CN111344073B - Buffer memory device, goods sorting device and goods sorting system - Google Patents
Buffer memory device, goods sorting device and goods sorting system Download PDFInfo
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- CN111344073B CN111344073B CN201880071865.3A CN201880071865A CN111344073B CN 111344073 B CN111344073 B CN 111344073B CN 201880071865 A CN201880071865 A CN 201880071865A CN 111344073 B CN111344073 B CN 111344073B
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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
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/50—Stacking one article, or group of articles, upon another before packaging
Abstract
A buffer memory device, a goods sorting device and a goods sorting system are provided; the cache device comprises a cache cabin (10), a shifting device (20), a visual recognition system (30) and a control system (40), wherein the shifting device (20) is arranged in the cache cabin (10) and is used for adjusting the posture of goods loaded into the cache cabin (10); the visual recognition system (30) is used for acquiring images of goods loaded in the cache cabin (10); the poking device (20) and the visual recognition system (30) are in signal connection with the control system (40), the control system (40) judges whether the cargo attitude in the cache cabin (10) is in a pickable state or not according to the image collected by the visual recognition system (30), and when the cargo attitude is in a non-pickable state, the poking device (20) is controlled to adjust the attitude of the cargo in the cache cabin (10) so that the cargo attitude is in a pickable state.
Description
Technical Field
The application relates to the field of logistics, in particular to a caching device, a cargo sorting device and a cargo sorting system.
Background
In the field of logistics, especially in the storehouse goods smelts the link separately, often because the posture of putting of goods is random for the posture of putting of goods is strange and strange, and this often is unfavorable for utilizing automated technology to pick up the letter sorting to the goods.
Disclosure of Invention
The application provides a memory device, goods sorting device and goods letter sorting system to solve the goods and put the problem that the gesture is unfavorable for picking up.
In order to solve the technical problem, the application adopts a technical scheme that: a cache apparatus is provided. The cache device comprises a cache cabin, a shifting device, a visual recognition system and a control system, wherein the shifting device is arranged in the cache cabin and is used for adjusting the posture of goods loaded into the cache cabin; the visual recognition system is used for acquiring images of goods loaded into the cache cabin; the shifting device and the visual recognition system are in signal connection with the control system, the control system judges whether the cargo posture in the cache cabin is in a pickable state or not according to the image collected by the visual recognition system, and when the cargo posture is in a non-pickable state, the shifting device is controlled to adjust the posture of the cargo in the cache cabin, so that the cargo posture is in a pickable state.
In order to solve the above technical problem, another technical solution adopted by the present application is: a cargo sorting apparatus is provided. The goods sorting device comprises a rack, a cache cabin, an industrial robot, a visual recognition system and a control system; the cache cabin is arranged on the rack; the industrial robot is used for picking up goods from the cache cabin, carrying and unloading the goods to a preset position; the visual recognition system is used for acquiring images of goods in the cache cabin; the industrial robot and the visual recognition system are in signal connection with the control system, the control system determines the picking position of the goods and the classification information of the goods according to the images collected by the visual recognition system, and the industrial robot is controlled to carry the goods to the corresponding positions.
In order to solve the above technical problem, another technical solution adopted by the present application is: a cargo sorting system is provided. The goods sorting system comprises the goods sorting device, a first goods conveying device and a plurality of second goods conveying devices.
The beneficial effect of this application is: be different from prior art's condition, this application discloses a buffer memory device, goods sorting device and goods letter sorting system. The cache device comprises a cache cabin, a shifting device, a visual recognition system and a control system, wherein the shifting device is arranged in the cache cabin and is used for adjusting the posture of goods loaded into the cache cabin; the visual recognition system is used for acquiring images of goods loaded into the cache cabin; the shifting device and the visual recognition system are in signal connection with the control system, the control system judges whether the cargo posture in the cache cabin is in a pickable state or not according to the image collected by the visual recognition system, and when the cargo posture is in a non-pickable state, the shifting device is controlled to adjust the posture of the cargo in the cache cabin, so that the cargo posture is in a pickable state. Through set up toggle arrangement in the buffer memory under-deck, set up the goods of visual identification system in to the buffer memory under-deck and carry out image acquisition, control system judges whether the goods is in the state of picking up according to the image of gathering, and then the gesture of selectively controlling toggle arrangement regulation goods for the goods gesture is in the state of picking up, has effectively reduced the degree of difficulty that the goods was picked up, has improved the conveying efficiency of goods.
