Equipment transfer flow object is picked to the object collecting device.

Preferably, if first transporting equipment is separated with the object sorting device, further include:

Step 314, first transporting equipment being in idle condition is notified to connect the object sorting device, to move State object sorting device.

In the embodiment of the present application, the first transporting equipment and object sorting device can be by the way of separation, object point It picks and first transporting equipment being in idle condition is sent to come to dock with the object sorting device when equipment needs again, Then the object sorting device is moved.Certainly, if the first not idle transporting equipment, can wait one idle first Then transporting equipment sends it to dock with the object sorting device.

Server can receive the first transport instruction sent by object sorting device in practical applications, then according to institute The first transport instruction is stated, notifies first transporting equipment being in idle condition to connect the object sorting device, to move State object sorting device.

Step 320, it after object collecting device obtains logistics object from object sorting device, is set according to object collection Standby use feature controls corresponding transporting equipment and transports the object collecting device to corresponding destination.

The step is similar with step 210 in Fig. 2 embodiment, and this will not be detailed here.

It is appreciated that the corresponding destination of object collecting device such as uses the first destination to describe, then first mesh Ground such as Figure 1A in bagging area sorting export.

Preferably, step 320 includes:

Sub-step 321 notifies the second transport if the residual capacity of the object collecting device is less than preset capacity threshold value Equipment moves the object collecting device to the first destination；

Object collecting device can be less than preset capacity threshold value in the residual capacity in practical applications, send to server This uses feature.Server then can notify second transporting equipment when the residual capacity is less than the first capacity threshold The mobile object collecting device is carried away object collecting device in time to the first destination.

And/or sub-step 322, if the logistics object of the object collecting device receives the waiting time and is greater than or equal in advance If time threshold, then notify the mobile object collecting device of the second transporting equipment to the first destination；

Object collecting device can be after receiving logistics object in practical applications, and the waiting time is greater than or equal to default After time threshold, this is sent to server and uses feature.Server then can waiting time be more than preset time threshold when, The mobile object collecting device of second transporting equipment is notified to the first destination, when to avoid the waiting of object collecting device Between it is too long.

And/or sub-step 323, it is preset if the logistics object cumulative weight in the object collecting device is greater than or equal to Weight threshold then notifies the mobile object collecting device of the second transporting equipment to the first destination.

Object collecting device can be after receiving logistics object in practical applications, and cumulative weight is greater than or equal to default After weight threshold, this is sent to server and uses feature.Server then can the cumulative weight be more than preset weight threshold value when, It notifies the mobile object collecting device of second transporting equipment to the first destination, transports object collecting device in time It walks.

Certain object collecting device can also the transmission when being unsatisfactory for above-mentioned condition, the embodiment of the present application do not limit it It is fixed.

Preferably, step 320 includes: sub-step 324-325

Sub-step 324 receives the use feature that the object collecting device is sent；It is described to be received using feature by the object The feature detection device collected in equipment obtains, wherein the feature detection device is infrared detection unit, gravity sensitive Device, scanning timer wherein at least one；

Sub-step 325, according to it is described use feature, control corresponding transporting equipment by the object collecting device transport to Corresponding destination.

Such as the description of previous embodiment, using feature, then the feature detection device in object collecting device can obtain This can be sent to server uses feature.So server can then lead to according to the use feature in the object collecting device Know the mobile object collecting device of the second transporting equipment to the first destination.

Wherein, feature detection device may include infrared detection unit, gravity sensor, scan timer wherein at least It one, goes to detect and uses feature accordingly.For example infrared detection unit can detecte residual capacity, gravity sensor can detecte Cumulative weight, scanning timer can carry out package scans timing.Certainly, it if there are also other to use feature, also can be set Corresponding feature detection device.

In another preferred embodiment of the application, second transporting equipment is separated with the object collecting device, then Step 320 includes:

Sub-step 326 uses feature according to described, and it is described right to notify that second transporting equipment being in idle condition connects As collecting device, with the movement object collecting device to the first destination.

In the embodiment of the present application, second transporting equipment can be separately positioned with the object collecting device, right When as collecting device demand, server sends second transporting equipment being in idle condition and the object collecting device pair again It connects, with the mobile object collecting device.It can the more efficient transport resource using transporting equipment.

It should be noted that server also can for object collecting device from its current location to first destination according to Then A31-A33 similar mode planning path notifies second transporting equipment to be moved to the first purpose according to the planning path Ground.

Preferably, such as Fig. 3 B, further includes:

Step 330, it if the use feature of the object collecting device meets preset condition, is no longer collected for the object Equipment allotment flow object.

The residual capacity for meeting preset condition such as object collecting device using feature is less than preset capacity threshold value, right It is greater than or equal to preset time threshold as the logistics object of collecting device receives the waiting time, the logistics pair in object collecting device It, then can be in the logistics in the object collecting device as cumulative weight is greater than or equal to one or more of preset weight threshold value Before object is not transferred, subsequent logistics object no longer is distributed for the object collecting device, it is moved normally, avoids the occurrence of Mistake.

Preferably, such as Fig. 3 B, further includes:

Step 340, it after second transporting equipment reaches corresponding destination, is mentioned to default terminal device transmission processing Show information.

