CN111282830B - Conveying equipment, control method and device - Google Patents
Conveying equipment, control method and device Download PDFInfo
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- CN111282830B CN111282830B CN201811488297.5A CN201811488297A CN111282830B CN 111282830 B CN111282830 B CN 111282830B CN 201811488297 A CN201811488297 A CN 201811488297A CN 111282830 B CN111282830 B CN 111282830B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
Abstract
The embodiment of the application discloses conveying equipment, a control method and a device, wherein the conveying equipment specifically comprises the following steps: a body; and a plurality of tray devices horizontally arranged on the body, wherein the tray devices can move in a vertical direction so as to bear or move the logistics objects at the corresponding first positions. The embodiment of the application can utilize less conveying equipment to sort the same packages; meanwhile, the number of conveying equipment in the logistics field can be reduced, and the smoothness of traffic conditions in the logistics field is improved; and the sorting efficiency of the packages can be improved because useless return paths can be reduced.
Description
Technical Field
The present application relates to the field of logistics technology, and in particular, to a conveying apparatus, a control method, and a device.
Background
With the rapid development of logistics technology, the market demands for goods sorting efficiency and accuracy are higher and higher, and AGVs (Automated Guided vehicles) have come into play. The AGV may refer to a transport vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path, and has safety protection and transfer functions.
At present, the working process of AGV specifically is: the AGV travels to a position corresponding to the operator or robot so that the operator or robot places a package onto the AGV, which then automatically navigates to the destination for unloading of the package.
Because the current AGV can only load and transport one package at a time, more AGV are needed for the same package sorting quantity; and under the condition that the number of the AGV is increased, traffic jam in a sorting logistics field is easily caused. In addition, the existing AGV can only load and transport one package at a time, so that useless return paths are increased, and the sorting efficiency is further influenced; the return path may refer to a path of the AGV in an empty state, such as a route of the AGV from a destination to a corresponding position of an operator.
Disclosure of Invention
In view of the above problems, an embodiment of the present application provides a conveying apparatus, a control method and a device to solve the problems in the related art.
In order to solve the above problem, an embodiment of the present application discloses a conveying apparatus, including:
a body;
the tray device comprises a plurality of tray devices horizontally arranged on the body, wherein the tray devices can move along the vertical direction, so that the tray devices bear or move logistics objects at corresponding first positions.
In order to solve the above problem, an embodiment of the present application further discloses a control method, for controlling the foregoing conveying apparatus, including:
and aiming at the plurality of tray devices horizontally arranged on the body, controlling the corresponding tray devices to move to the corresponding first positions along the vertical direction so as to enable the tray devices to bear or move the logistics objects at the corresponding first positions.
In order to solve the above problem, an embodiment of the present application further discloses an apparatus, including:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the apparatus to perform one or more of the methods described above.
To address the above issues, one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause an apparatus to perform one or more of the methods described above.
From the above, the conveying equipment, the control method and the device provided by the embodiment of the application have at least the following advantages:
more parcels can be stored in a plurality of height spaces above the plurality of tray devices, so that more parcels can be stored in the plurality of height spaces without increasing the length and width of the body, and the parcel sorting operation can be performed. Therefore, by the embodiment of the application, the same packages can be sorted by using less conveying equipment; meanwhile, the number of conveying equipment in the logistics field can be reduced, and the smoothness of traffic conditions in the logistics field is improved; and the sorting efficiency of the packages can be improved because useless return paths can be reduced.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following descriptions are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural diagram of a conveying apparatus according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a conveying apparatus according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a conveying apparatus according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a conveying apparatus according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a conveying apparatus according to an embodiment of the present application;
FIGS. 6 and 7 are schematic views of a partial structure of the transport apparatus shown in FIG. 5;
FIG. 8 is a schematic structural diagram of a conveyor apparatus according to an embodiment of the present application;
FIG. 9 is a schematic view of a portion of the conveyor apparatus shown in FIG. 8;
FIG. 10 is a flow chart of the steps of one control method embodiment of the present application;
fig. 11 is a flowchart illustrating a method for determining a target pallet means according to an embodiment of the present application;
fig. 12 is a flowchart illustrating steps of a method for determining a target pallet means according to an embodiment of the present application;
fig. 13 is a schematic structural diagram of an apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application are within the scope of protection of the present application.
While the concepts of the present application are susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the description above is not intended to limit the application to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the application.
Reference in the specification to "one embodiment," "an embodiment," "a particular embodiment," or the like, means that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may or may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, where a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to affect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described. In addition, it should be understood that items in the list included in the form "at least one of a, B, and C" may include the following possible items: (A) (ii) a (B) (ii) a (C) (ii) a (A and B); (A and C); (B and C); or (A, B and C). Likewise, a listing of items in the form of "at least one of a, B, or C" may mean (a); (B) (ii) a (C) (ii) a (A and B); (A and C); (B and C); or (A, B and C).
In some cases, the disclosed embodiments may be implemented as hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried or stored on one or more transitory or non-transitory machine-readable (e.g., computer-readable) storage media, which may be executed by one or more processors. A machine-readable storage medium may be embodied as a storage device, apparatus, or other physical structure (e.g., volatile or non-volatile memory, media disk, or other media other physical structure device) for storing or transmitting information in a form readable by a machine.
In the drawings, some structural or methodical features may be shown in a particular arrangement and/or ordering. Preferably, however, such specific arrangement and/or ordering is not necessary. Rather, in some embodiments, such features may be arranged in different ways and/or orders than as shown in the figures. Moreover, the inclusion of structural or methodical features in particular figures is not meant to imply that such features are required in all embodiments and that, in some embodiments, such features may not be included or may be combined with other features.
The embodiment of the present application provides a conveying apparatus, which may refer to an apparatus having a conveying function, such as a transport vehicle, and it is to be understood that the embodiment of the present application does not impose a limitation on a specific conveying apparatus.