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 description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts, wherein:
fig. 1 is a schematic structural diagram of an embodiment of a cache apparatus provided in the present application;
FIG. 2 is a schematic view of an axial side structure of a buffer cabin and a toggle device in the buffer device of FIG. 1;
FIG. 3 is a schematic side view of a buffer cabin and a toggle device in the buffer device of FIG. 1;
fig. 4 is a schematic structural diagram of an embodiment of a cargo sorting apparatus provided herein;
FIG. 5 is a schematic diagram of an embodiment of a cargo sorting system provided herein;
fig. 6 is a schematic structural diagram of another embodiment of a cargo sorting system provided by 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, which can be obtained by a person skilled in the art without making any inventive step based on the embodiments in the present application, are within the scope of protection of the present application.
Referring to fig. 1, a schematic structural diagram of an embodiment of a cache device provided in the present application is shown.
The cache device comprises a cache compartment 10, a toggle device 20, a visual recognition system 30 and a control system 40. The poking device 20 is arranged in the cache cabin 10 and used for adjusting the posture of the goods loaded in the cache cabin 10; the visual recognition system 30 is used for acquiring images of goods loaded in the cache tank 10; the toggle device 20 and the visual recognition system 30 are in signal connection with the control system 40, the control system 40 judges whether the posture of the goods in the cache compartment 10 is in a pickable state according to the image collected by the visual recognition system 30, and when the posture of the goods is in a non-pickable state, the toggle device 20 is controlled to adjust the posture of the goods in the cache compartment 10, so that the posture of the goods is in a pickable state, and the goods can be picked up conveniently.
Referring to fig. 2 and 3, the buffer chamber 10 includes a bottom wall 11, a front inclined wall 12 and a rear inclined wall 13, the front inclined wall 12 and the rear inclined wall 13 are disposed opposite to each other and are connected to the bottom wall 11, and the buffer chamber 10 may be an integrated structure. The cache module 10 may be of a bucket-like configuration with an opening formed by a front sloped wall 12, a rear sloped wall 13 and two opposing side walls 14, the opening decreasing from the top of the front sloped wall 12 and the rear sloped wall 13 to the bottom wall 11.
Specifically, the buffer cabin 10 is provided with a rear inclined wall 13 with a first gradient and a front inclined wall 12 with a second gradient, the rear inclined wall 13 is used for receiving goods to slide down into the buffer cabin 10, namely the goods fall on the bottom wall 11, the goods are picked up from the position of the front inclined wall 12, the arrangement of the front inclined wall 12 greatly increases the operation space for picking up the goods, the space of the bottom wall 11 can be fully utilized, and the goods can be picked up conveniently.
Optionally, the first slope ranges from 35 degrees to 45 degrees, including 35 degrees and 45 degrees; the second slope ranges from 40 degrees to 50 degrees, including 40 degrees and 50 degrees. In addition, the height of the top of the front sloping wall 12 is lower than the height of the top of the rear sloping wall 13, further facilitating the pick-up of goods by an industrial robot or other pick-up device. The width of the front slanted wall 12 and the width of the rear slanted wall 13 gradually decrease from the top thereof to the bottom connected to the bottom wall 11, and thus the side wall 14 connected to the front slanted wall 12, the rear slanted wall 13, and the bottom wall 11 has a slope, further increasing the operating space of the buffer cabin 10, so that an industrial robot or other pickup device can pick up goods in various postures. Furthermore, the operating space within the buffer cabin 10 is within the range of motion of the industrial robot.
Goods are conveyed to the rear inclined wall 13 by a conveying device, enter the rear inclined wall 13 under the action of power of the conveying device and inertia of the goods, slide down to the bottom wall 11 along the rear inclined wall 13, fall into the bottom wall 11 or the goods stacked in the bottom wall 11, namely enter the cache cabin 10, and the front inclined wall 12 also plays a role in blocking the goods.
Since the attitude of the cargo falling into the buffer cabin 10 is not controllable, the cargo has a plurality of surfaces, and the corresponding pickup surface of the cargo in some attitudes is not suitable for the cargo to be picked up, for example, the current pickup surface of the cargo is too narrow, so that the suction force of the suction cup device to the current pickup surface is insufficient, and the cargo is difficult to be picked up. In this case, the attitude of the goods needs to be adjusted so that the corresponding pick-up surface in the adjusted attitude is suitable for being picked up.
