CN111871827A

CN111871827A - Automatic express sorting device and sorting method

Info

Publication number: CN111871827A
Application number: CN202010750357.7A
Authority: CN
Inventors: 李永建; 陈中; 许晓琴
Original assignee: Yancheng Institute of Technology
Current assignee: Yancheng Institute of Technology Technology Transfer Center Co Ltd
Priority date: 2020-07-30
Filing date: 2020-07-30
Publication date: 2020-11-03
Anticipated expiration: 2040-07-30
Also published as: CN111871827B

Abstract

The invention discloses an automatic express sorting device and a sorting method, wherein the automatic express sorting device comprises an infrared emission module, a sorting module and a sorting module, wherein the infrared emission module is arranged at a sorting terminal point and is used for sending infrared rays with different frequencies to the periphery; the sorting numbering module is arranged at the unloading point and used for acquiring express information of the express packages and sending the express information to the transportation navigation module; the transportation navigation module is used for receiving infrared rays from the sorting terminal point and transporting the express packages at the unloading point to the corresponding sorting terminal point or sorting relay point; the transportation navigation module comprises a transportation trolley for placing express packages, an infrared receiving module which is arranged on the transportation trolley and used for receiving infrared rays emitted from a sorting terminal point, and a driving mechanism for driving the transportation trolley to transport.

Description

Automatic express sorting device and sorting method

Technical Field

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

Background

The existing express industry is developed quickly, automatic sorting of a lot of express is achieved at delivery points, for example, unmanned sorting of Beijing east logistics is achieved, the express sorting time is greatly saved, the express is sorted to the tail end of the logistics, namely the tail end link from a local city area/district to a cell express point is still sorted manually, the workload is large, the speed is low, and the condition that the express reaches the destination but is not delivered late often occurs.

Disclosure of Invention

The invention aims to solve the problems of large workload, low speed and the like of manual sorting in an express delivery end link, and provides an automatic express delivery sorting device.

The technical scheme is as follows: an automated courier sorting apparatus, comprising:

the infrared emission module is arranged at a sorting terminal and used for sending infrared rays with different frequencies to the periphery;

the sorting numbering module is arranged at the unloading point and used for sorting the express packages at the unloading point and delivering the express packages to the corresponding transportation navigation modules according to the express information of each sorted package; (ii) a

The transportation navigation module is used for receiving infrared rays from the appointed sorting destination and transporting the express packages at the unloading point to the corresponding sorting destination or sorting relay point;

the transportation navigation module comprises a transportation trolley for placing express packages, an infrared receiving module which is arranged on the transportation trolley and used for receiving infrared rays emitted from a sorting terminal point, and a driving mechanism for driving the transportation trolley to transport.

Further, the driving mechanism in the transportation navigation module comprises

The infrared receiving module is used for receiving infrared rays emitted by the infrared emitting device and transmitting the infrared rays to the infrared receiving module; the stepping motor, the steering engine and the encoder are all connected with the second single chip microcomputer and controlled by the second single chip microcomputer, and the rotation angle of the stepping motor, steering engine operation data and encoder data when the specified infrared rays are received are stored in the second single chip microcomputer.

Furthermore, the driving mechanism further comprises a module for acquiring barrier information, and the module is connected with the second singlechip and controlled by the second singlechip.

Furthermore, the sorting numbering module comprises a first single chip microcomputer, a scanning gun for scanning two-dimensional codes on express packages and a first wireless communication module; scanning rifle and first wireless communication module all link to each other with first singlechip, first singlechip acquires the express delivery information that the two-dimensional code corresponds through the networking of first wireless communication module.

Furthermore, an automatic numbering algorithm is built in the first single chip microcomputer, express packages are numbered according to the scanning sequence of the scanning gun, and express package numbers are associated with corresponding express information to obtain associated express information.

The system further comprises a goods receiving notification module, a goods picking-up module and a goods receiving module, wherein the goods receiving notification module is used for calculating goods picking-up information according to the express delivery information from the sorting numbering module and sending the goods picking-up information to a receiver;

the notice receiving module comprises:

the second wireless communication module is used for receiving the associated express information from the sorting numbering module;

the third singlechip is used for converting the associated express information into goods taking information by a specified password calculation method;

the fourth wireless communication module is used for sending the goods taking information to the corresponding receiver;

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

Further, the informing and receiving module further comprises a shooting module for acquiring the goods taking photo, and the shooting module is connected with the third single chip microcomputer.