In the embodiment of the present application, the second transporting equipment can upload the arrival information for whether reaching the first destination, clothes Business device can receive the arrival information, after receiving the arrival information, then processing prompt can be sent to default terminal device Information, so that staff be reminded to handle.For example the package of staff's bagging Qu Youxin is reminded, it needs to carry out bagging.

Preferably, such as Fig. 3 B, further includes:

Step 350, when the object collecting device free time, by dispatching corresponding transporting equipment, the object is received Collect equipment conveying to the second destination.

In the embodiment of the present application, in order to keep logistic efficiency higher, the degree of automation is higher, then can collect and set in object When standby idle, it is moved to the second destination by scheduling strategy, so that object collecting device is entered cycle operation state, mentions significantly The efficiency of the processing of plugging into of high logistics object.

It should be noted that aforementioned second destination can be identical as the first destination, can also be different.

Preferably, step 350, comprising: sub-step 351-352

Sub-step 351, when the object collecting device free time, according to the logistics object from each starting point to each destination The amount of capacity of uninterrupted and the object collecting device determines the second destination of the object collecting device；

Sub-step 352 controls the transporting equipment, and the object collecting device is moved to the second destination.

Preferably, the object sorting device, the transporting equipment, the object collecting device are in same level.

It is appreciated that the object sorting device, object collecting device, the first transporting equipment, the second transporting equipment are same In one level.This kind of situation avoids the process that steel frame construction needs upper layer and lower layer to be sorted, and uses the place of same layer Flexibly.

Certainly, in the embodiment of the present application, steelframe platform and slideway can also be set, the first transporting equipment and object are sorted Equipment setting is moved on steelframe platform, and the first transporting equipment drives object sorting device that logistics object is poured into corresponding slideway, Position and the second destination above-mentioned where object collecting device are also the position that logistics object can be received below slideway It sets.

In addition, for by the object sorting device, the transporting equipment, the object collecting device in same level The scheme of setting can specifically be divided into following advantage:

1, low to place shape and space requirement, for ease of maintenaince:

Since the first transporting equipment of the embodiment of the present application, object sorting device, object collecting device, the second transporting equipment can To operate in same level, the mode of sorting platform and slideway independent of steel construction is suitable for place shape no requirement (NR) In the place of random appearance；To place headroom also no requirement (NR), normal architectural all can meet demand, can be applied to almost all of It sorts in place.

2, construction difficulty is small, and the period is short, and at low cost, flexibility, scalability are strong

Due to low to site requirements, without installing the equipment such as steelframe sorting platform, slideway, the factor of consideration is few, with place Demand divides the working region of the first transporting equipment, object sorting device, object collecting device, the second transporting equipment, this Capital construction cost substantially reduces, installation period also greatly shortens for application implementation.

Also, due to being not only restricted to place, when needing to modify or move, due to there is no steel structure platform and slideway, Modification and resettlement are also easy to.The application is only needed to the first transporting equipment, object sorting device, object collecting device, second The heads such as transporting equipment are carried, and new place installation period is short, place can flexible expansion, not by place difference shadow It rings, so that the cost of place migration be greatly decreased, flexibility, scalability are strong.

3, object collection, cost of plugging into, high degree of automation are reduced, maintenance is easy:

The embodiment of the present application, due to eliminating the fixed device such as slideway, makes other than collection packet procedures accomplish full-automation The second transporting equipment that must participate in collection packet procedures can act on one's own in place, and due to idle in object collecting device When, its second destination for being moved to the demand object collecting device can be automatically controlled, to significantly improve system effect Rate saves manpower, reduces object collection, cost of plugging into, improves the degree of automation；

Also, since all systems are all run on the same layer, so that the working environment of worker is more preferable, system maintenance is more It is easy.

Referring to Fig. 4, a kind of step flow chart of apparatus control method embodiment of the application is shown from system layer, specifically It may include steps of:

Step 412, object collecting device sends to server after object sorting device acquisition logistics object and uses feature To server；

Step 414, server uses feature according to described, sends the second notice to the second transporting equipment；

Step 416, second transporting equipment is according to second notice, and the mobile object collecting device is to corresponding Destination.

It is appreciated that the second transporting equipment is according to second notice, the mobile object collecting device is to aforementioned the One destination.

The description of the concrete principle of the embodiment of the present application with reference to the foregoing embodiments, this will not be detailed here.

Referring to Fig. 5, the step flow chart of another apparatus control method embodiment of the application is shown from system layer, is had Body may include steps of:

Step 512, after object sorting device receives logistics object, information acquisition apparatus obtains the logistics of the logistics object Characteristics of objects information is simultaneously sent to server；

Step 514, server sends the first notice to the first transporting equipment according to the logistics characteristics of objects information；

Step 516, the first transporting equipment is according to first notice, the mobile object sorting device, so that described right As the logistics object is transferred to the object collecting device by sorting device；

Wherein, which may include the relevant information of object sorting device, from the first transporting equipment current location The information such as the planning path to object sorting device position.Certainly for how determining object sorting device, how to be planned Path is specifically referred to the description of the embodiment of Fig. 3 A-3B.

Step 518, object collecting device sends to server and uses feature；

Step 520, server sends the second notice to the second transporting equipment using feature according to described；

Step 522, second transporting equipment is according to second notice, the mobile object collecting device to the first mesh Ground；

Wherein, it second notifies including the first destination information, from the second transporting equipment current location to the first destination The information such as planning path.

Step 524, object collecting device sends idle state information to server after the free time；

Step 526, server after idle state information, is transported according to preset schedule strategy by described second receiving Equipment sends third notice；

Wherein, third notice includes the second destination information, from the second transporting equipment current location to the second destination The information such as planning path, the planning path of object collecting device position from the second transporting equipment current location to idle state.

Step 528, the object collecting device is moved to the second destination by second transporting equipment.

The embodiment of the present application can refer to the principle of the similar description of previous embodiment, and this will not be detailed here.

The embodiment of the present application is low to place shape and space requirement, and for ease of maintenaince, construction difficulty is small, and the period is short, at low cost, Flexibility, scalability are strong, can reduce object collection, cost of plugging into, high degree of automation, and maintenance is easy.

It should be noted that for simple description, therefore, it is stated as a series of action groups for embodiment of the method It closes, but those skilled in the art should understand that, the embodiment of the present application is not limited by the described action sequence, because according to According to the embodiment of the present application, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art also should Know, the embodiments described in the specification are all preferred embodiments, and related movement not necessarily the application is implemented Necessary to example.

Referring to Fig. 6 A, a kind of structure chart of plant control unit (such as: server 600) of the application is shown, specifically May include following module:

First movement control module 620, for obtaining logistics pair from object sorting device 640 in object collecting device 650 As rear, according to the use feature of the object collecting device, control corresponding transporting equipment 670 and transport the object collecting device Transport to corresponding destination.

Preferably, the residual capacity for including: object collecting device using feature of the object collecting device, object are collected The logistics object of equipment receives waiting time, the logistics object cumulative weight wherein at least one in object collecting device.

Preferably, the first movement control module includes:

Volume controlled submodule leads to if the residual capacity for the object collecting device is less than preset capacity threshold value Know the mobile object collecting device of the second transporting equipment to the first destination；

And/or time control submodule, it is greater than if the logistics object for the object collecting device receives the waiting time Or be equal to preset time threshold, then notify the mobile object collecting device of the second transporting equipment to the first destination；

And/or Weight control submodule, if the logistics object cumulative weight in the object collecting device be greater than or Equal to preset weight threshold value, then notify the mobile object collecting device of the second transporting equipment to the first destination.

Preferably, second transporting equipment is separated with the object collecting device, the first movement control module packet It includes:

Submodule is sent, for using feature according to described, notifies a second transporting equipment connection being in idle condition The object collecting device, with the movement object collecting device to the first destination.

Preferably, further includes:

Stopping distribution module if the use feature for the object collecting device meets preset condition is no longer institute State object collecting device allotment flow object.

Preferably, second transporting equipment and object collecting device binding connect.

Preferably, referring to Fig. 6 B, on the basis of Fig. 6 A, further includes:

First scheduler module 630 was used for when the object collecting device free time, by dispatching the second transporting equipment 670, The object collecting device is transported to the second destination.

Preferably, first scheduler module includes:

Second destination determines submodule, for when the object collecting device free time, according to from each starting point to each The amount of capacity of the logistics object uninterrupted of destination and the object collecting device determines the object collecting device Second destination；

The object collecting device is moved to the second purpose for controlling the transporting equipment by the second control submodule Ground.

Preferably, the first movement control module includes:

Using feature receiving submodule, for receiving the use feature of the object collecting device transmission；It is described to use spy Sign is obtained by the feature detection device in the object collecting device, wherein the feature detection device is infrared ray spy Gauge head, gravity sensor, scanning timer wherein at least one；

First control submodule controls corresponding transporting equipment and collects the object for using feature according to described Equipment conveying is to corresponding destination.

Preferably, referring to Fig. 6 B, on the basis of Fig. 6 A, further includes:

Second mobile controller 610, for after object sorting device receives logistics object, according to the logistics pair As characteristic information, the mobile object sorting device 640 of the first transporting equipment 660 is controlled, so that the object sorting device 640 The logistics object is transferred to the object collecting device.

Preferably, second mobile controller includes:

Characteristic information receiving submodule, for receiving the logistics characteristics of objects for being obtained and being sent by information acquisition apparatus Information；

Object collecting device determines submodule, for determining that corresponding object is received according to the logistics characteristics of objects information Collect equipment；

Third control submodule, for notifying the mobile object sorting device of the first transporting equipment to the object to collect The position of equipment, and notify the object sorting device that the logistics object is transferred to the object collecting device.

Preferably, the third control submodule includes:

First information acquiring unit, for obtaining the 4th location information and the third destination of first transporting equipment, And obtain the 5th location information, the 4th destination and planning path and the collection of remaining object of the second transporting equipment 6th location information of equipment；

First planning path unit, for according to the 4th location information, third destination, the 5th location information, the Four destinations, planning path, the 6th location information, determine first transporting equipment to the third destination planning road Diameter；

First movement unit, for notifying first transporting equipment to sort according to the mobile object of the planning path Equipment is to the position of corresponding object collecting device.

Second scheduler module, for notifying first transporting equipment being in idle condition connects the object sorting to set It is standby, with the movement object sorting device.

Preferably, first transporting equipment and object sorting device binding connect.

Preferably, the object collecting device determines that submodule includes:

Second information acquisition unit, for obtaining the first location information of the logistics object, each object collecting device Second location information and feature is used, and obtains the third place information and mobile status information of each second transporting equipment；

Object collecting device determination unit, for according to the first location information, second location information, using feature, The third place information and mobile status information determine corresponding object collecting device.