The conveying equipment of the embodiment of the application specifically comprises:
a body;
a plurality of tray devices horizontally disposed on the body; the tray device can move in a vertical direction so that the tray device carries or moves the logistics objects at the corresponding first position. The logistics objects may include: goods, merchandise, packages, and the like.
Optionally, the apparatus may further include: the first transmission device is driven by the driving device and drives any tray device to move along the vertical direction. The first transmission may be a belt transmission, and the belt transmission may include: the belt and the belt wheel can drive any tray device to move along the vertical direction. Of course, the second transmission device may also be a chain transmission device or a gear transmission device, and the embodiment of the present application is not limited to a specific first transmission device.
The body may refer to a mechanical support structure of the conveying apparatus, and the body may include: a frame, or a body, etc., it is understood that the embodiments of the present application are not limited to a specific body.
The pallet means may be used for containerizing, stacking, handling and transporting the logistics objects as unit loads, and the pallet means may be a horizontal platform. The tray device may have the following characteristics: storage characteristics and movement characteristics.
The plurality of tray devices of the embodiment of the application are respectively horizontally arranged on the body, so that the plurality of tray devices can be parallel to each other. Since the height space above any one tray device can be used for storing logistic objects such as packages. Because a plurality of height space above a plurality of tray device of this application embodiment can deposit more parcels, consequently, this application embodiment can utilize a plurality of height space to deposit more parcels, carry out parcel letter sorting operation under the condition of the length and width size that does not increase the body. Therefore, by the embodiment of the application, the same packages can be sorted by using less conveying equipment; meanwhile, the number of conveying equipment in the logistics field can be reduced, and the smoothness of traffic conditions in the logistics field is improved; and the sorting efficiency of the packages can be improved because useless return paths can be reduced.
The height space of the embodiments of the present application may include, but is not limited to: a height space between adjacent tray devices, or a height space between a tray device and the top of the body, or a height space above a tray device, etc.
For example, the number of packages to be sorted is T, the number of packages stored in one tray device is M, and the number of tray devices is N, so that according to the embodiment of the present application, T/(M × N) conveying apparatuses can be used for sorting packages, and therefore, the number of conveying apparatuses required by the number of T packages to be sorted can be reduced; wherein T, N and M are both natural numbers.
The tray device of the embodiment of the application can move along the vertical direction, so that the Z coordinate of the tray device has dynamic property. In other words, the plurality of tray devices of the embodiment of the present application can be arbitrarily lifted and lowered in the height direction.
Optionally, the tray device may include: a horizontal transfer assembly, which may include: a first wheel;
the above apparatus may further include:
the second transmission device is fixedly arranged on the body; the second transmission may include: a second wheel; and
a drive device; the driving device is connected with the second transmission device.
Optionally, the first axis of the first wheel is parallel to the second axis of the second wheel, and a distance between a first projection line of the first axis on a horizontal plane and a second projection line of the second axis on the horizontal plane does not exceed a distance threshold.
Optionally, the tray device may further include: a sliding assembly; the conveying apparatus may further include: the guide assembly is vertically arranged on the body; the sliding assembly is connected with the guide assembly to slide along the guide assembly. The guide assembly can provide a guide function and can control the sliding of the sliding assembly. The sliding assembly is matched with the sliding assembly, so that the tray device can vertically move according to the direction of the guide assembly, and the tray device can be prevented from shaking in the vertical moving process to a certain extent.
For example, the sliding component may be a sliding block, the guiding component may be a guide rail, a guide pillar, or the like, and the guide pillar may also have a positioning function. It can be understood that the manner in which the sliding assembly and the guiding assembly cooperate to enable the tray device to move in the vertical direction is only an alternative embodiment, and those skilled in the art can adopt other manners to enable the tray device to move in the vertical direction according to the actual application requirement, and any manner to enable the tray device to move in the vertical direction is within the scope of the embodiments of the present application.
The tray device of the embodiment of the application can comprise: the horizontal conveying component can have a horizontal conveying function. The horizontal direction corresponding to the horizontal transfer function may include: any direction included in the horizontal plane.
According to an embodiment, the package from the first docking device may be received without placing the package on the tray arrangement. The first docking device may include: a supply table, etc. The feeder table can be used for providing logistics objects such as parcels, and particularly, the feeder table can be used for smoothly and conveniently conveying parcels placed by people to the conveying equipment of the embodiment of the application.
According to another embodiment, in the case of placing a parcel on a tray device, the placed parcel may be conveyed horizontally to output the placed parcel to a second docking facility, such as a sorting gate or the like. The sorting crossing is a passage for sorted packages to separate from the main conveying passage and enter a goods collecting area, and generally comprises a slideway formed by a steel belt, a roller and the like, so that the packages slide to a goods collecting platform from the main conveying passage, and all the packages at the crossing are collected by an operator at the goods collecting platform and then are stored in a warehouse or are assembled and assembled by a truck and are delivered.
The second transmission device can be fixedly arranged on the body; the second transmission may include: and a second wheel. The transmission principle of the second transmission device may include: belt drive, chain drive or gear drive etc. this application's embodiment is not restricted to the transmission principle of second transmission.
The horizontal transfer assembly may include: the first wheel has a first axis parallel to a second axis of the second wheel, and a distance between a first projection line of the first axis on a horizontal plane and a second projection line of the second axis on the horizontal plane does not exceed a distance threshold. In this way, under the condition that the Z coordinate of the first wheel is matched with the Z coordinate of the second wheel, the second wheel can be meshed with the first wheel according to the power provided by the driving device and drives the first wheel to rotate, so that the horizontal conveying assembly moves under the rotation of the first wheel, and thus, the loading of the pallet device for the parcel in an unloaded state can be realized, or the unloading of the pallet device for the parcel in a loaded state can be realized. The Z coordinate may be a coordinate in the index direction. In practical applications, a three-dimensional coordinate system can be established as needed to determine the X, Y and Z coordinates.