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

step 1: the method comprises the steps that express information of an express package is obtained through a two-dimensional code on the express package, the express package is numbered, and the express information is associated with the express package number;

step 2: sending infrared rays with different frequencies to the periphery at a sorting end point;

and step 3: after identifying infrared rays with specified frequency, the transport trolley transports the express packages at the unloading point to a corresponding sorting destination;

and 4, step 4: after the transport trolley reaches a sorting terminal, goods taking information is generated based on the express package number and the corresponding express information, and the goods taking information is correspondingly sent to a receiver and sorting workers; the sorting staff gets the goods and dispatches according to the goods getting information, and the receiver receives the goods according to the goods getting information.

Further, the step 3 specifically includes:

setting infrared rays for receiving specified frequency for each transport trolley, and setting navigation information after the transport trolley identifies the infrared rays with the specified frequency; the navigation information includes: the rotation angle of a stepping motor for driving the infrared receiving module to rotate, steering engine operation data and encoder data;

after the infrared ray of appointed frequency is discerned to the travelling bogie, the express delivery parcel of unloading point department is transported to corresponding letter sorting terminal point.

step 1: according to the distance between the unloading point and the sorting end point, a sorting relay point is arranged between the unloading point and the sorting end point;

step 2: the method comprises the steps that express information of an express package is obtained through a two-dimensional code on the express package, the express package is numbered, and the express information is associated with the express package number;

and step 3: the sorting end point and the sorting relay point send infrared rays with different frequencies to the periphery, 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 smaller than the infrared frequency sent by the sorting end point corresponding to the sorting relay point;

and 4, step 4: after identifying the infrared ray of the designated frequency band, the transport trolley judges the relationship between the received infrared ray frequency and the designated frequency, if the relationship is smaller than the designated frequency, the transport trolley transports the express packages at the unloading point to the corresponding sorting destination according to the corresponding navigation information after identifying the infrared ray of the designated frequency;

and 5: after the transport trolley reaches a sorting terminal, goods taking information is generated based on the express package number and the corresponding express information, and the goods taking information is correspondingly sent to a receiver and sorting workers; the sorting staff gets the goods and dispatches according to the goods getting information, and the receiver receives the goods according to the goods getting information.

Has the advantages that: according to the sorting device, the logistics vehicles arriving at the logistics tail end are automatically sorted by express packages according to actual conditions, a plurality of transport trolleys with an automatic navigation function are established, the transport trolleys automatically navigate and transport the express packages from the logistics vehicles to each nearby sorting end point, the sorting end points are not final receiving points and need to be additionally transported to the final receiving points, the goods sorting of the goods arriving logistics vehicles is realized, the integrated operation of express package numbering, sorting and informing of a receiver is realized, and the workload of a terminal courier is reduced; compared with the prior art, the method has the following advantages:

1. according to the invention, infrared navigation is adopted, and according to the actual condition (the logistics vehicles are not far away from the sorting terminal), the target position can be accurately positioned only by a simple mobile receiving device, and compared with various navigation schemes of the AGV, the method is simple and does not need a complex external auxiliary device, and has the advantages of low cost and the like;

2. the invention realizes the integrated operation of scanning and sorting, automatic package numbering and automatic notification of receiving, greatly lightens the workload of a terminal delivery worker, and improves the express delivery efficiency;

3. according to the invention, each process of parcel signing is sorted by express, data and images are provided, each process can be tracked, and safety is assured;

4. the invention can be applied to various logistics, is flexible, convenient and quick, and is helpful for improving the efficiency of the logistics industry.

Drawings

FIG. 1 is a global schematic of the present invention;

FIG. 2 is a sorting numbering module circuit of the present invention;

FIG. 3 is a transport navigation module circuit of the present invention;

FIG. 4 is a circuit of a notification receiving module according to the present invention;

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

FIG. 6 is a schematic diagram of a sorting numbering module according to the present invention;

FIG. 7 is a schematic structural diagram of a transport navigation module according to the present invention;

FIG. 8 is a block diagram of a receiving notification module according to the present invention.

Detailed Description

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

The layout of the express destination is as shown in fig. 1, when the vehicle arrives, the express package needs to be sorted to the designated sorting destination, the courier takes the express package away from the sorting destination, and finally the courier delivers the goods to the home or places the express package at the collection point. In express delivery letter sorting place, basically all letter sorting terminal points can link to each other with the unloading point straight line of commodity circulation car, but often can meet barrier or inflection point, need the relay to carry out supplementary navigation this moment, and this embodiment is through setting up the infrared ray of different frequencies on signal emission device, screens and sets for the priority the infrared signal of different frequencies at the receiving terminal, can avoid the mutual interference between each letter sorting terminal point, letter sorting terminal point and relay.