With continued reference to fig. 1, a toggle device 20 is disposed at the bottom of the buffer compartment 10 to adjust the attitude of the cargo loaded into the buffer compartment 10. The toggle device 20 comprises a push rod 21 and a power device 22, and the power device 22 drives the push rod 21 to adjust the posture of the goods in the buffer storage chamber 10. For example, the power device 22 is an air cylinder, the power device 22 is disposed at the bottom of the buffer cabin 10, the push rod 21 penetrates through the bottom wall 11 to be connected with the power device 22, and the power device 22 drives the push rod 21 to perform telescopic motion in the buffer cabin 10, so as to adjust the posture of the goods from the bottom wall 11 of the buffer cabin 10. The toggle device 20 is only exemplified in the present application, and various other devices can also achieve the same functions as the toggle device 20 in the embodiments, which is not limited in the present application.
In addition, can rationally set up a plurality of toggle device 20 according to the size of diapire 11, a plurality of toggle device 20 equipartitions are on diapire 11 for the goods that are located cache cabin 10 all can be adjusted the gesture by toggle device 20. For example, four shifting devices 20 are arranged on the bottom wall 11, and the distance between the push rods 21 and the distance from the push rods 21 to the edge of the bottom wall 11 are smaller than the size of the minimum edge of the goods, so that the goods in the cache tank 10 can be adjusted by the shifting devices 20.
Optionally, the toggle device 20 may also be provided on the side wall 14, the front inclined wall 12 or the rear inclined wall 13, or on a plurality of the bottom wall 11, the side wall 14, the front inclined wall 12 and the rear inclined wall 13. For example, the toggle mechanism 20 is disposed on opposing side walls 14. That is, the installation position of the toggle device 20 may be set such that the toggle device can adjust the posture of the cargo in the buffer cabin 10, which is not limited in the present application.
The vision recognition system 30 is disposed on the bracket and is used for acquiring images of the cargo in the cache tank 10. The control system 40 judges whether the postures of the goods in the cache compartment 10 are in a pickable state or not according to the images acquired by the visual recognition system 30, and controls the toggle device 20 to adjust the postures of the goods in the cache compartment 10 when all the postures of the goods in the cache compartment 10 are in a non-pickable state. And the visual recognition system 30 continuously collects images of the goods in the cache tank 10, and when the control system 40 judges that the posture of the goods is in a pickable state according to the collected images, the control system controls the toggle device 20 to stop working. Or, the toggle device 20 automatically stops after working for a set time, the control system 40 determines whether the posture of the goods in the cache compartment 10 is in the pickable state according to the picture acquired by the visual recognition system 30, and if not, controls the toggle device 20 to work for the set time until the posture of at least one goods in the cache compartment 10 is in the pickable state.
The vision recognition system 30 includes a camera device 31, and the camera device 31 is used for acquiring images of the goods in the buffer storage 10. The image pickup device 31 includes, for example, one or more of a plurality of RGBD sensors, a three-dimensional camera, a binocular camera, a depth camera, and the like. The visual range of the camera device 31 at least covers the cache chamber 10, for example, a dual-purpose camera is arranged right above the cache chamber 10, or a plurality of three-dimensional cameras are arranged above and at the side of the cache chamber 10 to cross-collect image information in the cache chamber 10 from multiple angles.
Further, the visual recognition system 30 further includes a code scanning device 32, and the code scanning device 32 is configured to identify the identification code of the cargo in the cache compartment 10 to obtain the cargo information. The identification code pasted on the goods contains multiple information such as delivery addresses, receiving addresses, goods weight, goods categories and goods grades, for example, the goods can be preliminarily classified according to different receiving addresses of the goods, fine classification is carried out according to different goods categories, or the picking strength of the industrial robot is controlled according to different weights of the goods, or different picking strategies are implemented according to different grades of the goods, for example, the goods are fragile or are easily damaged by great external force impact, and the industrial robot needs to be lightly held and slowly released.
For example, the identification code is attached to the pickable surface of the goods, and then the camera device 31 and the code scanning device 32 can perform double judgment on whether the posture of the goods is in a pickable state, and the identification rate of the code scanning device 32 is high, so that preliminary judgment can be performed first, and further the working efficiency of the cache device can be improved.
The control system 40 further determines whether goods exist in the cache compartment 10 according to the collected images, and a specific identifier is provided on the inner side of the cache compartment 10 to distinguish the goods from each other, so as to prevent the control system 40 from misjudging the goods, and the specific identifier is used as a reference to determine whether goods exist in the cache compartment 10.
For example, providing a plurality of apertures, printing a particular pattern or providing a particular texture, etc. on the bottom wall 11, front sloping wall 12, rear sloping wall 13, and side walls 14 allows the bottom wall 11, front sloping wall 12, rear sloping wall 13, and side walls 14 to be easily imaged by the visual recognition system 30 and easily determined by the control system 40 to be distinguishable from the cargo.