It should be noted that the tray device of the embodiment of the present application can move in the vertical direction, which makes the Z coordinate of the tray device (including the first wheel) dynamic; in this way, in the embodiment of the present application, any one of the plurality of tray devices can be controlled to match the Z coordinate of the first wheel with the Z coordinate of the second wheel in any one of the tray devices, so that the second transmission device can provide power to any one of the plurality of tray devices, and therefore, the power providing cost corresponding to the plurality of tray devices can be reduced, and the weight of the conveying equipment can be reduced.
The driving device of the embodiment of the application is used for providing power, and particularly, the driving device can provide power for the second transmission device. The driving means may include, but are not limited to: motors, motorized drums, etc., wherein the drive has a certain cost and weight. Alternatively, the driving device may be located at the bottom or the top of the body, and the specific location of the driving device is not limited in the embodiments of the present application.
If one set of driving device is used for each tray device, a plurality of sets of driving devices are required for the plurality of tray devices, and since one set of driving device has a certain cost and weight, a plurality of sets of driving devices need to cost much, and the weight of the conveying equipment is easily increased. The second transmission device of the embodiment of the application can provide power for any one of the plurality of tray devices, so that the power of the plurality of tray devices can be provided through one set of driving device and the second transmission device, the number of the driving devices and the second transmission device can be reduced, the power providing cost corresponding to the plurality of tray devices can be reduced, and the weight of the conveying equipment can be reduced.
The role of the first round of this application embodiment can be the follower, and the role of second round can be the action wheel, and the action wheel is fixed to be set up in first Z coordinate, and different follower can move to second Z coordinate along vertical direction to mesh with the action wheel. Under the condition of being meshed with the driven wheel, the driving wheel can drive the driven wheel to drive the horizontal conveying assembly to move so as to realize the transportation of the packages; in this way, the package may be brought to a second docking facility, such as a sorting gate, after the delivery device reaches the destination. The conveying equipment can run to the position near the destination according to the dispatching instruction of the dispatching system, and the packages are conveyed to the sorting road junction through a belt line or a roller way on the tray device.
Each belt tray is provided with a set of unpowered passive rotating wheel which is meshed with the driving wheel at the same height, and the driving wheel drives the passive wheel to drive the belt on the tray to rotate. And after the package is arrived at the destination, the tray belt rotates to drive the package to fall into the sorting grid.
In this embodiment of the application, optionally, the horizontal transfer assembly may further include: a belt or roller bed; the belt moves along the horizontal direction under the rotation of the first wheel, and can play a role in horizontally conveying the packages; or the roller way rotates in the horizontal plane under the rotation of the first wheel, so that the effect of horizontally conveying the packages can be achieved.
In an embodiment of the present application, the horizontal transfer assembly may include: the belt comprises a belt, a first wheel, a roller and a bracket, wherein the roller is rotatably arranged on at least one side of the bracket, and the belt is sleeved on the outer sides of the roller and the bracket and can horizontally move under the driving of the roller; the roller is connected with the first wheel and can rotate under the rotation of the first wheel so as to drive the belt to move along the horizontal direction.
In this embodiment of the application, optionally, the conveying apparatus may further include:
and the processor sends an instruction to the driving device so that the driving device drives the tray device or the second transmission device according to the instruction. Optionally, the processor may be located at the bottom or the top of the body, and the specific location of the processor is not limited in the embodiments of the present application. Optionally, the driving device drives the first transmission device according to the instruction, so as to drive the tray device.
The processor can play a role in controlling the driving device, and further can realize the motion control of the tray device or the second transmission device. In practical applications, the processor may include: the processor may directly or indirectly send an instruction to the driving device to implement control of the driving device, and it is understood that the embodiment of the present application is not limited to a specific processor.
According to one embodiment, the instructions may include: a first instruction and a second instruction;
the first instruction is used for controlling the target tray device to move to a first position along the vertical direction;
the second instruction is used for controlling the second transmission device to rotate; the second transmission device is fixedly arranged at a second position of the conveying equipment, and the Z coordinate of the first position is matched with the Z coordinate of the second position.
For example, the driving device may be connected to the sliding assembly, and configured to drive the sliding assembly to slide, so as to control the target tray device to move to the first position along the vertical direction; this allows the loading of the pallet means with packages in an unloaded state or the unloading of the packages with pallet means in a loaded state.
In this embodiment of the application, matching the Z coordinate of the first position with the Z coordinate of the second position may include: the absolute value of the difference between the Z coordinate of the first position and the Z coordinate of the second position does not exceed a first threshold, etc., to achieve engagement between the first wheel and the second wheel.
In this embodiment, optionally, the target tray device may be a tray device which has the smallest Z coordinate and is in an empty state among the plurality of tray devices. In this case, the pallet device in the unloaded state may be loaded with the packages in order to put the pallet device in the loaded state. The above order may be a bottom-up order.
An empty state may indicate that no packages are loaded on the tray device. The loading device may be a device that loads a parcel on a predetermined position of the tray device, or a device that weighs the parcel on the tray device to a predetermined weight, and the predetermined position may be a position corresponding to the middle area.
In the case of the tray device with the smallest Z coordinate among the plurality of tray devices and being in an empty state, optionally, the instructions may further include: third instructions for controlling the target tray device to move in a vertical direction to a third position if the target tray device is in a loaded state; the Z-coordinate of the third location may be less than the Z-coordinate of the first location.
After the target tray device moves to the third position in the vertical direction, determination of a new target tray device may be triggered, and then a loading operation may be performed on the new target tray device.
In this embodiment of the present application, optionally, the target tray device is a tray device which has the largest Z coordinate among the plurality of tray devices and is in a load state. In this case, the unloading of the packages from the empty tray unit may be performed in the order of the order from top to bottom so that the tray unit is in the empty state.