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

The infrared emission module of the embodiment is installed at a sorting terminal, and if the distance between the unloading point and the sorting terminal exceeds the maximum radiation range of infrared rays, a sorting relay point is arranged between the unloading point and the sorting terminal; the sorting relay point is also synchronously provided with an infrared transmitting module, the sorting end point and the sorting relay point transmit infrared rays with different frequencies to the periphery, different frequency sections correspond to different transport trolleys, and particularly,

the infrared frequency band sent by the sorting end point and the relay point is consistent, but the frequency is different, the infrared frequency sent by the relay point is smaller than the infrared frequency sent by the sorting end point, the priority is distinguished according to the frequency, the overlapped signals are distinguished through the frequency, and when signals exist at the relay point and the end point simultaneously, the signals sent by the sorting end point are effective.

As shown in fig. 2 and fig. 6, the sorting numbering module of this embodiment includes a voice broadcasting module, a WiFi module, a scanning gun, a first MCU and a first 433MHz wireless communication module; the voice broadcast module, the wiFi module, scanning rifle and first 433MHz wireless communication module all link to each other with first MCU, this voice broadcast module is used for carrying out voice prompt, this first MCU embeds automatic numbering algorithm, the scanning rifle scans the two-dimensional code on the express delivery parcel, first MCU numbers each express delivery parcel according to scanning rifle scanning order, the wiFi module acquires the two-dimensional code information on the express delivery parcel, and the express delivery information that this two-dimensional code information corresponds is discerned through the networking, first MCU associates express delivery parcel number and express delivery information, form express delivery information, this first MCU sends express delivery information through first 433MHz wireless communication module and gives notice receipts cargo module, this express delivery information includes addressee information, addressee address information, express delivery parcel number, the date. The sorting numbering module is convenient for a courier to search for the parcels by associating the express parcel numbers with the goods receiving information.

As shown in fig. 3 and 7, the transportation navigation module of the present embodiment includes a transportation cart for transporting the express package from the unloading position to the sorting destination, an infrared receiving module installed on the top of the transportation cart for receiving infrared rays emitted from the sorting destination and/or the sorting relay, a steering engine, a stepping motor, an encoder, a dc motor, a second MCU, a collision switch, and an ultrasonic module. The infrared receiving module, the steering engine, the stepping motor, the encoder, the direct current motor, the collision switch and the ultrasonic module are all connected with the second MCU and controlled by the second MCU.

The infrared receiving module of the embodiment adopts two infrared receiving tubes, the two infrared receiving tubes are arranged at the top of the transport trolley by 180 degrees, the second MCU controls the stepping motor to rotate at a constant speed, the stepping motor drives the two infrared receiving tubes to rotate at a constant speed, after the infrared receiving tubes rotate to a certain angle and receive a specified infrared signal, the second MCU records the rotating angle (step angle) of the stepping motor and stores the rotating angle into the EEPROM or the single chip FLASH, the second MCU sends a turning command to the steering engine to turn according to the rotating angle of the stepping motor, the DC motor drives the encoder to rotate, the second MCU synchronously records the data of the encoder into the EEPROM, the ultrasonic module is used for detecting whether an obstacle exists in front of the transport trolley or not, the collision switch is used for feeding back a signal to the second MCU when the transport trolley touches the obstacle, when the obstacle or the obstacle is detected, the second MCU controls the steering engine to rotate a certain angle leftwards or rightwards, and controls the direct current motor and the encoder to drive the transport trolley to move forwards for a certain distance, and then the transport trolley walks according to the navigation information.

In this embodiment, the infrared signal received by the infrared receiving tube includes infrared rays emitted from a sorting end point and/or infrared rays emitted from a sorting relay point, the transportation trolley identifies the infrared rays in a specified frequency band, when the specified frequency band is identified but the frequency is smaller than the maximum sorting frequency of the transportation trolley, it is indicated that the infrared rays are emitted by the sorting relay point, or when the specified frequency band is identified but two frequencies exist, the second MCU automatically selects navigation information corresponding to the infrared rays in the maximum sorting frequency of the transportation trolley to perform express parcel transportation, and the navigation information is stored in the EEPROM or the FLASH of the single chip microcomputer and includes the rotation angle of the stepping motor and encoder data. And if the infrared signal is shielded in the transportation process of the transport trolley, namely the transport trolley encounters an obstacle, the second MCU performs auxiliary navigation according to the data in the EEPROM or the single chip FLASH. Complete navigation information can be obtained after the transport trolley is transported for the first time, and unmanned driving of the transport trolley is easily achieved by matching with the correction of navigation data and the step angle of the infrared signal received by the single chip microcomputer.