For example, the control system 40 may determine that no cargo is in the cache compartment 10 and may signal the transfer device to transfer cargo to the cache compartment 10. Or the control system 40 judges whether the goods are not in a pickable state according to the collected images, but judges that the goods exist in the buffer storage cabin 10 by referring to the images of the bottom wall 11 or the side wall, and further can control the shifting device 20 to adjust the posture of the goods.
Therefore, the goods buffer memory device that this application provided can judge whether the goods in the buffer memory cabin 10 is in can picking up the state to the gesture of goods is adjusted to selectivity control toggle device 20, so that the goods is picked up, and then has reduced the degree of difficulty that the goods was picked up, makes the work efficiency at the logistics transportation or the letter sorting equipment that is equipped with this buffer memory device effectively improve.
Referring to fig. 4, a schematic structural diagram of an embodiment of a cargo sorting apparatus is provided.
The goods sorting apparatus includes a rack 60, a buffer bin 10, an industrial robot 50, a vision recognition system 30, and a control system 40. The cache module 10 is arranged on the rack 60; the industrial robot 50 is used for picking up goods from the buffer storage cabin 10, carrying and unloading the goods to a preset position; the visual recognition system 30 is used for acquiring images of goods in the cache tank 10; the industrial robot 50 and the visual recognition system 30 are in signal connection with the control system 40, the control system 40 determines the picking position of the goods and the classification information of the goods according to the images collected by the visual recognition system 30, and the industrial robot 50 is controlled to carry the goods to the corresponding position.
In the embodiment of the goods sorting device, parts have the same names and the same reference numerals as those of the embodiment of the caching device, and the parts at least have the same functions, structures and connection relations as those of the parts with the same names and the same reference numerals in the embodiment of the caching device.
Specifically, the buffer cabin 10 is provided with a rear inclined wall 13 with a first slope and a front inclined wall 11 with a second slope, the rear inclined wall 13 is used for receiving goods to slide into the buffer cabin 10, and the arrangement of the front inclined wall 12 greatly increases the operation space for picking up the goods. Wherein the first slope is less than the second slope. And the inside of the buffer tank 10 is provided with a specific identification to distinguish from the goods.
The goods sorting device further comprises a shifting device 20, the shifting device 20 is in signal connection with the control system 40, and the shifting device 20 is arranged in the cache bin 10 and used for adjusting the posture of goods loaded into the cache bin 10. For example, the toggle device 20 is disposed on the bottom wall 11 of the buffer cabin 10, the toggle device 20 includes a push rod 21 and a power device 22, and the power device 22 drives the push rod 21 to adjust the posture of the goods in the buffer cabin 10.
The vision recognition system 30 includes a camera device 31, and the camera device 31 is used for acquiring images of the goods in the buffer storage 10. The visual recognition system 30 further comprises a code scanning device 32, and the code scanning device 32 is used for recognizing the identification code on the goods in the cache compartment 10 to obtain the goods information.
The vision recognition system 30 is provided on the frame 60 and/or the industrial robot 50. For example, the vision recognition system 30 is disposed on the rack 60, and the image capturing range thereof covers at least the movement range of the buffer chamber 10 and the industrial robot 50. Or, the vision recognition system 30 is disposed on the industrial robot 50, and the initial position of the industrial robot 50 is set above the buffer cabin 10, so that the vision recognition system 30 can perform image acquisition on the goods in the buffer cabin 10, then pick up the goods, return to the initial position, transport the goods to the unloading place along a fixed motion trajectory, and release the goods at the unloading place. Or, the vision recognition system 30 is partially disposed on the rack 60 and partially disposed on the industrial robot 50, that is, the vision recognition system 30 includes a plurality of image pickup devices 31 and a code scanning device 32, the image pickup devices 31 disposed on the industrial robot 50 are used for accurately determining the picking position of the goods when the industrial robot 50 picks up the goods, so as to regulate and control the picking pose of the industrial robot 50, or the code scanning device 32 is disposed on the industrial robot 50 to obtain the information of the goods, so as to adjust the picking strength or picking strategy of the industrial robot 50.
The control system 40 further determines whether the cargo attitude in the buffer cabin 10 is in a pickable state according to the image collected by the visual recognition system 30, and controls the toggle device 20 to adjust the cargo attitude in the buffer cabin when the cargo attitude is in a non-pickable state, so that the cargo attitude is in a pickable state.