Preferably, referring to Fig. 6 B, on the basis of Fig. 6 A, the logistics characteristics of objects information is by the information acquisition apparatus 680 after the object sorting device is moved to the information acquisition apparatus position by first transporting equipment, from described It is obtained in logistics object in object sorting device.

Preferably, further includes:

Cue module, for being sent to default terminal device after second transporting equipment reaches corresponding destination Handle prompt information.

1, low to place shape and space requirement, for ease of maintenaince:

For device embodiment, since it is basically similar to the method embodiment, related so being described relatively simple Place illustrates referring to the part of embodiment of the method.

Fig. 7 is a kind of structural schematic diagram of server provided by the embodiments of the present application.Referring to Fig. 7, server 700 can be used In the apparatus control method for implementing to provide in above-described embodiment.The server 700 can be generated because of configuration or performance difference to be compared Big difference may include one or more central processing unit (central processing units, CPU) 722 (examples Such as, one or more processors) and memory 732, one or more storage application programs 742 or data 744 Storage medium 730 (such as one or more mass memory units).Wherein, memory 732 and storage medium 730 can be It is of short duration storage or persistent storage.The program for being stored in storage medium 730 may include one or more module (diagrams Do not mark), each module may include to the series of instructions operation in server.Further, central processing unit 722 can To be set as communicating with storage medium 730, the series of instructions operation in storage medium 730 is executed on server 700.

Server 700 can also include one or more power supplys 726, one or more wired or wireless networks Interface 750, one or more input/output interfaces 758, one or more keyboards 756, and/or, one or one The above operating system 741, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM etc.. Wherein, central processing unit 722 can execute the following instruction operated on server 700:

Optionally, central processing unit 722 can execute the aforementioned instruction executed in server side on server 700.

Certainly, for other devices, it is possible to have such as the structure of Figure 70 0, execute the instruction of the method for corresponding intrument.

The embodiment of the present application provides a kind of device, is stored thereon with one or more machine readable medias of instruction, when by When one or more of processors execute described instruction, so that described device executes a kind of apparatus control method.

The embodiment of the present application also provides one or more machine readable medias, instruction is stored thereon with, when by one or more When a processor executes described instruction, a kind of apparatus control method is executed.

Referring to Fig. 8, it illustrates a kind of structural schematic diagrams of sorting system of the embodiment of the present application, can specifically include:

Server 810, at least one be used to receive the object sorting device 812 of logistics object, for from the object point It picks equipment and obtains the object collecting device 814 of the logistics object, for transporting the object sorting device and/or the object The transporting equipment 816 of collecting device, the information acquisition apparatus 818 for obtaining logistics characteristics of objects information；

Wherein, the server 810 and the information acquisition apparatus 818, the object sorting device 812, the object Pass through wired or wireless connection between collecting device 814, the transporting equipment 816

In the embodiment of the present application, the object sorting device of sorting system, object collecting device, the transporting equipment, letter It is as shown in Figure 1A that breath obtains equipment.It is ground datapath section U13, feeding area U12, bagging area U17 by field division where sorting system Equal regions.Each transporting equipment 816, object sorting device 812, object collecting device 814 work in the datapath section of work-yard. Information collecting device 818 is arranged in work station U14.

Server 810 can be laid in the places such as computer room.

In the embodiment of the present application, server 810 can be sorted with information acquisition apparatus 818, object respectively by wired Equipment 812, object collecting device 814, transporting equipment 816 connect.

In addition, wireless routing device can also be arranged in the embodiment of the present application, server 810 can pass through wired or nothing Line is connect with wireless routing device, information acquisition apparatus 818, object sorting device 812, object collecting device 814, transporting equipment 816 can be wirelessly connected with wireless routing device, so that server can be set with acquisition of information respectively by wireless routing device Standby 818, object sorting device 812, object collecting device 814, transporting equipment 816 are wirelessly connected.

Wherein, object sorting device 812 receives logistics object in the work station of Figure 1A；Object sorting device 812 receives After logistics object, the mobile object sorting device 812 of transporting equipment 816 can be used so that object sorting device 812 is by logistics Object is transferred to object collecting device 814.After object collecting device 814 is collected into logistics object, transporting equipment 816 can be used Bagging area of the mobile object collecting device 814 into destination, such as Figure 1A.

Preferably, the first transporting equipment is for moving the object sorting device to corresponding object collecting device；Second Transporting equipment is for moving the object collecting device to corresponding destination.

In the embodiment of the present application, transporting equipment 816 can be divided into two kinds, and one kind is the first transporting equipment, for moving The dynamic object sorting device 812 for carrying logistics object is to corresponding object collecting device 814.Another kind is the second transporting equipment For the mobile object collecting device 814 for having collected logistics object to corresponding destination.The destination is than bagging as the aforementioned Area.

Preferably, first transporting equipment and object sorting device binding connect；

The first transporting equipment can be bound with object sorting device 812 and connect in the embodiment of the present application.Wherein, binding side Formula includes but is not limited to: screw binding, welding binding.

If Figure 1B, M10 are object sorting device, M11 is the first transporting equipment, and object sorting device M10 is placed in first On transporting equipment M11, M10 and the first transporting equipment can be bound using the modes such as screw binding and the first transporting equipment M11, Then the first transporting equipment moves object sorting device M10.