As shown in fig. 4 and 8, the goods receiving notification module of 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 express information from the first 433MHz wireless communication module, the third MCU adopts a specified password calculation method to convert the express information into a pickup password, the specified password calculation method can generate a pickup password and CRC check according to express package codes and express information, the SIM800A module sends the pickup information to a receiver, the pickup information comprises receiver names, mobile phone numbers and pickup passwords, a worker at a sorting terminal can deduce the express package codes according to the pickup passwords, the express package positions are known through the express package codes, pickup is completed, in the pickup process, the OV2640 module shoots, and tracking of a sorting flow is completed.

The communication mode of the WiFi module of this embodiment is serial communication, and the baud rate of this WiFi module is 9600, has 8 bit data bits, does not have check bit and 1 bit stop bit. Specifically, the WiFi module of this embodiment adopts an ESP8266 module, and the ESP8266 module has three modes, which are STA, AP, and STA + AP modes. The STA mode is used for connecting to the Internet, communicating with other network equipment and belonging to Internet communication; the AP mode is used for establishing a wireless hotspot and allowing other equipment to join in, and the equipment communicates with the equipment and belongs to local area network communication; in the STA + AP mode, the device may communicate with other devices on the lan as well as other devices on the internet. The STA and AP modes have three sub-modes of TCP Server, TCPClient and UD respectively, so that there are 9 sub-modes in the STA + AP mode. Before using the ESP8266 module, module initialization is performed manually: the RXD and the TXD pins of the ESP8266 module are respectively connected with the TXD and the RXD pins of a USB interface of a computer, so that the direct communication between the ESP8266 module and the PC is realized, a serial port debugging assistant is used at the PC end to open corresponding serial ports, and the following commands are respectively input:

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 a carriage return and a line feed, and waits for a successful transmission.

Wherein, the 'Tenda' and '00000000' are SSID and wireless password, and can be changed according to actual test conditions. After completion, the connection information of ESP8266 appears under the wireless hotspot of Tenda, i.e., it is proved that the module is successfully connected to the wireless hotspot.

And installing a network debugging assistant at the mobile terminal, configuring an 8080 TCP Server, and establishing a TCP Server. "192.168.1.115" and 8080 are the IP and ports to be connected to the configured TCP Server, which can be changed according to actual test conditions. After the completion, the "Hello!can be sent from the serial port debugging assistant of the PC end! The mobile terminal receives the information to prove that the module successfully communicates with a certain device in the network.

After the above manual test, the ESP8266 module is initialized by program means, and reference is made thereto. The method can be simple, convenient and easy to implement, but is not reliable enough. In fact, after each initialization command is sent, the serial port receives the return information from the module, so as to judge whether the command is executed successfully, and if the command is not executed successfully, the command can be sent continuously until the command is executed successfully.

Designing an initialization function:

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

the first parameter charssid is to specify an SSID to which the WiFi module is to be connected, the second parameter charpwd is a password of the wireless network, the third parameter charip is an IP address of a server to which the WiFi module is to be connected, and the fourth parameter charport is to specify a port of the server to which the WiFi module is to be connected.

For example:

ESP8266_TCP_Client_Init(“qsss”,”00000000”,”103.46.128.41”,”46379”)

as above, connections may be made to the designated wireless hotspot and server.

In the data transmission of the serial port, two data transmission modes are designed, including a waiting type and an interruption type, wherein the first mode is suitable for initializing a module, and the second mode is suitable for transmitting data.

For the waiting data transmission method, an instruction is transmitted through a function Uart _ Send _ Wait (char _ chr), a parameter designates a start pointer of a character string, and when in use, each character is transmitted, the completion of the transmission of the character is waited.

For the interrupt type data transmission method, an instruction is transmitted by a function Uart _ Send (char str), and a parameter specifies a start pointer of a character string.

The internal of the serial port interrupt device specifies a character string to be sent, then the sending flag TI of the serial port interrupt is set to be 1, and the serial port interrupt device enters the serial port interrupt device to send data. When the string pointer points to the end of the string, no more characters will be sent.

Actually, it is shown that when the two data transmission functions are used simultaneously, communication errors are caused. The solution is to declare a bit type variable, when a waiting function is used, the variable is set to 0, and after all data are sent, the variable is set to 1, so that communication errors caused when two functions are used simultaneously can be effectively solved.