The control system 40 further determines whether the classification information of the goods in the cache compartment 10 is in an acquirable state according to the image collected by the visual recognition system 30, and controls the toggle device 20 to adjust the posture of the goods in the cache compartment when the classification information is in a non-acquirable state, so that the classification information of the goods is in an acquirable state. The control system 40 may further determine whether cargo is present in the cache tank 10 based on the captured images against a specific identifier on the inside of the cache tank 10.
The vision recognition system 30 may further include a depth camera 33, where the depth camera 33 is disposed on the frame 60 and located between the industrial robot 50 and the buffer cabin 10, and is used for acquiring depth information of the picked goods when the industrial robot 50 picks up the goods. For example, the depth camera 33 obtains a three-dimensional size of the goods, and the control system 40 controls the industrial robot 50 to transport the goods to the corresponding sorting opening according to the three-dimensional size of the goods, and release the goods, wherein at least the size of the corresponding sorting opening can accommodate the goods.
Optionally, an air pressure sensor 53 is arranged on the industrial robot 50, the air pressure sensor 53 is in signal connection with the control system 40, and the control system 40 determines whether the industrial robot 50 picks up the goods according to the pressure value detected by the air pressure sensor 53.
The control system 40 further determines whether the cargo attitude in the cache tank 10 is in a pickable state according to the pressure value detected by the air pressure sensor 53, and controls the toggle device 20 to adjust the attitude of the cargo in the cache tank 10 when the cargo attitude is in a non-pickable state, so that the cargo attitude is in a pickable state.
Specifically, the industrial robot 50 includes a robot arm 51 and an end effector 52 provided on the robot arm 51, the control system 40 controls the end effector 52 to pick up or release the goods, and the control system 40 also controls the robot arm 51 to move the end effector 52 to handle the goods. For example, the end effector 52 is a suction cup device that adsorbs or releases goods by controlling air pressure. Further, the air pressure sensor 53 is provided on the end effector 52, when the industrial robot 50 picks up the goods, the end effector 52 is moved to the pickup position of the goods and brought into close contact with the pickup position of the goods, when the pressure value detected by the air pressure sensor 53 reaches a certain threshold value, the control system 40 controls the end effector 52 to perform a pickup operation, and if the pressure value detected by the air pressure sensor 53 is not changed thereafter, the control system 40 determines that the end effector 52 has not picked up the goods, and if the air pressure sensor 53 detects another pressure value, the control system 40 determines that the end effector 52 has picked up the goods, and further controls the industrial robot 50 to perform a transfer operation. When the control system 40 determines that the end effector 52 does not pick up the goods, the control system 40 further determines that the goods in the buffer storage compartment 10 are in the non-picking state, and further controls the toggle device 20 to adjust the goods in the buffer storage compartment 10. When the industrial robot 50 is ready to release the goods, the air pressure sensor 53 detects that the pressure value borne by the end effector 52 reaches another value, and the industrial robot 50 executes the release action; of course, the industrial robot 50 may also perform the releasing action independently of the air pressure sensor 53, for example by the visual recognition system 30 determining whether to perform the picking or releasing action. Further, the control system 40 dynamically adjusts the adsorption force or gripping force of the end effector 52 on the cargo according to the cargo information, such as the weight of the cargo, acquired by the code scanning device 32, so that energy consumption can be saved and the overweight cargo can still be picked up.
The rack 60 is further provided with an illuminating device 70, the control system 40 is in signal connection with the illuminating device 70, and the control system 40 controls and adjusts the brightness of the illuminating device 70, so that the visual recognition system 30 clearly collects images of the goods. For example, the frame 60 is provided with a sensing element for detecting light intensity, and the control system 40 controls and adjusts the brightness of the lighting device 70 according to the detected light intensity; or, by combining the data of the change of the ambient light brightness within 24 hours around the goods sorting device and the brightness required by the visual recognition system 30, a brightness time sequence control program of the lighting device 70 is set in the control system 40, and the control system 40 controls the brightness of the lighting device 70 according to the brightness time sequence control program. Further, the control system 40 determines the number of the goods in the cache compartment 10 according to the acquired image, and controls and adjusts the brightness of the lighting device 70; for example, when the number of the goods in the buffer cabin 10 is large, the brightness of the lighting device 70 is correspondingly increased; the number of cargo in the buffer container 10 is small, and accordingly, the brightness of the current lighting device 70 is reduced or maintained.