Preferably, first transporting equipment is separated with the object sorting device in the initial state, first fortune Transfer device is provided with the first docking structure, and the object sorting device is provided with second pair with first docking structure cooperation Binding structure, first transporting equipment is in the movement object sorting device by first docking structure and described second pair The docking of binding structure.

Such as Fig. 9 and Figure 10, object sorting equipment 812 is separated with transporting equipment 816 in the embodiment of the present application, this kind of situation Under, need to be arranged second docking structure on object sorting equipment 812, such as 8121 in Fig. 9, such as hanging buckle.Transporting equipment Need to be arranged first docking structure on 816, such as 8161 hook in Figure 10.Wherein the first docking structure and this second Docking structure cooperation, after the first docking structure and the second docking structure are to connecting, transporting equipment can be sorted with mobile object The first docking structure 8161 catches on the second docking structure 8121 in Fig. 9 in device, such as Figure 10.

Preferably, second transporting equipment and object collecting device binding connect；

The second transporting equipment can be bound with object collecting device 814 and connect in the embodiment of the present application.Wherein, binding side Formula includes but is not limited to: screw binding, welding binding.

Referring to Fig.1 1, wherein M12 is object collecting device, and M14 is the second transporting equipment.Object collecting device is set to On two transporting equipment M14, the second transporting equipment M14 and object collecting device M12 binding connection, for example adopt and be screwed.

Preferably, second transporting equipment is separated with the object collecting device in the initial state, second fortune Transfer device is provided with third docking structure, and the object collecting device is provided with the 4th pair with third docking structure cooperation Binding structure, second transporting equipment is in the movement object collecting device by the third docking structure and described 4th pair The docking of binding structure.

In the embodiment of the present application, the second transporting equipment is separated with the object collecting device in the initial state, When two mobile devices need mobile object collecting device, then by the third docking structure and the 4th docking structure to tapping into Row movement.Its third docking structure and the 4th docking structure can be diversified forms, such as the docking structure of Fig. 9 and Figure 10, sheet Application embodiment does not limit it.

Preferably, referring to Fig.1 2, the object sorting device 812 includes: the first bogey 8121, is set to described The first control module 8122 and the first wireless communication module 8123 in one bogey；First wireless communication module 8123 It is connect by wireless routing device 820 with server 810；First control module 8222 and first wireless communication module 8123 connections, first bogey 8121 are used to carry the logistics object obtained；

The object collecting device 814 includes: the second bogey 8141, is set in second bogey 8141 The second control module 8142 and the second wireless communication module 8143；Second control module 8142 and second channel radio Believe that module 8143 connects, second wireless communication module 8143 is connect by wireless routing device 820 with server 810；Institute The second bogey 8141 is stated for carrying the logistics object of the first bogey 8121 transfer；

The first transporting equipment M11 includes: first movement device M111, is set in the first movement device M111 Third control module M112 and third wireless communication module M113；The third control module M112 and the third channel radio Believe module M113 connection, the third wireless communication module M113 is connect by wireless routing device 820 with server 810；Institute First movement device M111 is stated for moving the object sorting device 812；

The second transporting equipment M14 includes: the second mobile device M141, is set in the second mobile device M141 The 4th control module M142 and the 4th wireless communication module M143；The 4th control module M142 and the 4th channel radio Believe module M143 connection, the 4th wireless communication module M143 is connect by wireless routing device 820 with server 810；Institute The second mobile device M141 is stated for moving the object collecting device 812.

The server 810 includes the 6th communication module 8101, processor 8102, memory 8103；

6th communication module 8101 is used for and wireless routing device 820；The processor 8102 is deposited with described respectively Reservoir 8103 and the connection of the 6th communication module 8101.

The information acquisition apparatus 818 includes the feature detection using feature for obtaining the object collecting device Device 8181, the 5th wireless communication module 8182；The feature detection device 8181 and the 5th wireless communication module 8182 connect It connects, the 5th wireless communication module 8182 is connect by wireless routing device 820 with server 810.

Preferably, 3 and Figure 14, the second transporting equipment M14 and object collecting device M12 are in discrete state referring to Fig.1.Institute Stating the second transporting equipment M14 includes lifting device M141；The object collecting device 814 is arranged collecting box 8141 and is distributed in 8141 bottom surrounding support column 8142 of collecting box；The height of the support column 8142 is at least above the second transporting equipment M14 Height of lifting device when not rising, in the supporting pillar there are the width between at least two support columns 8142 be greater than it is described The width of second transporting equipment M14；Second transporting equipment enters the object when lifting device M141 does not rise and collects Below equipment, then rising the lifting device M141 makes the object collecting device leave ground.Wherein the second transporting equipment When not rising such as the pattern of Fig. 1 D, when rise such as the pattern of Figure 14.

Preferably, tilting device is provided at the top of the object sorting device, the height of the tilting device is higher than described The logistics object entrance of object collecting device.

Such as Figure 15, it is provided with tilting device M101 at the top of object sorting device M10, when tilting device M101 is not lifted Such as the pattern of Figure 1B, when lifting such as the pattern of Figure 15, the height of tilting device M101 are higher than the object collecting device Logistics object entrance.The process of its pouring stream object such as Fig. 1 E.

