CN111871827A - Automatic express sorting device and sorting method - Google Patents

Abstract

The invention discloses an automatic express sorting device and a sorting method, comprising an infrared emission module installed at the sorting end point and used for sending infrared rays of different frequencies to surrounding areas; a sorting numbering module set at the unloading point for obtaining The express information of the express package, and send the express information to the transportation navigation module; the transportation navigation module is used to receive infrared rays from the sorting end point, and transport the express package located at the unloading point to the corresponding sorting end point or sorting. Continuing point; the transportation navigation module includes a transportation trolley for placing express parcels, an infrared receiving module mounted on the transportation trolley and used to receive infrared rays from the sorting terminal, and a driving mechanism for driving the transportation trolley for transportation.

Description

A kind of automatic express sorting device and sorting method

technical field

The invention belongs to the technical field of measurement and control, and in particular relates to an automatic express sorting device and a sorting method.

Background technique

The current express delivery industry is developing rapidly, and many express delivery systems have achieved automatic sorting at the delivery point, such as the unmanned warehouse and unmanned sorting of JD Logistics, which greatly saves the express sorting time, but at the end of the logistics, that is, the place The end link from the urban area/jurisdictional area to the express point in the community still relies on manual sorting, the workload is heavy, and the speed is slow. It often happens that the express delivery has reached the destination but has not been delivered.

SUMMARY OF THE INVENTION

The purpose of the present invention is to propose an automatic express sorting device in order to solve the problems of large workload and slow speed of manual sorting at the end of express delivery.

Technical solution: an automatic express sorting device, comprising:

Infrared emission module, installed at the sorting end point, used to send infrared rays of different frequencies to the surrounding area;

The sorting numbering module, set at the unloading point, is used to sort the express packages at the unloading point, and according to the express information of each sorted package, the express package is handed over to the corresponding transportation navigation module;

The transportation navigation module is used to receive infrared rays from the designated sorting end point, and transport the express package located at the unloading point to the corresponding sorting end point or sorting relay point;

The transportation navigation module includes a transportation trolley for placing express packages, an infrared receiving module mounted on the transportation trolley and used for receiving infrared rays emitted from the sorting terminal, and a driving mechanism for driving the transportation trolley for transportation.

Further, the drive mechanism in the transportation navigation module includes

A stepper motor for driving the infrared receiving module to rotate at a constant speed, a steering gear for driving the transport trolley to turn, an encoder for driving the transport trolley and a second single-chip microcomputer; the stepper motor, the steering gear and the encoder Both are connected to and controlled by the second single-chip microcomputer, and the second single-chip microcomputer stores the rotation angle of the stepping motor, the steering gear operation data and the encoder data when the designated infrared rays are received.

Further, the driving mechanism further includes a module for acquiring obstacle information, the module is connected to the second single-chip microcomputer, and is controlled by the second single-chip microcomputer.

Further, the sorting and numbering module includes a first single-chip microcomputer, a scanning gun for scanning the two-dimensional code on the express package, and a first wireless communication module; the scanning gun and the first wireless communication module are both connected to the first single-chip computer. and the first single-chip microcomputer obtains the express information corresponding to the two-dimensional code through the network of the first wireless communication module.

Further, the first single-chip microcomputer has a built-in automatic numbering algorithm, which numbers each express package according to the scanning sequence of the scanning gun, and associates the express package number with the corresponding express information to obtain the associated express information.

Further, it also includes a notification receiving module, which is used to calculate the picking information according to the express information from the sorting and numbering module, and send the picking information to the recipient;

The notification receiving module includes:

The second wireless communication module is used to receive the associated express information from the sorting and numbering module;

The third single-chip microcomputer is used to convert the associated express information into pick-up information by specifying a password calculation method;

The fourth wireless communication module is used to send the pickup information to the corresponding recipient;

The sorting and numbering module further includes a third wireless communication module; the third wireless communication module is used for sending the associated express information to the notification receiving module.

Further, the notifying and receiving module further includes a photographing module for obtaining a photo of picking up the goods, and the photographing module is connected to a third single chip microcomputer.