Therefore, the goods sorting device that this application provided, through the acquirement to goods gesture and classified information in the buffer memory cabin 10, control industrial robot 50 with the freight to the preset position that corresponds to classify the goods, make the work efficiency at the commodity circulation transportation or the letter sorting system that are equipped with this goods sorting device obtain effectively improving.
Referring to fig. 5, a schematic structural diagram of an embodiment of a cargo sorting system is provided.
The cargo sorting system comprises the cargo sorting device 100, the first cargo conveying device 110 and the plurality of second cargo conveying devices 120, wherein the first cargo conveying device 110 and the plurality of second cargo conveying devices 120 are arranged on the periphery of the cargo sorting device 100, and the cargo sorting device 100 picks up and conveys the cargo conveyed by the first cargo conveying device 110 to the corresponding second cargo conveying devices 120 according to the classification information.
The control system 40 is further in signal connection with the first goods conveying device 110, and controls the first goods conveying device 110 to stop working in the process that the industrial robot 50 picks up the goods, so that the industrial robot 50 is prevented from being collided by the falling goods when picking up the goods.
The control system 40 also plans the movement path of the industrial robot 50 according to the pickup position of the goods, the corresponding unloading position on the second goods conveyor 120, and adjusts the pose of the industrial robot 50 so that the industrial robot 50 can smoothly transfer the goods from the buffer tank 10 to the corresponding second goods conveyor 120.
For example, the first cargo conveyor 110 and the second cargo conveyor 120 each include a conveyor belt through which the cargo is transported to the buffer container 10, and the industrial robot 50 carries the cargo to the corresponding conveyor belt on the second cargo conveyor 120 according to the classification information of the cargo in the buffer container 10.
Alternatively, referring to fig. 6, the first cargo transferring device 110 includes a transferring device 112 and a transition chute 113, the transferring device 112 is used for transferring the cargo, and the transition chute 113 is disposed between the transferring device 112 and the buffer cabin 10 and is used for smoothly sliding the cargo transferred by the transferring device 112 to the buffer cabin 10. The transition slideway 113 is provided with baffles at two sides of the slideway to ensure that the goods slide into the buffer cabin 10. The surface of the upper sliding way part of the transition sliding way 113 is further waxed or coated with a teflon coating to reduce the friction coefficient of the surface, so that the goods can smoothly slide into the buffer cabin 10.
The plurality of second cargo conveyers 120 include a plurality of sorting cabinets 121 disposed on the circumferential side of the industrial robot 50, the sorting cabinets 121 are provided with a plurality of sorting ports 123, and the industrial robot 50 puts the picked-up cargo into the corresponding sorting ports 123.
The plurality of second cargo conveyers 120 may be arranged in rows along both sides of the industrial robot 50, or the plurality of second cargo conveyers 120 may be arranged around the industrial robot 50 as a center, and the present application does not limit the arrangement position of the second cargo conveyers 120. The second goods conveying device 120 includes a sorting cabinet 121, a plurality of sorting openings 123 are stacked on the sorting cabinet 121, and the sorting openings 123 are communicated with obliquely arranged slideways, so that the sorted goods are conveyed into corresponding goods collecting and distributing places or containers through the sorting openings 123. The sorting openings 123 are generally arranged in the same size for easy manufacture. The sorting openings 123 may also be provided in a variety of sizes, and the present application is not limited in this regard. The sorting opening 123 is further provided with a cargo anti-falling device 125, and the cargo anti-falling device 125 is used for preventing the cargo from turning to the outside of the sorting cabinet 121 and falling out of the sorting opening 123 when the industrial robot 50 puts the cargo into the sorting opening 123 and releases the cargo. The cargo falling prevention device 125 is, for example, a brush with moderate rigidity fixed at the sorting port 123, and the cargo passes through the brush without being blocked under the transportation of the industrial robot, and after the cargo is released, the brush can prevent the cargo from turning over, and the brush does not occupy the inner space of the sorting port 123. The cargo falling prevention device 125 may also be a baffle hinged at the sorting opening 123, for example, the baffle is hinged at the sorting opening 123 using a torsion spring.
The sorting cabinet 121 is further provided with a plurality of identification codes 124, and the identification codes 124 are arranged corresponding to the sorting openings 123, so that the industrial robot 50 can obtain information of the sorting openings 123 through the identification codes 124, for example, the information of the sorting openings includes transportation destinations of the goods, specification and size of the sorting openings 123, and the goods sorting device 100 sorts the goods to the corresponding sorting openings 123 accordingly. That is, the control system 40 controls the industrial robot 50 to put the goods into the corresponding sorting gates 123 according to the sorting gate information. Or, only one identification code 124 is arranged on the sorting cabinet 121, and since the positions of the sorting openings 123 on the sorting cabinet 121 are fixed, one identification code 124 includes information of all the sorting openings 123 thereon, the goods sorting device 100 can also position the corresponding sorting opening 123 according to the position of the identification code 124, and then put the goods into the corresponding sorting opening 123.
Specifically, the industrial robot 50 is provided with a vision sensor 54, and the vision sensor 54 is configured to scan the identification code 124 to obtain the sorting opening information corresponding to the identification code 124. Alternatively, the vision recognition system 30 scans a depth image of the second cargo conveying device 120, the control system 40 creates a data model of the second cargo conveying device 120 according to the obtained depth image, stores the positions of the sorting cabinets 121 and the sorting openings 123 in a coordinate manner, and matches the sorting information with the corresponding sorting openings 123, so that the cargo sorting device 100 can rapidly put the picked-up cargo into the corresponding sorting openings 123.
For other details about the adjustment and pickup of the goods in the buffer cabin 10, please refer to the description of the two embodiments, which is not repeated in this embodiment.
Be different from prior art's condition, this application discloses a buffer memory device, goods sorting device and goods letter sorting system. The cache device comprises a cache cabin, a shifting device, a visual recognition system and a control system, wherein the shifting device is arranged in the cache cabin and is used for adjusting the posture of goods loaded into the cache cabin; the visual recognition system is used for acquiring images of goods loaded into the cache cabin; the shifting device and the visual recognition system are in signal connection with the control system, the control system judges whether the cargo posture in the cache cabin is in a pickable state or not according to the image collected by the visual recognition system, and when the cargo posture is in a non-pickable state, the shifting device is controlled to adjust the posture of the cargo in the cache cabin, so that the cargo posture is in a pickable state. Through set up toggle arrangement in the buffer memory under-deck, set up the goods of visual identification system in to the buffer memory under-deck and carry out image acquisition, control system judges whether the goods is in the state of picking up according to the image of gathering, and then the gesture of selectively controlling toggle arrangement regulation goods for the goods gesture is in the state of picking up, has effectively reduced the degree of difficulty that the goods was picked up, has improved the conveying efficiency of goods.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.
Claims (20)
1. A cache apparatus, comprising:
a cache compartment;
the shifting device is arranged in the cache cabin and is used for adjusting the posture of goods loaded in the cache cabin;
the visual recognition system is used for acquiring images of goods loaded into the cache cabin;
the control system judges whether the cargo posture in the cache cabin is in a pickable state or not according to the image acquired by the visual recognition system, and controls the shifting device to adjust the posture of the cargo in the cache cabin when the cargo posture is in a non-pickable state, so that the cargo posture is in a pickable state.
2. The buffer device as claimed in claim 1, wherein the toggle device comprises a push rod and a power device, and the power device drives the push rod to adjust the posture of the goods in the buffer cabin.
3. The cache device according to claim 1, wherein the visual recognition system comprises a camera device for image capturing of the cargo in the cache compartment.
4. The cache device of claim 3, wherein the visual recognition system further comprises a code scanning device for recognizing the identification code of the cargo in the cache compartment to obtain the cargo information.
5. The buffer device of claim 1, wherein the control system further determines whether goods exist in the buffer cabin according to the collected images, and the inside of the buffer cabin is provided with a specific mark to distinguish the goods.
6. The buffer device according to claim 1, wherein the buffer compartment is provided with a rear sloped wall for receiving goods sliding down into the buffer compartment and a front sloped wall for facilitating goods to be picked up.
7. A cargo sorting apparatus, comprising:
a frame;
the cache cabin is arranged on the rack;
the shifting device is arranged in the cache cabin and is used for adjusting the posture of goods loaded in the cache cabin;
the industrial robot is used for picking up goods from the cache cabin, carrying and unloading the goods to a preset position;
the visual recognition system is used for acquiring images of goods in the cache cabin;
the industrial robot, the visual recognition system and the shifting device are in signal connection with the control system, the control system determines the pickup position of the goods and the classification information of the goods according to the images acquired by the visual recognition system, and controls the industrial robot to carry the goods to the corresponding positions; the control system also judges whether the cargo posture in the cache cabin is in a pickable state according to the image acquired by the visual recognition system, and controls the shifting device to adjust the cargo posture in the cache cabin when the cargo posture is in a non-pickable state, so that the cargo posture is in a pickable state.