Preferably, the object sorting device M10 is provided with conveyer belt, and plane is at least above described where the conveyer belt The logistics object entrance of object collecting device.

Preferably, the object sorting device is provided with for logistics object to be launched to the ejection into object collecting device Device.

Preferably, the object collecting device further include: for obtaining the spy using feature of the object collecting device Levy detection sub-means 8181；Described includes: the logistics pair of the residual capacity, object collecting device of object collecting device using feature As the logistics object cumulative weight wherein at least one in reception waiting time, object collecting device；The feature detection dress It sets including infrared detection unit, gravity sensor, scanning timer wherein at least one.

Referring to Fig.1 6, it illustrates a kind of object collecting devices 1600 of the embodiment of the present application, comprising:

Second bogey 1610, the second control module 1611 and second being set in second bogey 1610 Wireless communication module 1612；Second control module 1611 connect 1612, described second with second wireless communication module Wireless communication module 1612 is connect by wireless routing device 1613 with server 1620；Second bogey 1610 is used for Carry the logistics object of the first bogey transfer.

Wherein, first bogey is set in object sorting device.

Preferably, the object collecting device and the binding of the second transporting equipment connect；Wherein, binding mode includes but unlimited In: screw binding, welding binding；

Preferably, the object collecting device is separated with the second transporting equipment in the initial state, and the object collection is set Standby the 4th docking structure being provided with the cooperation of third docking structure, the third docking structure are set to second transport and set Standby upper, the 4th docking structure is docked when the object collecting device is moved with the third docking structure.

Preferably, second transporting equipment includes lifting device；The object collecting device is arranged collecting box and divides Cloth is in collecting box bottom surrounding support column；The height of the support column is at least above height when second transporting equipment does not rise Degree, the width for holding on the middle width there are between at least two support columns and being greater than second transporting equipment；Described Two transporting equipments enter below the object collecting device when the second transporting equipment does not rise, and rising the lifting device makes institute It states object collection device and leaves ground.

Preferably, the object collecting device further include: for obtaining the spy using feature of the object collecting device Levy detection sub-means；Described using feature includes: that the residual capacity of object collecting device, the logistics object of object collecting device connect Logistics object cumulative weight wherein at least one in receipts waiting time, object collecting device；The feature detection device packet Include infrared detection unit, gravity sensor, scanning timer wherein at least one.

The object collecting device of Figure 16 can refer to the description of aforementioned exemplary, and this will not be detailed here.

The embodiment of the present application has several advantages that

1, low to place shape and space requirement, for ease of maintenaince:

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 parts between the embodiments can be referred to each other.

It should be understood by those skilled in the art that, the embodiments of the present application may be provided as method, apparatus or calculating Machine program product.Therefore, the embodiment of the present application can be used complete hardware embodiment, complete software embodiment or combine software and The form of the embodiment of hardware aspect.Moreover, the embodiment of the present application can be used one or more wherein include computer can With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code The form of the computer program product of implementation.

The embodiment of the present application is referring to according to the method for the embodiment of the present application, terminal device (system) and computer program The flowchart and/or the block diagram of product describes.It should be understood that flowchart and/or the block diagram can be realized by computer program instructions In each flow and/or block and flowchart and/or the block diagram in process and/or box combination.It can provide these Computer program instructions are set to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals Standby processor is to generate a machine, so that being held by the processor of computer or other programmable data processing terminal devices Capable instruction generates for realizing in one or more flows of the flowchart and/or one or more blocks of the block diagram The device of specified function.

These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing terminal devices In computer-readable memory operate in a specific manner, so that instruction stored in the computer readable memory generates packet The manufacture of command device is included, which realizes in one side of one or more flows of the flowchart and/or block diagram The function of being specified in frame or multiple boxes.

These computer program instructions can also be loaded into computer or other programmable data processing terminal devices, so that Series of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented processing, thus The instruction executed on computer or other programmable terminal equipments is provided for realizing in one or more flows of the flowchart And/or in one or more blocks of the block diagram specify function the step of.

Although preferred embodiments of the embodiments of the present application have been described, once a person skilled in the art knows bases This creative concept, then additional changes and modifications can be made to these embodiments.So the following claims are intended to be interpreted as Including preferred embodiment and all change and modification within the scope of the embodiments of the present application.

Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements not only wrap Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article Or the element that terminal device is intrinsic.In the absence of more restrictions, being wanted by what sentence "including a ..." limited Element, it is not excluded that there is also other identical elements in process, method, article or the terminal device for including the element.

Above to a kind of apparatus control method provided herein and device, sorting system, it is described in detail, this Specific case is applied in text, and the principle and implementation of this application are described, the explanation of above example is only intended to Help understands the present processes and its core concept；At the same time, for those skilled in the art, the think of according to the application Think, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not be construed as pair The limitation of the application.

Claims

1. a kind of apparatus control method, which is characterized in that

After object collecting device obtains logistics object from object sorting device, according to the object collecting device using special Sign, controls corresponding transporting equipment and transports the object collecting device to corresponding destination.

2. apparatus control method according to claim 1, which is characterized in that

The object collecting device include: using feature object collecting device residual capacity, object collecting device logistics Logistics object cumulative weight wherein at least one in object reception waiting time, object collecting device.

3. apparatus control method according to claim 2, which is characterized in that described to be made according to the object collecting device With feature, the step of corresponding transporting equipment transports the object collecting device to corresponding destination is controlled, comprising:

If the residual capacity of the object collecting device is less than preset capacity threshold value, notify the movement of the second transporting equipment described right As collecting device to the first destination；

And/or if the logistics object of the object collecting device, which receives the waiting time, is greater than or equal to preset time threshold, lead to Know the mobile object collecting device of the second transporting equipment to the first destination；

And/or it if the logistics object cumulative weight in the object collecting device is greater than or equal to preset weight threshold value, notifies Second transporting equipment moves the object collecting device to the first destination.

4. apparatus control method according to claim 3, which is characterized in that

Second transporting equipment is separated with the object collecting device, described to use spy according to the object collecting device Sign controls the step of corresponding transporting equipment transports the object collecting device to corresponding destination, comprising:

Feature is used according to described, second transporting equipment being in idle condition is notified to connect the object collecting device, with The object collecting device is moved to the first destination.

5. apparatus control method according to claim 3, which is characterized in that second transporting equipment and the object are received Collect apparatus bound connection.

6. apparatus control method according to claim 1, which is characterized in that further include:

If the use feature of the object collecting device meets preset condition, logistics no longer is distributed for the object collecting device Object.

7. apparatus control method according to claim 1, which is characterized in that further include:

When the object collecting device free time, by dispatching corresponding transporting equipment, by the object collecting device transport to Second destination.

8. apparatus control method according to claim 7, which is characterized in that described when the object collecting device is idle When, by dispatching corresponding transporting equipment, the step of the object collecting device is transported to the second destination, comprising:

When the object collecting device free time, according to from each starting point to each destination logistics object uninterrupted and institute The amount of capacity for stating object collecting device determines the second destination of the object collecting device；

The transporting equipment is controlled, the object collecting device is moved to the second destination.

9. apparatus control method according to claim 1, which is characterized in that described to be made according to the object collecting device With feature, the step of corresponding transporting equipment transports the object collecting device to corresponding destination is controlled, comprising:

Receive the use feature that the object collecting device is sent；It is described using feature by the feature in the object collecting device Detection sub-means obtain, wherein the feature detection device be infrared detection unit, gravity sensor, scanning timer its In at least one；

Feature is used according to described, corresponding transporting equipment is controlled and transports the object collecting device to corresponding destination.

10. apparatus control method according to claim 1, which is characterized in that the object collecting device is sorted from object Equipment obtain logistics object process include:

After object sorting device receives logistics object, according to the logistics characteristics of objects information, controls corresponding transport and set The standby mobile object sorting device is set so that the logistics object is transferred to the object collection by the object sorting device It is standby.

11. apparatus control method according to claim 10, which is characterized in that described to be believed according to the logistics characteristics of objects Breath controls the mobile object sorting device of corresponding transporting equipment, so that the object sorting device is by the logistics object The step of being transferred to the object collecting device, comprising:

Receive the logistics characteristics of objects information for being obtained and being sent by information acquisition apparatus；

According to the logistics characteristics of objects information, corresponding object collecting device is determined；

Notify the mobile object sorting device of the first transporting equipment to the position of the object collecting device, and described first After transporting equipment reaches the position of the object collecting device, the object sorting device is notified to be transferred to the logistics object The object collecting device.

12. apparatus control method according to claim 11, which is characterized in that described to notify the mobile institute of the first transporting equipment The step of stating position of the object sorting device to the object collecting device, comprising:

The 4th location information and the third destination of first transporting equipment are obtained, and obtains the 5th of the second transporting equipment Location information, the 4th destination and the 6th location information of planning path and remaining object collecting device；

According to the 4th location information, third destination, the 5th location information, the 4th destination, planning path, the 6th Confidence breath, determine first transporting equipment to the third destination planning path；

First transporting equipment is notified to collect according to the mobile object sorting device of the planning path to corresponding object The position of equipment.

13. apparatus control method according to claim 11, which is characterized in that if first transporting equipment with it is described right As sorting device separation, then further include:

It notifies first transporting equipment being in idle condition to connect the object sorting device, is set with the movement object sorting It is standby.

14. apparatus control method according to claim 11, which is characterized in that first transporting equipment and the object Sorting device binding connection.

15. apparatus control method according to claim 11, which is characterized in that described to be believed according to the logistics characteristics of objects The step of ceasing, determining corresponding object collecting device, comprising:

It obtains the first location information of the logistics object, the second location information of each object collecting device and uses feature, with And obtain the third place information and mobile status information of each second transporting equipment；

According to the first location information, second location information, using feature, the third place information and mobile status information, really Fixed corresponding object collecting device.

16. apparatus control method according to claim 11, which is characterized in that

The logistics characteristics of objects information is set in the object sorting device by first transport by the information acquisition apparatus After being moved at the information acquisition apparatus position, obtained from the logistics object in the object sorting device.

17. apparatus control method according to claim 11, which is characterized in that

The information acquisition apparatus includes camera, scanner, and the logistics characteristics of objects information is by the camera or described Scanner scans the acquisition of the encoding of graphs on the logistics object；

Alternatively, the information acquisition apparatus includes RF Reader, the logistics characteristics of objects information is by the RF Reader The RF tag scanned on the logistics object obtains.

18. the method according to claim 1, wherein further include:

After second transporting equipment reaches corresponding destination, processing prompt information is sent to default terminal device.

19. the method according to claim 1, wherein

The object sorting device, the transporting equipment, the object collecting device are in same level.

20. a kind of plant control unit characterized by comprising

First movement control module is used for after object collecting device obtains logistics object from object sorting device, according to described The use feature of object collecting device controls corresponding transporting equipment and transports the object collecting device to corresponding purpose Ground.

21. plant control unit according to claim 20, which is characterized in that

22. plant control unit according to claim 21, which is characterized in that the first movement control module includes:

Volume controlled submodule notifies the if the residual capacity for the object collecting device is less than preset capacity threshold value Two transporting equipments move the object collecting device to the first destination；

And/or time control submodule, if the logistics object for the object collecting device receives the waiting time and is greater than or waits In preset time threshold, then notify the mobile object collecting device of the second transporting equipment to the first destination；

And/or Weight control submodule, if the logistics object cumulative weight in the object collecting device is greater than or equal to Preset weight threshold value then notifies the mobile object collecting device of the second transporting equipment to the first destination.

23. plant control unit according to claim 22, which is characterized in that

Second transporting equipment is separated with the object collecting device, and the first movement control module includes:

Submodule is sent, for using feature according to described, is notified described in a second transporting equipment connection being in idle condition Object collecting device, with the movement object collecting device to the first destination.

24. plant control unit according to claim 22, which is characterized in that second transporting equipment and the object Collecting device binding connection.

25. plant control unit according to claim 20, which is characterized in that further include:

Stop distribution module, is no longer described right if the use feature for the object collecting device meets preset condition As collecting device allotment flow object.

26. plant control unit according to claim 20, which is characterized in that further include:

First scheduler module was used for when the object collecting device free time, will be described right by dispatching corresponding transporting equipment As collecting device is transported to the second destination.

27. plant control unit according to claim 26, which is characterized in that first scheduler module includes:

Second destination determines submodule, is used for when the object collecting device free time, according to from each starting point to each purpose The amount of capacity of the logistics object uninterrupted on ground and the object collecting device determines the second of the object collecting device Destination；

The object collecting device is moved to the second destination for controlling the transporting equipment by the second control submodule.

28. plant control unit according to claim 20, which is characterized in that the first movement control module includes:

Using feature receiving submodule, for receiving the use feature of the object collecting device transmission；It is described using feature by Feature detection device in the object collecting device obtains, wherein the feature detection device be infrared detection unit, Gravity sensor, scanning timer wherein at least one；

First control submodule controls corresponding transporting equipment for the object collecting device for using feature according to described It transports to corresponding destination.

29. plant control unit according to claim 20, which is characterized in that further include:

Second mobile controller, for after object sorting device receives logistics object, according to the logistics characteristics of objects Information controls the mobile object sorting device of corresponding transporting equipment, so that the object sorting device is by the logistics pair As being transferred to the object collecting device.

30. plant control unit according to claim 29, which is characterized in that second mobile controller includes:

Characteristic information receiving submodule, for receiving the logistics characteristics of objects for being obtained and being sent by information acquisition apparatus letter Breath；

Object collecting device determines submodule, for determining that corresponding object collection is set according to the logistics characteristics of objects information It is standby；

Third control submodule, for notifying the mobile object sorting device of the first transporting equipment to the object collecting device Position notify the object sorting device and behind the position that first transporting equipment reaches the object collecting device The logistics object is transferred to the object collecting device.

31. plant control unit according to claim 30, which is characterized in that the third control submodule includes:

First information acquiring unit, for obtaining the 4th location information and the third destination of first transporting equipment, and Obtain the 5th location information of the second transporting equipment, the 4th destination and planning path and remaining object collecting device The 6th location information；

First planning path unit, for according to the 4th location information, third destination, the 5th location information, the 4th mesh Ground, planning path, the 6th location information, determine first transporting equipment to the third destination planning path；

First movement unit, for notifying first transporting equipment according to the mobile object sorting device of the planning path To the position of corresponding object collecting device.

32. plant control unit according to claim 30, which is characterized in that if first transporting equipment with it is described right As sorting device separation, then further include:

Second scheduler module, the first transporting equipment for notifying one to be in idle condition connect the object sorting device, with The mobile object sorting device.

33. plant control unit according to claim 30, which is characterized in that first transporting equipment and the object Sorting device binding connection.

34. plant control unit according to claim 30, which is characterized in that the object collecting device determines submodule Include:

Second information acquisition unit, for obtaining the first location information of the logistics object, the second of each object collecting device Location information and feature is used, and obtains the third place information and mobile status information of each second transporting equipment；

Object collecting device determination unit is used for according to the first location information, second location information, uses feature, third Location information and mobile status information determine corresponding object collecting device.

35. plant control unit according to claim 30, which is characterized in that

36. plant control unit according to claim 30, which is characterized in that

37. plant control unit according to claim 22, which is characterized in that further include:

Cue module, for being handled to default terminal device transmission after second transporting equipment reaches corresponding destination Prompt information.

38. plant control unit according to claim 20, which is characterized in that

39. a kind of device characterized by comprising

One or more processors；With

One or more machine readable medias of instruction are stored thereon with, when by one or more of processors execution finger When enabling, so that described device executes the method such as claim 1-19 one or more.

40. one or more machine readable medias, are stored thereon with instruction, when being performed by one or more processors described instruction When, execute the method such as claim 1-19 one or more.