In a case where the target tray device is a tray device that has a largest Z coordinate among the plurality of tray devices and is in a loaded state, optionally, the instructions may further include: fourth instructions for controlling the target tray device to move in a vertical direction to a fourth position; the Z coordinate of the fourth position is greater than the Z coordinate of the first position.
After the target tray device moves to the fourth position in the vertical direction, determination of a new target tray device can be triggered, and unloading of the new target tray device can be further performed.
In an optional embodiment of the present application, the conveying apparatus may further include: a chassis; the chassis can be provided with walking wheels; the traveling wheel may include: the first direction road wheels and/or the second direction road wheels. The walking wheels can be used for moving the conveying equipment. The first direction may be an X direction in a three-dimensional coordinate system, the second direction may be a Y direction in the three-dimensional coordinate system, and the like. It is understood that the specific direction of the road wheels is not limited by the embodiments of the present application.
To sum up, the conveying equipment of this application embodiment has following advantage:
first, more parcels can be stored in a plurality of height spaces above a plurality of tray devices in the embodiment of the application, so that more parcels can be stored in the plurality of height spaces and parcel sorting operation can be performed without increasing the length and width of the body in the embodiment of the application. Therefore, by the embodiment of the application, the same packages can be sorted by using less conveying equipment; meanwhile, the number of conveying equipment in the logistics field can be reduced, and the smoothness of traffic conditions in the logistics field is improved; and the sorting efficiency of the packages can be improved because useless return paths can be reduced.
Secondly, horizontal transfer assembly in the tray device of this application embodiment can include: the first wheel, the second transmission may comprise: a second wheel, wherein a first axis of the first wheel is parallel to a second axis of the second wheel, and a distance between a first projection line of the first axis on a horizontal plane and a second projection line of the second axis on the horizontal plane does not exceed a distance threshold; in this way, under the condition that the Z coordinate of the first wheel is matched with the Z coordinate of the second wheel, the second wheel can be meshed with the first wheel according to the power provided by the driving device and drives the first wheel to rotate, so that the horizontal conveying assembly moves under the rotation of the first wheel, and thus, the loading of the pallet device for the parcel in an unloaded state can be realized, or the unloading of the pallet device for the parcel in a loaded state can be realized.
Furthermore, the pallet means of the embodiment of the application is able to move in a vertical direction, which makes the Z-coordinate of the pallet means (including the first wheel) dynamic; in this way, in the embodiment of the present application, any one of the plurality of tray devices can be controlled to match the Z coordinate of the first wheel with the Z coordinate of the second wheel in any one of the tray devices, so that the second transmission device can provide power to any one of the plurality of tray devices, and therefore, the power providing cost corresponding to the plurality of tray devices can be reduced, and the weight of the conveying equipment can be reduced.
In addition, according to the embodiment of the application, the package is loaded or unloaded under the condition that the tray device is located at the first position, so that the accuracy of loading or unloading the package can be improved. The arrival of a pallet means at the first position or departure from the first position may be controlled by the processor through instructions. Alternatively, after detecting that the tray device a is in the loaded state, the tray device a may be controlled to move away from the first position, and other tray devices such as the tray device B may be controlled to reach the first position.
The conveying device provided by the embodiment of the application is described in detail through specific embodiments.
Referring to fig. 1, a schematic structural diagram of a conveying apparatus according to an embodiment of the present application is shown, and a plurality of tray devices of the conveying apparatus may include: the first tray device and the second tray device, and can be provided with 4X on the chassis and walk the wheel.
Referring to fig. 2, a schematic structural diagram of a conveying apparatus according to an embodiment of the present application is shown, and one difference of the conveying apparatus shown in fig. 2 with respect to the conveying apparatus shown in fig. 1 is that: the chassis is provided with 4X-direction walking wheels and 4Y-direction walking wheels.
Referring to fig. 3, a schematic structural diagram of a conveying apparatus according to an embodiment of the present application is shown, and a plurality of tray devices of the conveying apparatus may include: first tray device, second tray device and third tray device, and can be provided with 4X on the chassis and walk the wheel.
Referring to fig. 4, a schematic structural diagram of a conveying apparatus according to an embodiment of the present application is shown, and one difference of the conveying apparatus shown in fig. 4 with respect to the conveying apparatus shown in fig. 3 is that: the chassis is provided with 4X-direction walking wheels and 4Y-direction walking wheels.
The pallet means shown in fig. 1 to 4 may be of a belt or roller structure, and a plurality of parcels may be placed on a plurality of pallet means of a conveying apparatus by a manual or automatic supply apparatus in a logistics field of logistics. For example, the parts feeding process of the conveying device shown in fig. 3 or fig. 4 may include: controlling the third tray device to reach the first position, placing the package on the third tray device, and after detecting that the package of the third tray device is in place, automatically descending the third tray device and simultaneously controlling the second tray device to reach the first position; placing the packages on a second tray device, and after detecting that the packages of the second tray device are in place, automatically descending the second tray device and simultaneously controlling the first tray device to a first position; the parcel loading method comprises the steps of placing a parcel on a first tray device, outputting a loading completion signal after detecting that the parcel of the first tray device is in place, wherein the loading completion signal can indicate that loading is completed, and subsequently conveying the loaded parcel to a destination through movement of conveying equipment. According to the embodiment of the application, the loading or unloading of the packages is carried out under the condition that the tray device is at the first position, so that the accuracy of the loading or unloading of the packages can be improved. For example, situations in which packages are misplaced to the wrong tray device, which in turn leads to sorting errors, can be avoided to some extent.
The wheel type robot provided with the unidirectional travelling wheels can turn on the spot or in a tracking manner on a steel platform or the ground. The conveying equipment provided with the bidirectional travelling wheels can run on the guide rail and run through switching in the X/Y direction. It is understood that the specific operation direction of the conveying device is not limited by the embodiment of the application.