8. The cargo sorting apparatus according to claim 7, wherein the toggle device comprises a push rod and a power device, the power device drives the push rod to adjust the attitude of the cargo within the buffer bin.
9. The cargo sorting device according to claim 7, wherein an air pressure sensor is arranged on the industrial robot, the air pressure sensor is in signal connection with the control system, and the control system judges whether the industrial robot picks up the cargo according to the pressure value detected by the air pressure sensor;
the control system is in signal connection with the shifting device, and further judges whether the cargo posture in the cache cabin is in a pickable state according to the pressure value detected by the air pressure sensor, and controls the shifting device to adjust the posture of the cargo in the cache cabin when the cargo posture is in a non-pickable state, so that the cargo posture is in a pickable state.
10. The cargo sorting device according to claim 7, wherein the control system determines whether the classification information of the cargo in the buffer bin is in an acquirable state according to the image collected by the visual recognition system, and controls the toggle device to adjust the attitude of the cargo in the buffer bin when the classification information is in a non-acquirable state, so that the classification information of the cargo is in an acquirable state.
11. The cargo sorting device according to claim 7, wherein the visual recognition system comprises a camera device for image capturing of the cargo within the buffer bin.
12. The cargo sorting device of claim 11, wherein the visual recognition system further comprises a code scanning device for recognizing the identification code on the cargo in the buffer bin to obtain the cargo information.
13. The cargo sorting apparatus according to claim 11, wherein the vision recognition system further comprises a depth camera provided on the frame for acquiring depth information of the picked-up cargo when the industrial robot picks up the cargo.
14. The cargo sorting apparatus according to claim 7, wherein the inside of the buffer bin is provided with a specific mark to distinguish from the cargo; and the control system further judges whether goods exist in the cache cabin according to the acquired images.
15. The cargo sorting device according to claim 7, wherein an illumination device is installed on the rack, the control system is in signal connection with the illumination device, and the control system controls and adjusts the brightness of the illumination device, so that the visual recognition system clearly performs image acquisition on the cargo.
16. A cargo sorting system comprising the cargo sorting apparatus according to any one of claims 7 to 15, a first cargo conveying apparatus, and a plurality of second cargo conveying apparatuses, the first cargo conveying apparatus and the plurality of second cargo conveying apparatuses being provided on a peripheral side of the cargo sorting apparatus, the cargo sorting apparatus picking up and conveying the cargo conveyed from the first cargo conveying apparatus onto the corresponding second cargo conveying apparatus in accordance with the classification information.
17. The cargo sorting system according to claim 16, wherein the first cargo conveying device includes a conveyor for conveying the cargo and a transition chute provided between the conveyor and the buffer bin for smoothly sliding the cargo conveyed by the conveyor down to the buffer bin.
18. The cargo sortation system as recited in claim 16, wherein said plurality of second cargo conveyers comprises a sorting bin disposed about said industrial robot, said sorting bin being provided with a plurality of sorting openings, said industrial robot placing picked-up cargo into respective said sorting openings.
19. The cargo sorting system according to claim 18, wherein the sorting cabinet is further provided with a plurality of identification codes, the identification codes are arranged corresponding to the sorting openings, so that the industrial robot can obtain the information of the sorting openings through the identification codes; and the control system controls the industrial robot to put the goods into the corresponding sorting port according to the information of the sorting port.
20. The cargo sorting system according to claim 19, wherein a visual sensor is provided on the industrial robot for scanning the identification code to obtain the sorting opening information corresponding to the identification code.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/087096 WO2019218271A1 (en) | 2018-05-16 | 2018-05-16 | Caching apparatus, goods-sorting apparatus and goods-sorting system |
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| Publication Number | Publication Date |
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| CN111344073A CN111344073A (en) | 2020-06-26 |
| CN111344073B true CN111344073B (en) | 2022-01-25 |
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| CN201880071865.3A Active CN111344073B (en) | 2018-05-16 | 2018-05-16 | Buffer memory device, goods sorting device and goods sorting system |
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| CN110705931B (en) * | 2019-09-09 | 2022-11-15 | 上海斑马来拉物流科技有限公司 | Cargo grabbing method, device, system, equipment and storage medium |
| CN114506494A (en) * | 2020-11-16 | 2022-05-17 | 顺丰科技有限公司 | Package packing system and package packing method |
| CN116423528B (en) * | 2023-06-13 | 2023-10-17 | 国网浙江省电力有限公司宁波供电公司 | Transformer oil sample sorting method and system |
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| CN111344073A (en) | 2020-06-26 |
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