The invention also discloses an automatic express sorting method, comprising the following steps:

Step 1: Obtain the express information of the express package through the QR code on the express package, number the express package, and associate the express information with the express package number;

Step 2: The sorting terminal sends infrared rays of different frequencies around;

Step 3: After the transport trolley recognizes the infrared rays of the specified frequency, it transports the express package at the unloading point to the corresponding sorting destination;

Step 4: After the transport trolley reaches the sorting end point, the pickup information is generated based on the express package number and the corresponding express information, and the pickup information is sent to the recipient and the sorting staff accordingly; the sorting staff is based on the pickup information. Pick up and deliver the goods, and the recipient will receive the goods according to the pick-up information.

Further, the step 3 specifically includes:

Set for each transport trolley to receive infrared rays of the specified frequency, and set the navigation information after the transport trolley recognizes the infrared rays of the specified frequency; the navigation information includes: the rotation angle of the stepping motor that drives the infrared receiving module to rotate, the operation of the steering gear data and encoder data;

After the transport trolley recognizes the infrared rays of the specified frequency, it transports the express package at the unloading point to the corresponding sorting destination.

The invention also discloses an automatic express sorting method, comprising the following steps:

Step 1: According to the distance between the unloading point and the sorting end point, set a sorting relay point between the unloading point and the sorting end point;

Step 2: Obtain the express information of the express package through the QR code on the express package, number the express package, and associate the express information with the express package number;

Step 3: The sorting end point and the sorting relay point send infrared rays of different frequencies around, and the infrared frequency band sent by the sorting relay point is the same as the infrared frequency band sent by the sorting end point corresponding to the sorting relay point, and The infrared frequency sent by the sorting relay point is lower than the infrared frequency sent by the sorting terminal corresponding to the sorting relay point;

Step 4: After the transport trolley recognizes the infrared rays of the specified frequency band, it determines the relationship between the received infrared frequency and the specified frequency. If it is less than the specified frequency, the transport trolley will unload the cargo according to the corresponding navigation information after identifying the infrared rays of the specified frequency. The express parcels are transported to the corresponding sorting destination;

Step 5: After the transport trolley reaches the sorting end point, the pickup information is generated based on the express package number and the corresponding express information, and the pickup information is sent to the recipient and the sorting staff accordingly; the sorting staff is based on the pickup information. Pick up and deliver the goods, and the recipient will receive the goods according to the pick-up information.

Beneficial effects: The sorting device of the present invention automatically sorts the express parcels on the logistics vehicle arriving at the end of the logistics according to the actual situation, and establishes a plurality of transport trolleys with automatic navigation function, and the transport trolley automatically guides and transports the express parcels from the logistics vehicle. To each nearby sorting end point, the sorting end point is not the final receiving point, and needs to be transported to the final receiving point separately. The integrated operation of the cargo and the person reduces the workload of the terminal courier; compared with the existing technology, it has the following advantages:

1. The present invention adopts infrared navigation, and according to the actual situation (the logistics vehicle is not far from the sorting end point), only a simple mobile receiving device can accurately locate the target position, which is simpler than various navigation schemes of AGV cars. It does not need complex external auxiliary devices, and has the advantages of low cost;

2. The present invention realizes the integrated operation of scanning and sorting, automatic package numbering, and automatic notification of receipt, which greatly reduces the workload of terminal delivery staff and improves the efficiency of express delivery;

3. Each process from express sorting to parcel receipt in the present invention has data and images, which can be traced to each process, making it safe and secure;

4. Various types of logistics to which the present invention can be applied are flexible, convenient and fast, and are of great help in improving the efficiency of the logistics industry.

Description of drawings

Fig. 1 is the overall schematic diagram of the present invention;

Fig. 2 is the sorting and numbering module circuit of the present invention;

Fig. 3 is the transportation navigation module circuit of the present invention;

Fig. 4 is the notification receiving module circuit of the present invention;

Fig. 5 is the double buffer structure operation flow chart of the present invention;

6 is a schematic structural diagram of a sorting and numbering module of the present invention;

7 is a schematic structural diagram of a transportation navigation module of the present invention;

FIG. 8 is a schematic structural diagram of a notification receiving module of the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

The layout of the express destination is shown in Figure 1. When the vehicle arrives, the express parcel needs to be sorted to the designated sorting destination. The courier will take the express parcel from the sorting destination, and finally the courier will deliver the express package to the door or put the express parcel on the Collection point. In the express sorting place, basically all the sorting end points can be connected with the unloading point of the logistics vehicle in a straight line, but obstacles or turning points are often encountered. At this time, a relay is needed for auxiliary navigation. In this embodiment, the signal transmitting device Infrared signals of different frequencies are set on the receiver, and the infrared signals of different frequencies are screened and prioritized at the receiving end, which can avoid mutual interference between sorting endpoints, sorting endpoints and relays.

The structure of the automatic express sorting device of this embodiment will now be described, which includes an infrared emission module, a sorting numbering module, a transportation navigation module, and a notification receiving module.

The infrared emitting module of this embodiment is installed at the sorting end point. If the distance between the unloading point and the sorting end point exceeds the maximum radiation range of infrared rays, a sorting relay point is set between the unloading point and the sorting end point; The infrared emission module is also installed on the sorting relay point. The sorting terminal and the sorting relay point send infrared rays of different frequencies to the surroundings. Different frequency bands correspond to different transport trolleys. Specifically,

The infrared frequency band sent by the sorting end point and the relay point is the same, but the frequency is different. The infrared frequency sent by the relay point is less than the infrared frequency sent by the sorting end point. Signal, when there is a signal at the relay point and the end point at the same time, the signal from the sorting end point is valid.

As shown in FIG. 2 and FIG. 6 , the sorting and numbering module in this embodiment includes a voice broadcast module, a WiFi module, a scanner gun, a first MCU and a first 433MHz wireless communication module; a voice broadcast module, a WiFi module, a scanner gun and a first 433MHz wireless communication module; A 433MHz wireless communication module is connected to the first MCU. The voice broadcast module is used for voice prompts. The first MCU has a built-in automatic numbering algorithm, and the scanning gun scans the QR code on the express package. The first MCU scans the sequence according to the scanning gun. Number each express package, the WiFi module obtains the two-dimensional code information on the express package, and identifies the express information corresponding to the two-dimensional code information through the Internet. The first MCU associates the express package number with the express information to form express information. , the first MCU sends express information to the notification receiving module through the first 433MHz wireless communication module, where the express information includes recipient information, address information, express package number and date. The sorting number module makes it easier for couriers to find packages by associating the express package number with the receiving information.

As shown in FIG. 3 and FIG. 7 , the transport navigation module of this embodiment includes a transport trolley for transporting express parcels from the unloading place to the sorting destination, installed on the top of the transport trolley and used for receiving data from the sorting destination and/or sorting destination. Infrared receiving module, steering gear, stepper motor, encoder, DC motor, second MCU, collision switch, ultrasonic module for the infrared rays emitted by the relay point. The infrared receiving module, the steering gear, the stepping motor, the encoder, the DC motor, the collision switch and the ultrasonic module are all connected to the second MCU and controlled by the second MCU.

The infrared receiving module of this embodiment adopts two infrared receiving tubes, and the two outer infrared receiving tubes are arranged at 180° on the top of the transport trolley. The second MCU controls the stepping motor to rotate at a constant speed, and the stepping motor drives the two outer infrared receiving tubes. The tube rotates at a constant speed. When the infrared receiving tube rotates to a certain angle and receives the specified infrared signal, the second MCU records the rotation angle (step angle) of the stepping motor, and stores it in the EEPROM or the single-chip FLASH. The second MCU sends a turning command to the steering gear to turn according to the rotation angle of the stepping motor, the DC motor drives the encoder to rotate, the second MCU simultaneously records the encoder data to the EEPROM, and the ultrasonic module is used to detect the front of the transport trolley Whether there is an obstacle, the collision switch is used to feed back a signal to the second MCU when the transport trolley encounters an obstacle. When detecting an obstacle or encountering an obstacle, the second MCU controls the steering gear to turn left or right A certain angle, and control the DC motor and encoder to drive the transport trolley forward for a certain distance, and then walk according to the navigation information.

In this embodiment, the infrared signal received by the infrared receiving tube includes the infrared emitted from the sorting end point and/or the infrared emitted from the sorting relay point. But when the frequency is less than the maximum sorting frequency of the transport trolley, it means that the infrared is sent by the sorting relay point, or when the specified frequency range is identified but there are two frequencies, the second MCU automatically selects the transport The navigation information corresponding to the infrared rays with the maximum frequency of sorting of the trolley is used for express and parcel transportation. The navigation information is stored in the EEPROM or the FLASH of the single-chip microcomputer, which includes the rotation angle of the stepping motor and the encoder data. If the infrared signal of the transport trolley is blocked during transportation, that is, it encounters an obstacle, and the second MCU performs auxiliary navigation according to the data in the EEPROM or the FLASH of the single-chip microcomputer. The complete navigation information can be obtained after the first transport of the transport trolley. With the correction of the navigation data and the step angle of the infrared signal received by the single-chip microcomputer, the transport trolley can easily realize unmanned driving.

As shown in FIG. 4 and FIG. 8 , the notification receiving module in this embodiment includes a SIM800A module, a third MCU, an OV2640 module and a second 433MHz wireless communication module, and both the SIM800A module and the OV2640 module are connected to the third MCU; The second 433MHz wireless communication module receives the express information from the first 433MHz wireless communication module, and the third MCU uses a specified password calculation method to convert the express information into a pickup password. The specified password calculation method can generate the pickup according to the express package code and express information. Password + CRC check is enough, the SIM800A module sends the pick-up information to the recipient. The pick-up information includes the recipient's name, mobile phone number and pick-up password. The staff at the sorting terminal can infer the pick-up password based on the pick-up password. Express package code, know the location of the express package through the express package code, and then complete the pickup. During the pickup process, the OV2640 module takes pictures to complete the sorting process tracking.

The communication mode of the WiFi module in this embodiment is serial communication. The baud rate of the WiFi module is 9600, with 8 data bits, no parity bit and 1 stop bit. Specifically, the WiFi module in this embodiment adopts the ESP8266 module, and the ESP8266 module has three modes, namely STA, AP, and STA+AP mode. STA mode is used to connect to the Internet and communicate with other network devices, which belongs to Internet communication; AP mode is used to establish wireless hotspots, allowing other devices to join in and communicate between devices, belonging to local area network communication; STA+AP mode , the device can communicate not only with other devices located in the local area network, but also with other devices in the Internet. There are three sub-modes of TCP Server, TCPClient and UD respectively in STA and AP mode, so there are 9 sub-modes in STA+AP mode. Before using the ESP8266 module, it is necessary to manually initialize the module: connect the RXD and TXD pins of the ESP8266 module to the TXD and RXD pins of the USB interface of the computer respectively to realize direct communication between the ESP8266 module and the PC, and use the serial port debugging assistant on the PC side Open the corresponding serial port and enter the following commands respectively:

AT+CWMODE=1

AT+RST

AT+CWJAP="Tenda", "00000000"

AT+CIPSTART="TCP","192.168.1.115",8080

AT+CIPMODE=1

AT+CIPSEND

Each of the above commands is sent separately and requires carriage return and line feed, and waits for a successful transmission.

Among them, "Tenda" and "00000000" are the SSID and wireless password, which can be changed according to the actual test conditions. After completion, the connection information of ESP8266 will appear under Tenda's wireless hotspot, which proves that the module has been successfully connected to the wireless hotspot.

Install the network debugging assistant on the mobile terminal, configure an 8080 TCP Server, and establish a TCP server. "192.168.1.115" and 8080 are the IP and port to connect to the configured TCP Server, which can be changed according to the actual test conditions. After completion, you can send the "Hello!" message in the serial debugging assistant on the PC side, and the mobile terminal will receive the message, which proves that the module successfully communicates with a device in the network.

After the above manual test, the initialization of the program means for the ESP8266 module has a reference. You can wait a long time after sending each command and continue to send the next command, which is easy but not reliable. In fact, after each initialization command is sent, the serial port will receive the return information from the module to determine whether the command is successfully executed. If it is unsuccessful, the command can continue to be sent until it is successfully executed.

Design initialization function:

ESP8266_TCP_Client_Init(char*ssid,char*pwd,char*ip,char*port)

Among them, the first parameter char*ssid should specify the SSID to be connected to the WiFi module, the second parameter char*pwd is the password of the wireless network, the third parameter char*ip is the IP address of the server to be connected, and the fourth parameter char*port to specify the port to connect to the server.

E.g:

ESP8266_TCP_Client_Init("qsss","00000000","103.46.128.41","46379")

As above, you can connect to designated wireless hotspots and servers.

In the data transmission of the serial port, two data transmission methods are designed, including the waiting type and the interrupt type. The first one is suitable for initializing the module, and the second one is suitable for sending data.

For the waiting data sending method, the function Uart_Send_Wait(char*chr) is used to send the command. The parameter specifies the starting pointer of the string. When using it, every time a character is sent, it will wait for the character to be sent.

For the interrupt type data sending method, the command is sent through the function Uart_Send(char*str), and the parameter specifies the starting pointer of the string.

It specifies the string to be sent internally, and then sets the sending flag bit TI of the serial port interrupt to 1, which will enter the serial port interrupt to send data. When the string pointer points to the end of the string, no more characters will be sent.

It actually shows that when these two data sending functions are used at the same time, communication errors will be caused. The solution is to declare a variable of bit type. When using the waiting function, the variable is set to 0. After all data is sent, the variable is set to 1. This can effectively solve the communication error caused by the simultaneous use of the two functions.

The interrupt-type data sending function does not use while to wait for the character to be sent, and is completed by interrupts, which has the advantage of not taking up time. Used in data communication in the main loop. Remember, this function cannot be used continuously for communication. This function is suitable for occasions where the interval between two communications is long. The data communication caused by the card swiping behavior in this design meets the requirements at intervals.

The following is an example of sending an AT command. Send AT commands to the module at 2s intervals.

If a correct response is received, the serial port will receive a series of data, the last four bytes are 'O', 'K', 0x0d, 0x0a, by judging the last three bytes received by the serial port, if it contains the character ' K', it proves that the command was executed successfully, exit the do-while loop, and start sending the next command.

As shown in Figure 5, the third MCU uses the double buffer mode to read the OV2640 module data. The double buffer mode process is as follows:

Receive data: enable buffer interrupt, interrupt when buffer A is full, buffer B starts to receive OV2640 module data, interrupt program reads buffer A data, when buffer B is full and interrupt starts to receive buffer B data, buffer A starts to receive OV2640 data. When a picture is received, the frame is interrupted. At this time, the buffer is stopped (most of the buffers are not full, and no interruption will occur), and the remaining data in the buffer is read.

Processing data: search for the received data, if 0xff 0xd8 is found, it indicates the beginning of the picture, if 0xff is found, 0xd8 is the end of the data, the length between records. Write 0xf1, 0xf2, 0 (the system is sent to the remote computer), 3 (representing the image) and four bytes of data length len into the array for data encapsulation. Send the encapsulated data. After sending, open the buffer and continue to receive the OV2640 module data.

The SIM800A module of this embodiment integrates a baseband processing chip, which can complete network communication, and has its own radio frequency processing function inside, and does not require other circuits to integrate radio frequency functions. The SIM800A module has an independent operating system, which does not require complex control in the single-chip microcomputer program, and can complete the control of the SIM800A module as long as the AT command is sent. The SIM800A module has the function of sending and receiving SMS messages, which can complete the sending and receiving of short messages. After a simple initialization, SMS messages can be sent through the serial port.

uartSendStr("AT+CSCS=\"GSM\"\r\n",15);//Set the font for the module to accept

DelayMs(200); // Delay helps to stabilize

uartSendStr((unsigned char*)AT_CMGS,26);//Prepare to send SMS

The GSM800A module of this embodiment extracts the mobile phone information of the consignee, writes short message information, and embeds the pick-up password into the short message. The short message password can decode the package serial number and arrival date. When the customer picks up the goods, the password can be very convenient. to find the package you need.

According to the pickup information, the notification receiving module of this embodiment can automatically count the number of pickups per day and the information about unpicked orders, and can automatically repeat short messages to notify customers of pickup.

Claims (10)

1. An automatic express sorting device, characterized in that: comprising: Infrared emission module, installed at the sorting end point, used to send infrared rays of different frequencies to the surrounding area; The sorting numbering module, set at the unloading point, is used to sort the express packages at the unloading point, and according to the express information of each sorted package, the express package is handed over to the corresponding transportation navigation module; The transportation navigation module is used to receive infrared rays from the designated sorting end point, and transport the express package located at the unloading point to the corresponding sorting end point or sorting relay point; The transportation navigation module includes a transportation trolley for placing express packages, an infrared receiving module mounted on the transportation trolley and used for receiving infrared rays emitted from the sorting terminal, and a driving mechanism for driving the transportation trolley for transportation. 2 . The automatic express sorting device according to claim 1 , wherein the driving mechanism in the transportation navigation module comprises: 2 . A stepper motor for driving the infrared receiving module to rotate at a constant speed, a steering gear for driving the transport trolley to turn, an encoder for driving the transport trolley and a second single-chip microcomputer; the stepper motor, the steering gear and the encoder Both are connected to and controlled by the second single-chip microcomputer, and the second single-chip microcomputer stores the rotation angle of the stepping motor, the steering gear operation data and the encoder data when the designated infrared rays are received. 3 . The automatic express sorting device according to claim 2 , wherein the driving mechanism further comprises a module for acquiring obstacle information, the module is connected to the second single-chip microcomputer and controlled by the second single-chip microcomputer. 4 . . 4 . The automatic express sorting device according to claim 1 , wherein the sorting and numbering module comprises a first single-chip microcomputer, a scanning gun for scanning two-dimensional codes on express parcels, and a first wireless communication device. 5 . module; both the scanning gun and the first wireless communication module are connected to the first single-chip microcomputer, and the first single-chip microcomputer obtains the express information corresponding to the two-dimensional code through the network of the first wireless communication module. 5 . The automatic express sorting device according to claim 4 , wherein the first single-chip microcomputer has a built-in automatic numbering algorithm, which numbers each express package according to the scanning sequence of the scanning gun, and compares the express package number with the number of the express package. 6 . Corresponding express information is associated to obtain the associated express information. 6 . The automatic express sorting device according to claim 5 , further comprising a notification receiving module, which is used to calculate the picking information according to the express information from the sorting numbering module, and calculate the picking information. 7 . The goods information is sent to the recipient; The notification receiving module includes: The second wireless communication module is used to receive the associated express information from the sorting and numbering module; The third single-chip microcomputer is used to convert the associated express information into pick-up information by specifying a password calculation method; The fourth wireless communication module is used to send the pickup information to the corresponding recipient; The sorting and numbering module further includes a third wireless communication module; the third wireless communication module is used for sending the associated express information to the notification receiving module. 7 . The sorting device of an automated express sorting device according to claim 6 , wherein the notification receiving module further comprises a photographing module for obtaining a photo of picking up the goods, and the photographing module is connected with the third Microcontroller connected. 8. The sorting method of an automatic express sorting device according to any one of claims 1 to 7, characterized in that: comprising the following steps: Step 1: Obtain the express information of the express package through the QR code on the express package, number the express package, and associate the express information with the express package number; Step 2: The sorting terminal sends infrared rays of different frequencies around; Step 3: After the transport trolley recognizes the infrared rays of the specified frequency, it transports the express package at the unloading point to the corresponding sorting destination; Step 4: After the transport trolley reaches the sorting end point, the pickup information is generated based on the express package number and the corresponding express information, and the pickup information is sent to the recipient and the sorting staff accordingly; the sorting staff is based on the pickup information. Pick up and deliver the goods, and the recipient will receive the goods according to the pick-up information. 9. The sorting method according to claim 8, wherein the step 3 specifically comprises: Set for each transport trolley to receive infrared rays of the specified frequency, and set the navigation information after the transport trolley recognizes the infrared rays of the specified frequency; the navigation information includes: the rotation angle of the stepping motor that drives the infrared receiving module to rotate, the operation of the steering gear data and encoder data; After the transport trolley recognizes the infrared rays of the specified frequency, it transports the express package at the unloading point to the corresponding sorting destination. 10. The sorting method of an automatic express sorting device according to any one of claims 1 to 7, characterized in that it comprises the following steps: Step 1: According to the distance between the unloading point and the sorting end point, set a sorting relay point between the unloading point and the sorting end point; Step 2: Obtain the express information of the express package through the QR code on the express package, number the express package, and associate the express information with the express package number; Step 3: The sorting end point and the sorting relay point send infrared rays of different frequencies around, and the infrared frequency band sent by the sorting relay point is the same as the infrared frequency band sent by the sorting end point corresponding to the sorting relay point, and The infrared frequency sent by the sorting relay point is lower than the infrared frequency sent by the sorting terminal corresponding to the sorting relay point; Step 4: After the transport trolley recognizes the infrared ray of the specified frequency band, it determines the relationship between the received infrared frequency and the specified frequency. If it is less than the specified frequency, the transport trolley will unload the cargo according to the corresponding navigation information after identifying the infrared ray of the specified frequency. The express parcels are transported to the corresponding sorting destination; Step 5: After the transport trolley reaches the sorting end point, the pickup information is generated based on the express package number and the corresponding express information, and the pickup information is sent to the recipient and the sorting staff accordingly; the sorting staff is based on the pickup information. Pick up and deliver the goods, and the recipient will receive the goods according to the pick-up information.

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