Referring to fig. 5, a schematic structural diagram of a conveying apparatus according to an embodiment of the present application is shown, and a plurality of tray devices of the conveying apparatus may include: a first tray device and a second tray device; the conveying apparatus may include: a second wheel and a guide rail. The second transmission on which the second wheel is located may be powered by a drive which may receive power from the drive via a timing belt.
Taking the first tray device as an example, the first tray device may include: a first wheel and a slider. The sliding block can be matched with the guide rail, so that the first tray device can move up and down in the vertical direction. The first axis of the first wheel is parallel to the second axis of the second wheel, and the distance between a first projection line of the first axis on the horizontal plane and a second projection line of the second axis on the horizontal plane does not exceed a distance threshold; thus, under the condition that the Z coordinate of the first wheel is matched with the Z coordinate of the second wheel, the second wheel can be meshed with the first wheel according to the power provided by the driving device and drives the first wheel to rotate, so that the horizontal transmission assembly moves under the rotation of the first wheel.
Fig. 6 and 7 show schematic partial structural diagrams of the conveying apparatus shown in fig. 5, in fig. 6 and 7, a first protrusion is arranged on a first wheel, a second protrusion is arranged on a second wheel, and under the condition that the Z coordinate of the first wheel is matched with the Z coordinate of the second wheel, if the second wheel rotates, the second protrusion on the second wheel can generate acting force on the first protrusion on the first wheel, so as to drive the first wheel to rotate.
Referring to fig. 8, a schematic structural diagram of a conveying apparatus according to an embodiment of the present application is shown, where the conveying apparatus may include: a plurality of tray devices and a second transmission device, wherein the tray devices may include: the slider and the first wheel, the second transmission may include: the third wheel can receive the power of the driving device and drive the second wheel to rotate, and the second wheel can drive the first wheel to rotate by being meshed with the first wheel.
The conveying apparatus may further include: the fourth wheel can receive the power of the driving device and drive any tray to move along the vertical direction.
Fig. 9 is a partial structural schematic view of the conveyor apparatus shown in fig. 8, wherein a third wheel and a fourth wheel may be located at the bottom of the body and may receive power from the driving device.
It should be understood that the conveying apparatuses shown in fig. 1 to 9 are only examples, and in fact, a person skilled in the art may design the structure of the conveying apparatus according to the actual application requirements, and the specific structure of the conveying apparatus is not limited in the embodiments of the present application.
The embodiment of the application also provides a control method, and the control method can be used for controlling the motion of the device in the conveying equipment.
According to an embodiment, the method may comprise: and aiming at the plurality of tray devices horizontally arranged on the body, controlling the corresponding tray devices to move to the corresponding first positions along the vertical direction so as to enable the tray devices to bear or move the logistics objects at the corresponding first positions.
Optionally, the method may further include: and controlling a driving device included by the conveying equipment to drive a first transmission device included by the conveying equipment, and driving any tray device to move along the vertical direction by the first transmission device.
Optionally, the method may further include:
controlling the target tray device to be located at a first position in the vertical direction; the second transmission device is fixedly arranged at a second position of the conveying equipment;
controlling the second transmission device to rotate;
the second wheel of the second transmission device is meshed with the target first wheel of the horizontal transmission assembly in the target tray device according to the power provided by the driving device and drives the target first wheel to rotate, so that the horizontal transmission assembly in the target tray device moves under the rotation of the target first wheel.
Alternatively, the control target tray device is moved to the first position in the vertical direction by sending a first instruction.
Optionally, the Z-coordinate of the first location matches the Z-coordinate of the second location.
Optionally, the second transmission is controlled to rotate by sending a second command.
Referring to fig. 10, a flowchart of steps of an embodiment of a control method of the present application is shown, for controlling the aforementioned conveying apparatus, and specifically, the method may include the following steps:
1001, controlling a target tray device to move to a first position along a vertical direction by sending a first instruction; the second transmission device is fixedly arranged at a second position of the conveying equipment, and the Z coordinate of the first position is matched with the Z coordinate of the second position;
the second wheel of the second transmission device is meshed with the target first wheel of the horizontal transmission assembly in the target tray device according to the power provided by the driving device and drives the target first wheel to rotate, so that the horizontal transmission assembly in the target tray device moves under the rotation of the target first wheel.
At least one step of the method shown in fig. 10 may be performed by a processor. The processor can be subordinate to the conveying equipment or subordinate to the control equipment, such as the control equipment on the server side or the logistics site side. In the case where the processor is affiliated with the control device, the communication network between the control device and the delivery device may include: a WIFI (Wireless Fidelity) network, a bluetooth network, a ZigBee network, or a wired network, etc.
In step 1001, the target tray device may refer to a tray device to be operated among a plurality of tray devices. The above operations may include: the number of the target tray devices at the same time is 1 in the loading operation or the unloading operation. The target pallet means may be continuously updated.
The first position may refer to a position at which the target tray device is operated. The second transmission device is fixedly arranged at a second position of the conveying equipment, the Z coordinate of the first position is matched with the Z coordinate of the second position, and the matching of the Z coordinate of the first position and the Z coordinate of the second position specifically comprises: the absolute value of the difference between the Z coordinate of the first position and the Z coordinate of the second position does not exceed a second threshold value, etc. Matching the Z-coordinate of the first location with the Z-coordinate of the second location may provide for engagement between the first wheel and the second wheel.
The first location and the second location may be determined by one skilled in the art according to the actual application requirements, for example, the corresponding locations of the first location and the second location may be locations convenient for handling the package, and so on.
It should be noted that, if the target pallet means is located at the first position, the first command may not be transmitted.
In an alternative embodiment of the present application, the target pallet means may be determined by:
selecting one tray device, and executing:
judging whether the selected tray device is in an unloaded state or not and whether the Z coordinate of the selected tray device is the minimum in the Z coordinates of all the tray devices or not;
and if the selected tray device is in an empty state and the Z coordinate is minimum, the selected tray device is taken as the target tray device.
The embodiment of the application can take the tray device which is in the no-load state and has the smallest Z coordinate as the target tray device.
Taking the conveying apparatus shown in fig. 3 or 4 as an example, assuming that the first tray device, the second tray device, and the third tray device are all in an unloaded state, the third tray device with the smallest Z coordinate may be selected as the target tray device, and the third tray device may be loaded with the package so as to be in a loaded state. Next, assuming that both the first tray device and the second tray device are in an empty state, the second tray device with the smallest Z coordinate may be selected as the target tray device, and the second tray device may be loaded with the package so as to be in a loaded state. Next, assuming that the first pallet device is in an empty state, the first pallet device with the smallest Z coordinate may be selected as the target pallet device, and the first pallet device may be loaded with the package so as to be in a loaded state.
After a target pallet apparatus is loaded, the state of the target pallet apparatus may be updated to the loaded state. In this case, the position of the target pallet device in the loaded state may be updated to end the occupation of the first position. Correspondingly, the method may further include: under the condition that the target tray device is in a load state, controlling the target tray device to move to a third position along the vertical direction by sending a third instruction; the Z-coordinate of the third location may be less than the Z-coordinate of the first location.
It should be noted that before sending the third command, it may be determined whether there is a tray device in an empty state, if so, the third command is sent, otherwise, the third command is not sent. The first position can be continuously occupied since no other pallet means need to be loaded with packages in the absence of a pallet means in an empty state.
Referring to fig. 11, a flowchart illustrating steps of a method for determining a target tray device according to an embodiment of the present application is shown, and specifically, the method may include the following steps:
judging whether the selected tray device is in an unloaded state or not and whether the Z coordinate of the selected tray device is the minimum in the Z coordinates of all the tray devices or not;
if the selected tray device is in an unloaded state and the Z coordinate is minimum, taking the selected tray device as a target tray device;
The first set in the initial state may include: all tray devices, step 1104, may update the first set.
The method shown in fig. 11 may be applied to a loading scenario of a conveying apparatus, and the tray devices in an empty state may be loaded in a bottom-up order to make the tray devices in a loaded state. It is understood that the sequence shown in fig. 11 is only an alternative embodiment, and in fact, those skilled in the art can load the empty tray device with packages in the sequence from top to bottom according to the actual application requirements; alternatively, a person skilled in the art may randomly select a tray device in an empty state from the first set as a target tray device according to actual application requirements, and the specific determination method of the target tray device is not limited in the embodiment of the present application.
In an alternative embodiment of the present application, the target pallet means may be determined by:
selecting one tray device, and executing:
judging whether the selected tray device is in a load state or not and whether the Z coordinate of the selected tray device is the largest in the Z coordinates of all the tray devices or not;
if the selected tray device is in a loaded state and the Z coordinate is maximum, the selected tray device is set as the target tray device.
In the embodiment of the application, the tray device which is in a load state and has the largest Z coordinate can be taken as the target tray device.
Taking the conveying apparatus shown in fig. 3 or 4 as an example, assuming that the first tray device, the second tray device, and the third tray device are all in a loaded state, the first tray device with the largest Z coordinate may be selected as the target tray device, and the package may be unloaded with respect to the first tray device, so that the first tray device is in an unloaded state. Then, assuming that the second tray device and the third tray device are both in a loaded state, the second tray device with the largest Z coordinate may be selected as the target tray device, and the second tray device may be unloaded to unload the package, so that the second tray device is in an unloaded state. Next, assuming that the third tray device is in a loaded state, the first tray device with the largest Z coordinate may be selected as the target tray device, and the package may be unloaded with respect to the first tray device, so that the first tray device is in an unloaded state.
It should be noted that, after a target pallet device is unloaded, the status of the target pallet device may be updated to an empty status. In this case, the position of the target pallet means in the empty state may be updated to end the occupation of the first position. Correspondingly, the method may further include: under the condition that the target tray device is in an unloaded state, sending a fourth instruction to the driving device to control the target tray device to move to a fourth position along the vertical direction; the Z-coordinate of the fourth location may be greater than the Z-coordinate of the first location.
It should be noted that before the fourth command is sent, it may be determined whether a tray device in a load state exists, and if so, the fourth command is sent, otherwise, the fourth command is not sent. The first position can be continuously occupied since no other pallet means need to unload the package in case there is no pallet means in a loaded state.
Referring to fig. 12, a flowchart illustrating steps of a method for determining a target tray device according to an embodiment of the present application is shown, and specifically, the method may include the following steps:
judging whether the selected tray device is in a load state or not and whether the Z coordinate of the selected tray device is the largest in the Z coordinates of all the tray devices or not;
if the selected tray device is in a load state and the Z coordinate is maximum, taking the selected tray device as a target tray device;
The second set in the initial state may include: all tray devices, step 1204, may update the second set.
The method shown in fig. 12 may be applied to an unloading scenario of a conveying apparatus, and the unloading of packages from a tray device in a loaded state may be performed in order from top to bottom so that the tray device is in an unloaded state. It is understood that the sequence shown in fig. 12 is only an alternative embodiment, and in fact, the person skilled in the art can unload the packages from the loaded tray device in the order from bottom to top according to the actual application requirements; alternatively, a person skilled in the art may randomly select a tray device in a loaded state from the second set as a target tray device according to actual application requirements, and the specific determination method of the target tray device is not limited in the embodiment of the present application.
In step 1002, a second instruction is sent to control the second transmission device to rotate, so that the horizontal transmission assembly in the target tray device can move, and loading or unloading of the packages can be further achieved for the target tray device.
According to one embodiment, the delivery device may travel to the vicinity of the package's location in accordance with the dispatch instructions of the dispatch system. In this case, a first instruction may be first sent to bring the target tray device to the first position; a second instruction may then be sent to cause the package to be conveyed onto the target pallet means by a belt or roller track on the pallet means.
According to another embodiment, the delivery device may operate to the vicinity of the destination according to the scheduling instructions of the scheduling system. In this case, a first instruction may be first sent to bring the target tray device to the first position; a second instruction may then be sent to cause the package to be conveyed into the sorting gate by a belt or roller table on the pallet means.
In summary, the control method of the embodiment of the application can store more parcels for parcel sorting operation by using the plurality of tray devices arranged in the height space under the condition that the length and the width of the body are not increased. Because the packages with the same number can be sorted by using less conveying equipment, the number of the conveying equipment in the logistics field can be reduced, and the traffic condition in the logistics field is better and smoother.
In addition, the plurality of tray devices of the embodiment of the application can be lifted and lowered at will in the height direction. A tray device adopts a belt or roller way structure, and a plurality of packages are placed on the tray device by manual or automatic supply equipment at a workstation.
In addition, the position for placing the packages each time is the only first position, so that the condition that the tray device is misplaced to cause sorting errors can be avoided. In other words, the loading or unloading of the packages is performed when the tray device is in the first position, so that the accuracy of the loading or unloading of the packages can be improved. The arrival of a pallet means at the first position or departure from the first position may be controlled by the processor through instructions. Alternatively, after detecting that the tray device a is in the loaded state, the tray device a may be controlled to move away from the first position, and other tray devices such as the tray device B may be controlled to reach the first position.
It is noted that for simplicity of description, the method embodiments are shown as a series of combinations of acts, but those skilled in the art will recognize that the embodiments are not limited by the order of acts, as some blocks may occur in other orders or concurrently with other blocks from the embodiments. Further, those skilled in the art will also appreciate that the embodiments described in the specification are presently preferred and that no particular act is required of the embodiments of the application.
Embodiments of the application can be implemented as a system or apparatus employing any suitable hardware and/or software for the desired configuration. Fig. 13 schematically illustrates an example apparatus 1300 that can be used to implement various embodiments described herein.
For one embodiment, fig. 13 illustrates an example apparatus 1300, which apparatus 1300 may comprise: one or more processors 1302, a system control module (chipset) 1304 coupled to at least one of the processors 1302, system memory 1306 coupled to the system control module 1304, non-volatile memory (NVM)/storage 1308 coupled to the system control module 1304, one or more input/output devices 1130 coupled to the system control module 1304, and a network interface 1312 coupled to the system control module 1306. The system memory 1306 may include: instruction 1362, the instruction 1362 executable by the one or more processors 1302.
In some embodiments, apparatus 1300 may include one or more machine-readable media (e.g., system memory 1306 or NVM/storage 1308) having instructions thereon and one or more processors 1302, which in combination with the one or more machine-readable media, are configured to execute the instructions to implement the modules included in the foregoing apparatus to perform the actions described in embodiments of the present application.
System memory 1306 for one embodiment may be used to load and store data and/or instructions 1362. For one embodiment, system memory 1306 may include any suitable volatile memory, such as suitable DRAM (dynamic random access memory). In some embodiments, system memory 1306 may include: double data rate type four synchronous dynamic random access memory (DDR4 SDRAM).
NVM/storage 1308 for one embodiment may be used to store data and/or instructions 1382. NVM/storage 1308 may include any suitable non-volatile memory (e.g., flash memory, etc.) and/or may include any suitable non-volatile storage device(s), e.g., one or more hard disk drive(s) (HDD (s)), one or more Compact Disc (CD) drive(s), and/or one or more Digital Versatile Disc (DVD) drive(s), etc.
The NVM/storage 1308 may include storage resources that are physically part of the device on which the device 1300 is installed or may be accessible by the device and not necessarily part of the device. For example, the NVM/storage 1308 may be accessed over a network via the network interface 1312 and/or through the input/output devices 1310.
Input/output device(s) 1310 for one embodiment may provide an interface for apparatus 1300 to communicate with any other suitable device, and input/output devices 1310 may include communication components, audio components, sensor components, and so forth.
For one embodiment, at least one of the processors 1302 may be packaged together with logic for one or more controllers (e.g., memory controllers) of the system control module 1304. For one embodiment, at least one of the processors 1302 may be packaged together with logic for one or more controllers of the system control module 1304 to form a System In Package (SiP). For one embodiment, at least one of the processors 1302 may be integrated on the same novelty as the logic of one or more controllers of the system control module 1304. For one embodiment, at least one of processors 1302 may be integrated on the same chip with logic for one or more controllers of system control module 1304 to form a system on a chip (SoC).
In various embodiments, apparatus 1300 may include, but is not limited to: a computing device such as a desktop computing device or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet, a netbook, etc.). In various embodiments, apparatus 1300 may have more or fewer components and/or different architectures. For example, in some embodiments, device 1300 may include one or more cameras, keyboards, Liquid Crystal Display (LCD) screens (including touch screen displays), non-volatile memory ports, multiple antennas, graphics chips, Application Specific Integrated Circuits (ASICs), and speakers.
Wherein, if the display includes a touch panel, the display screen may be implemented as a touch screen display to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.
The present application also provides a non-transitory readable storage medium, where one or more modules (programs) are stored in the storage medium, and when the one or more modules are applied to an apparatus, the apparatus may be caused to execute instructions (instructions) of methods in the present application.
Provided in one example is an apparatus comprising: one or more processors; and, instructions in one or more machine-readable media stored thereon, which when executed by the one or more processors, cause the apparatus to perform a method as in embodiments of the present application, which may include: the method shown in fig. 10 or fig. 11 or fig. 12.
One or more machine-readable media are also provided in one example, having instructions stored thereon, which when executed by one or more processors, cause an apparatus to perform a method as in embodiments of the application, which may include: the method shown in fig. 10 or fig. 11 or fig. 12.
The above detailed description is provided for a conveying apparatus, a control method and a device, and the principle and the implementation of the present application are explained by applying specific examples, and the above descriptions of the embodiments are only used to help understanding the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (19)
1. A conveyor apparatus, comprising:
a body; and
the tray devices can move along the vertical direction, so that the tray devices bear or move logistics objects at the corresponding first positions;
the tray device includes: a horizontal transfer assembly, the horizontal transfer assembly comprising: a first wheel;
the conveying apparatus further includes:
a second transmission device; the second transmission device includes: a second wheel; the second transmission device is fixedly arranged at a second position of the conveying equipment, and the Z coordinate of the first position is matched with the Z coordinate of the second position; and
a drive device; the driving device is connected with the second transmission device;
a first axis of the first wheel is parallel to a second axis of the second wheel, and a distance between a first projection line of the first axis on a horizontal plane and a second projection line of the second axis on the horizontal plane does not exceed a distance threshold; the first wheel is provided with a first bulge, the second wheel is provided with a second bulge, under the condition that the Z coordinate of the first wheel is matched with the Z coordinate of the second wheel, the second wheel rotates according to the power provided by the driving device, and the second bulge on the second wheel generates acting force on the first bulge on the first wheel to drive the first wheel to rotate;
the conveying apparatus further includes:
the processor sends an instruction to the driving device so that the driving device drives the tray device or the second transmission device according to the instruction; the instructions include: a first instruction and a second instruction; the first instruction is used for controlling the target tray device to move to a first position along the vertical direction; the second instruction is used for controlling the second transmission device to rotate; the target tray device is a tray device which has the smallest Z coordinate among the plurality of tray devices and is in an empty state.
2. The apparatus of claim 1, wherein the transport apparatus further comprises:
a first transmission device; the first transmission device is driven by the driving device, and the first transmission device drives any tray device to move along the vertical direction.
3. The transport apparatus of claim 1, wherein the horizontal transfer assembly further comprises: a belt or roller bed; the belt moves along the horizontal direction under the rotation of the first wheel, and the roller way rotates in the horizontal plane under the rotation of the first wheel.
4. The transport apparatus of claim 1, wherein the tray device further comprises: a sliding assembly;
the conveying apparatus further includes: the guide assembly is vertically arranged on the body;
the sliding assembly is connected with the guide assembly to slide along the guide assembly.
5. The device of claim 1, wherein the instructions further comprise: third instructions for controlling the target tray device to move in a vertical direction to a third position if the target tray device is in a loaded state; the Z coordinate of the third position is less than the Z coordinate of the first position.
6. The device of claim 1, wherein the instructions further comprise: a fourth instruction for controlling the target tray device to move to a fourth position in the vertical direction; the Z coordinate of the fourth position is greater than the Z coordinate of the first position.
7. The apparatus of claim 1, wherein the transport apparatus further comprises: a chassis; the chassis is provided with a traveling wheel; the walking wheel includes: the first direction road wheels and/or the second direction road wheels.
8. A control method for controlling the conveying apparatus according to any one of claims 1 to 7, comprising:
and aiming at the plurality of tray devices horizontally arranged on the body, controlling the corresponding tray devices to move to the corresponding first positions along the vertical direction so as to enable the tray devices to bear or move the logistics objects at the corresponding first positions.
9. The method of claim 8, further comprising:
and controlling a driving device included by the conveying equipment to drive a first transmission device included by the conveying equipment, and driving any tray device to move along the vertical direction by the first transmission device.
10. The method of claim 8, further comprising:
controlling the target tray device to be located at a first position in the vertical direction; the second transmission device is fixedly arranged at a second position of the conveying equipment;
controlling the second transmission device to rotate;
the second wheel of the second transmission device is meshed with the target first wheel of the horizontal transmission assembly in the target tray device according to the power provided by the driving device and drives the target first wheel to rotate, so that the horizontal transmission assembly in the target tray device moves under the rotation of the target first wheel.
11. The method according to claim 10, wherein the control target tray device is moved to the first position in the vertical direction by sending a first command.
12. The method of claim 10, wherein the Z-coordinate of the first location matches the Z-coordinate of the second location.
13. The method of claim 10, wherein the second transmission is controlled to rotate by sending a second command.
14. The method of claim 8, further comprising:
selecting one tray device, and executing:
judging whether the selected tray device is in an unloaded state or not and whether the Z coordinate of the selected tray device is the minimum in the Z coordinates of all the tray devices or not;
and if the selected tray device is in an empty state and the Z coordinate is minimum, the selected tray device is taken as the target tray device.
15. The method of claim 14, further comprising:
under the condition that the target tray device is in a load state, controlling the target tray device to move to a third position along the vertical direction by sending a third instruction; the Z coordinate of the third position is less than the Z coordinate of the first position.
16. The method of claim 8, further comprising:
selecting one tray device, and executing:
judging whether the selected tray device is in a load state or not and whether the Z coordinate of the selected tray device is the largest in the Z coordinates of all the tray devices or not;
if the selected tray device is in a loaded state and the Z coordinate is maximum, the selected tray device is set as the target tray device.
17. The method of claim 16, further comprising:
under the condition that the target tray device is in an unloaded state, controlling the target tray device to move to a fourth position along the vertical direction by sending a fourth instruction; the Z coordinate of the fourth position is greater than the Z coordinate of the first position.
18. An apparatus, comprising:
one or more processors; and
one or more machine-readable media having instructions stored thereon that, when executed by the one or more processors, cause the apparatus to perform the method of one or more of claims 8-17.
19. One or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause an apparatus to perform the method recited by one or more of claims 8-17.
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