The interrupt type data transmission function does not use while to wait for the character transmission, and is completed by the interrupt, so that the interrupt type data transmission function has the advantage of not occupying time. Used in data communication in the main loop. The function can not be used continuously for communication, and the function is suitable for occasions with two times of communication separated by a long time. In the design, data communication caused by card swiping behaviors meets requirements at intervals.

The following takes the transmission of AT commands as an example. AT commands are sent to the module AT intervals of 2 s.

If a correct response is received, the serial port receives a series of data, the last four bytes are 'O', 'K', 0x0d and 0x0a, and through judging the last three bytes received by the serial port, if the last three bytes contain the character 'K', the command is proved to be successfully executed, the do-while loop is exited, and the next command is sent.

As shown in fig. 5, the third MCU reads the data of the OV2640 module in a double buffer mode, where the flow of the double buffer mode is as follows:

receiving data: starting buffer interruption, interrupting after the buffer A is full, the buffer B starts to receive OV2640 module data, reading the buffer A data by an interruption program, starting to receive the buffer B data after the buffer B is full and interrupted, starting to receive the OV2640 data by the buffer A, starting to interrupt a frame when one picture is received, stopping the buffer (most of the buffers are not full, no interruption occurs) at this time, and reading the residual data in the buffer.

Processing data: the received data is searched for the length between records if 0xff 0xd8 is found to illustrate the beginning of the picture and if 0xff is found, 0xd8 the end of the data. Four bytes of 0xf1, 0xf2, 0 (system sent to remote computer), 3 (representing image) and data length len are written into the array for data encapsulation. And transmitting the encapsulated data, opening the buffer after the transmission is finished, and continuously receiving the OV2640 module data.

The SIM800A module of this embodiment integrates a baseband processing chip, and can complete network communication, and its own internal rf processing function does not require any other circuit to integrate the rf function. The SIM800A module has an independent operating system, complex control in a single chip program is not needed, and the control of the SIM800A module can be completed by sending an AT command. The SIM800A module has SMS short message sending and receiving function and can complete the sending and receiving of short messages. After simple initialization, the short message information can be sent through the serial port.

uartSendStr ("AT + CSCS ═ GSM \ r \ n", 15); // set font to accept by the module

DelayMs (200); // time delay to help stabilize

uartSendStr ((unsigned char) @ _ CMGS, 26); // prepare to send short message

The GSM800A module of this embodiment extracts the cell phone information of the consignee, writes the message information, and embeds the pick-up password into the message, the message password can decode the package serial number and the arrival date, when the customer picks up the goods, the customer can conveniently find the needed package according to the password.

The goods receiving notification module of the embodiment can automatically count the number of goods taken and the information of goods not taken every day according to the goods taking information, and can automatically repeat short messages to notify a customer to take goods.

Claims

1. The utility model provides an automatic change express delivery sorting device which characterized in that: the method comprises the following steps:

2. The automated courier sorting apparatus of claim 1, wherein: the driving mechanism in the transportation navigation module comprises

3. The automated courier sorting apparatus of claim 2, wherein: the driving mechanism further comprises a module for acquiring barrier information, and the module is connected with the second single chip microcomputer and controlled by the second single chip microcomputer.

4. The automated courier sorting apparatus of claim 1, wherein: the sorting numbering module comprises a first single chip microcomputer, a scanning gun and a first wireless communication module, wherein the scanning gun is used for scanning two-dimensional codes on express packages; scanning rifle and first wireless communication module all link to each other with first singlechip, first singlechip acquires the express delivery information that the two-dimensional code corresponds through the networking of first wireless communication module.

5. The automated courier sorting apparatus of claim 4, wherein: the first single chip microcomputer is internally provided with an automatic numbering algorithm, each express package is numbered according to the scanning sequence of the scanning gun, and the express package number is associated with corresponding express information to obtain the associated express information.

6. The automated courier sorting apparatus of claim 5, wherein: the system also comprises a goods receiving notification module which is used for calculating goods taking information according to the express information from the sorting numbering module and sending the goods taking information to a receiver;

the notice receiving module comprises:

7. The sorting device of the automated courier sorting device of claim 6, wherein: the notice receiving module further comprises a shooting module for acquiring a goods taking photo, and the shooting module is connected with the third single chip microcomputer.

8. The sorting method of the automatic express sorting device according to any one of claims 1 to 7, wherein: the method comprises the following steps:

9. Sorting method according to claim 8, characterised in that: the step 3 specifically includes:

10. The sorting method of the automatic express sorting device according to any one of claims 1 to 7, wherein: the method comprises the following steps: