CN112478554A - Goods sorting method of logistics sorting system - Google Patents

Goods sorting method of logistics sorting system Download PDF

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Publication number
CN112478554A
CN112478554A CN202011453573.1A CN202011453573A CN112478554A CN 112478554 A CN112478554 A CN 112478554A CN 202011453573 A CN202011453573 A CN 202011453573A CN 112478554 A CN112478554 A CN 112478554A
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Prior art keywords
warehousing robot
dimensional code
controlling
robot
warehousing
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CN202011453573.1A
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Chinese (zh)
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吴丹
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Individual
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Individual
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Priority to CN202011453573.1A priority Critical patent/CN112478554A/en
Publication of CN112478554A publication Critical patent/CN112478554A/en
Priority to CN202111510334.XA priority patent/CN114229298A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/18—Devices or arrangements for indicating destination, e.g. by code marks
    • 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
    • B07C5/34—Sorting according to other particular properties
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention discloses a goods sorting method of a logistics sorting system, which is implemented by a control system of a storage robot, and the method comprises the following steps: controlling the warehousing robot to acquire the shelf with the specified number from the shelf area; controlling the warehousing robot to enter a forward running path; correcting the pose of the warehousing robot according to the image containing the two-dimensional code acquired by the horizontally-arranged camera; controlling the warehousing robot to run along the current forward running path; judging whether the warehousing robot reaches the front side of the set transverse fixed two-dimensional code or not; when the warehousing robot reaches the right side of the set transverse fixed two-dimensional code, the warehousing robot is controlled to leave the running channel from the entrance and exit positioned at the opposite side of the set transverse fixed two-dimensional code and enter the sorting area. According to the goods sorting method of the logistics sorting system, the two-dimensional codes on four sides of the operation channel are used for navigation, so that the warehousing robot can execute sorting and carrying tasks by taking the operation channel as a core, and the dispatching is simple.

Description

Goods sorting method of logistics sorting system
Technical Field
The invention relates to the technical field of logistics, in particular to a goods sorting method of a logistics sorting system.
Background
In electronic commerce, because order quantity is huge, manual sorting is difficult to satisfy the letter sorting demand of order goods far away, consequently need assist the letter sorting with the help of automatic commodity circulation letter sorting system, automatic commodity circulation letter sorting system can promote letter sorting efficiency by a wide margin, storage robot mainly relies on the two-dimensional code to navigate among the current letter sorting method, the two-dimensional code pastes subaerial among the commodity circulation system, does not driftage in order to guarantee the robot, the two-dimensional code that needs to set up is more, it is comparatively complicated to the dispatch of storage robot.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the goods sorting method of the logistics sorting system, which is simple in scheduling and needs few two-dimensional codes.
The technical scheme is as follows: to achieve the above object, a goods sorting method of a logistics sorting system of the present invention, which is implemented by a control system of a warehousing robot, includes:
controlling the warehousing robot to acquire the shelf with the specified number from the shelf area;
controlling the warehousing robot to enter a forward running path, and correcting the pose of the warehousing robot according to an image which is acquired by a flat camera and contains the two-dimensional code;
controlling the warehousing robot to run along the current forward running path;
judging whether the warehousing robot reaches the front side of the set transverse fixed two-dimensional code;
and when the warehousing robot reaches the right side of the set transverse fixed two-dimensional code, the warehousing robot is controlled to leave the running channel from the entrance and exit positioned at the opposite side of the set transverse fixed two-dimensional code and enter the sorting area.
Further, before the control warehousing robot obtains the shelf with the specified number from the shelf area, the control warehousing robot further comprises:
acquiring tasks assigned by a scheduling center, wherein the tasks comprise the number of a target shelf;
controlling the warehousing robot to enter a reverse running path, and correcting the pose of the warehousing robot according to an image which is acquired by a flat camera and contains the two-dimensional code;
controlling the warehousing robot to travel along the current reverse running path;
judging whether the warehousing robot reaches the front side of the set transverse fixed two-dimensional code;
and when the warehousing robot reaches the right side of the set transverse fixed two-dimensional code, the warehousing robot is controlled to leave the operation channel from the entrance and exit positioned at the opposite side of the set transverse fixed two-dimensional code and enter the goods shelf area.
Further, the control warehousing robot acquiring the shelf with the specified number from the shelf area comprises:
the warehousing robot enters a roadway where the shelf with the specified number is located;
adjusting the pose of the warehousing robot to enable the transverse fixed two-dimensional codes at the two ends of the roadway and the two-dimensional codes of the roadway to be respectively positioned in the visual field centers of the front and the rear horizontal cameras;
controlling the warehousing robot to walk along the roadway until the warehousing robot reaches the side of the shelf with the specified number;
controlling the warehousing robot to enter the bottom of the shelf with the specified number;
acquiring an image of a two-dimensional code of the goods shelf through the upward-looking camera to judge whether the serial number of the goods shelf is a designated serial number, and if so, controlling the warehousing robot to lift the robot;
and controlling the warehousing robot to return to the roadway and move to the operation channel along the roadway.
Further, the specific step of judging whether the warehousing robot reaches the front side of the set transverse fixed two-dimensional code is as follows:
and judging whether the images acquired by the horizontal cameras on the left side and the right side contain set horizontal fixed two-dimensional codes or not, if so, controlling the warehousing robot to adjust the position so that the horizontal fixed two-dimensional codes are positioned at the center of the visual field of the corresponding horizontal camera.
Further, the controlling the warehousing robot to leave the running channel from the entrance and exit on the opposite side of the set transverse fixed two-dimensional code and enter the shelf area comprises:
controlling the warehousing robot to rotate 90 degrees in situ, and enabling the rear side of the warehousing robot to face the set transverse fixed two-dimensional code;
and controlling the warehousing robot to move forwards to leave the moving passage and enter the goods shelf area.
Has the advantages that: according to the goods sorting method of the logistics sorting system, the two-dimensional codes on four sides of the operation channel are used for navigation, so that the warehousing robot can execute sorting and carrying tasks by taking the operation channel as a core, and the dispatching is simple.
Drawings
FIG. 1 is a schematic view of a logistics sorting system on which a goods sorting method of the logistics sorting system of the present invention is based;
FIG. 2 is a schematic structural diagram of a warehousing robot;
fig. 3 is a flow chart illustrating a goods sorting method of the logistics sorting system of the invention.
In the figure: 1-a storage robot; 11-moving the two-dimensional code; 12-a flat camera; 13-upward camera; 2-running a channel; 21-an entrance; 3-a shelf area; 31-roadway; 32-a shelf; 4-a sorting zone; 41-a sorting station; 42-a conveying line; 5, transversely fixing the two-dimensional code; 6, longitudinally fixing the two-dimensional code; 7-roadway two-dimensional code.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The goods sorting method of the logistics sorting system is applied to the logistics sorting system, as shown in figure 1, the logistics sorting system comprises a plurality of warehousing robots 1, as shown in figure 2, the front side, the rear side, the left side and the right side of each warehousing robot 1 are provided with a mobile two-dimensional code 11; the warehousing robot moving device further comprises a moving channel 2 for the warehousing robot to move in, wherein goods shelf areas 3 are arranged on the left side and the right side of the rear half section of the moving channel 2, and goods shelves 32 are arranged in the goods shelf areas 3; the left side and the right side of the front half section of the operation channel 2 are provided with sorting areas 4; the left side and the right side of the operation channel 2 are respectively provided with a plurality of entrances and exits 21 for the warehousing robot 1 to enter and exit the operation channel 2, the entrances and exits 21 on the two sides of the operation channel 2 are arranged in a staggered mode, and the opposite side of the entrance and exit 21 on each side is provided with a transverse fixed two-dimensional code 5; a plurality of pairs of longitudinal fixed two-dimensional codes 6 are oppositely arranged on the front side and the rear side of the operation channel 2; the warehousing robot 1 is provided with a flat camera 12 capable of reading the mobile two-dimensional code 11, the transverse fixed two-dimensional code 5 and the longitudinal fixed two-dimensional code 6.
Each pair of longitudinal fixed two-dimensional codes 6 on the front side and the rear side of the operation channel 2 correspond to one operation path, each operation path is one-way passing, and all operation paths comprise operation paths which are one-way passing in the positive direction and the negative direction; the one-way passing running path from the goods shelf area 3 to the sorting area 4 is a forward running path, and the one-way passing running path from the sorting area 4 to the goods shelf area 3 is a reverse running path.
Through the layout of the sorting system, the warehousing robot 1 can walk along a pair of longitudinal fixed two-dimensional codes 6 (namely, running paths) to go back and forth between the goods shelf area 3 and the sorting area 4, and judge whether to reach the target access 21 to leave the running channel 2 to enter the goods shelf area 3 or the sorting area 4 according to the transverse fixed two-dimensional codes 5, the layout of the sorting system is reasonable, the warehousing robot 1 can conveniently go back and forth to carry the goods shelves 32, the number of the required two-dimensional codes is greatly reduced compared with the traditional two-dimensional code navigation, and the scheduling algorithm of the warehousing robot 1 is also simple.
Further, in order to facilitate the warehousing robot 1 to judge whether to carry the correct shelf 32, the bottom of the shelf 32 has a shelf two-dimensional code; the warehousing robot 1 is also provided with an upward-looking camera 13 with an upward-facing lens. The controller of the warehousing robot 1 acquires the image of the two-dimensional code of the goods shelf through the upward camera 13 and reads the information of the two-dimensional code in the image to judge whether the two-dimensional code reaches the bottom of the correct two-dimensional code.
In order to facilitate the warehousing robot 1 to acquire the two-dimensional codes in each direction, the front side, the rear side, the left side and the right side of the warehousing robot 1 are provided with the flat cameras 12.
Further, the second half section of operation passageway 2 access & exit 21 all is connected with tunnel 31, the both sides in tunnel 31 are provided with goods shelves 32, the end in tunnel 31 is provided with tunnel two-dimensional code 7. Preferably, the lanes 31 also contain bidirectional lanes. The layout mode of the goods shelf area 3 can facilitate the warehousing robot 1 to walk along the roadway and carry goods shelves.
Sorting stations 41 are provided at the gate 21 of the first half of the running lane 2, and a conveying line 42 is provided corresponding to each sorting station 41. The sorting station 41 is provided with a sorting person or a sorting machine to perform sorting operation and put the sorted goods to the conveying line 42 in a frame mode, the conveying line 42 is provided with a packaging station, and the packaging station is provided with a packaging machine or a packaging person.
The goods sorting method of the logistics sorting system as shown in fig. 3, which is implemented by the control system of the warehousing robot, comprises the following steps a1-a 5:
step A1, controlling the warehousing robot 1 to obtain the shelf 32 with the specified number from the shelf area 3;
step A2, controlling the warehousing robot 1 to enter a forward running path, and correcting the pose of the warehousing robot 1 according to the image which is acquired by the horizontally-arranged camera 11 and contains the two-dimensional code;
step A3, controlling the warehousing robot 1 to travel along the current forward running path;
step A4, judging whether the warehousing robot 1 reaches the front side of the set transverse fixed two-dimensional code 5, if so, entering step A5;
and step A5, controlling the warehousing robot 1 to leave the running channel 2 from the entrance 21 on the opposite side of the set transverse fixed two-dimensional code 5 and enter the sorting area 4.
Further, before the control warehousing robot 1 obtains the shelf 32 with the designated number from the shelf area 3, the following steps B1-B5 are also included:
step B1, acquiring tasks assigned by a dispatching center, wherein the tasks comprise the number of a target shelf;
step B2, controlling the warehousing robot 1 to enter a reverse running path, and correcting the pose of the warehousing robot 1 according to the image which is acquired by the horizontally-arranged camera 11 and contains the two-dimensional code;
step B3, controlling the warehousing robot 1 to travel along the current reverse travel path;
step B4, judging whether the warehousing robot 1 reaches the front side of the set transverse fixed two-dimensional code 5, if so, entering step B5;
and step B5, when the warehousing robot 1 reaches the right side of the set transverse fixed two-dimensional code 5, controlling the warehousing robot 1 to leave the operation channel 2 from the entrance 21 at the opposite side of the set transverse fixed two-dimensional code 5 and enter the goods shelf area 3.
Through the steps B1-B5 and the steps A1-A5, the whole process that the warehousing robot 1 carries the goods shelves 32 from the goods shelf area 3 to the sorting station 41 of the sorting area 4 can be achieved, two-dimensional codes involved in the whole process are few, scheduling is simple, in the process, the warehousing robot 1 acquires two-dimensional code images through the front and rear flat cameras 11, corrects the pose of the warehousing robot 1 according to the acquired two-dimensional code images and keeps the corrected pose when the warehousing robot runs, and the warehousing robot 1 can run without yawing.
Preferably, the step a2 and the step B2 include the following steps C1 to C5:
step C1, controlling the warehousing robot 1 to rotate in situ, and judging whether the flat cameras 12 on the front side and the rear side of the warehousing robot 1 scan the two-dimensional codes in the two-dimensional code sequence corresponding to the running path;
in this step, since other warehousing robots 1 are already running in the running path before the current warehousing robot 1 enters the running path to be entered, the two-dimensional codes in the two-dimensional code sequence include two longitudinal fixed two-dimensional codes 6 in front of and behind the forward running path or the reverse running path and the mobile two-dimensional codes 11 on all the warehousing robots 1 located on the forward running path or the reverse running path at this time.
Step C2, if only one flat camera 12 of the front and the back flat cameras 12 scans the two-dimensional code in the two-dimensional code sequence corresponding to the target running path, recording a first deflection angle of the warehousing robot 1 at the moment, and controlling the warehousing robot 1 to rotate in place until the flat camera 12 which does not scan the two-dimensional code meeting the requirement scans the two-dimensional code meeting the requirement, and the two-dimensional codes scanned by the front and the back flat cameras 12 are not the same two-dimensional code, recording a second deflection angle of the warehousing robot 1 at the moment;
in this step, the two-dimensional codes scanned by the front and rear two flat cameras 12 may be the longitudinal fixed two-dimensional code 6 or the mobile two-dimensional code 11.
Step C3, obtaining a deviation direction of the warehousing robot 1 relative to a target running path according to the first deviation angle and the second deviation angle, and adjusting the warehousing robot 1 to move to the target running path according to the deviation direction, so that two-dimensional codes scanned in the two-dimensional code sequence are respectively located in the center of the visual field of the front and rear two flat cameras 12;
in the step, the deviation direction of the warehousing robot 1 relative to the target running path can be easily obtained by utilizing the first deflection angle and the second deflection angle according to the triangulation principle; in the process of adjusting the warehousing robot 1 to move to the target running path according to the deviation direction, the steps C2-C3 can be circularly executed to continuously adjust the posture of the warehousing robot 1 until the two-dimensional codes scanned in the two-dimensional code sequence are respectively located at the centers of the fields of view of the front and rear two flat cameras 12.
Step C3, when the front and the back two flat cameras 12 scan the two-dimensional codes in the two-dimensional code sequence corresponding to the target running path, adjusting the pose of the warehousing robot 1 so that the two-dimensional codes scanned in the two-dimensional code sequence are respectively positioned in the visual field centers of the front and the back two flat cameras 12;
and step C4, adding the front and rear two mobile two-dimensional codes 11 of the warehousing robot 1 into the two-dimensional code sequence of the running path where the two-dimensional codes are located.
In this step, the two mobile two-dimensional codes 11 before and after the warehousing robot 1 are added to the two-dimensional code sequence of the running path where the warehousing robot is located, so that the steps C1-C4 can be continuously executed to add the running path when a new warehousing robot 1 is added to the running path.
Through the steps C1-C4, the warehousing robots 1 can simultaneously run on the same running path, and the scheduling efficiency is greatly improved. Because each warehousing robot 1 executes the steps C1-C4 when entering the running path, the postures of all the warehousing robots 1 in the running path are positive, and the mobile two-dimensional codes 11 on the warehousing robots can be used as references of adjusting postures of the warehousing robots 1 to be newly added, so that all the warehousing robots 1 can be guaranteed to orderly run in the running channel 2, and the scheduling is simplified.
If the warehousing robot 1 performs the joining operation path while other warehousing robots 1 are performing the joining operation path (i.e. the above steps C1-C4), and thus two warehousing robots 1 simultaneously perform the joining operation path, one warehousing robot 1 may interfere with the other warehousing robots 1 to correct the pose, and in order to prevent the above problem, the following steps D1-D2 are further included before the above step C1:
step D1: sending a request for joining a running path to the dispatching center;
step D2: receiving feedback information of the dispatching center, and judging whether a process of adding the operation path can be executed or not; if yes, the process of joining the operation path is executed.
After the process of joining the operation path is executed, the method further comprises the following steps: and sending completion information to the dispatching center.
Therefore, the dispatching center can master which warehousing robots 1 are executing the processes of joining the operation paths in real time, and can uniformly manage all the warehousing robots 1, so that the situation that a plurality of warehousing robots 1 on the same operation path execute the processes of joining the operation paths is avoided.
Further, the steps a5 and B5 are followed by the following steps:
deleting the mobile two-dimensional code 12 corresponding to the warehousing robot 1 from the two-dimensional code sequence corresponding to the moved travel path.
Further, the step of controlling the warehousing robot 1 to acquire the shelf 32 with the designated number from the shelf area 3 includes the following steps E1-E6:
step E1, controlling the warehousing robot 1 to enter the roadway 31 where the shelf 32 with the specified number is located;
step E2, adjusting the pose of the warehousing robot 1 to enable the transverse fixed two-dimensional codes 5 and the tunnel two-dimensional codes 7 at the two ends of the tunnel 31 to be respectively positioned at the vision centers of the front and the rear horizontal cameras 12;
step E3, controlling the warehousing robot 1 to walk along the roadway 31 until the warehousing robot reaches the side of the shelf 32 with the specified number;
step E4, controlling the warehousing robot 1 to enter the bottom of the shelf 32 with the specified number;
step E5, acquiring an image of the two-dimensional code of the goods shelf through the upward camera 13 to judge whether the serial number of the goods shelf is a designated serial number, and if so, controlling the warehousing robot 1 to lift the robot;
and E6, controlling the warehousing robot to return to the tunnel 31 and move to the operation channel 2 along the tunnel 31.
Through the steps E1-E6, the warehousing robot 1 can drive in the roadway 31 in a straight line by means of the roadway two-dimensional code 7 and the transverse fixed two-dimensional code 5, and the robot is prevented from yawing due to the fact that the roadway 31 is too long.
Further, the step B5 of determining whether the warehousing robot 1 reaches the front side of the set transverse fixed two-dimensional code 5 specifically includes:
and judging whether the images acquired by the flat cameras 12 on the left side and the right side contain the set transverse fixed two-dimensional code 5, if so, controlling the warehousing robot 1 to adjust the position so that the transverse fixed two-dimensional code 5 is positioned at the center of the visual field of the corresponding flat camera 12.
Further, the step B5 of controlling the warehousing robot 1 to exit the moving walkway 2 from the entrance 21 at the opposite side of the set transverse fixed two-dimensional code 5 to enter the rack area 3 includes the following steps F1-F2:
step F1, controlling the warehousing robot 1 to rotate 90 degrees in situ, and enabling the rear side of the warehousing robot to face the set transverse fixed two-dimensional code 5;
and step F2, controlling the warehousing robot 1 to move forwards to leave the moving channel 2 and enter the goods shelf area 3.
Similarly, the step a5 of controlling the warehousing robot 1 to exit the moving walkway 2 from the entrance 21 at the opposite side of the set transverse fixed two-dimensional code 5 to enter the sorting area 4 includes the following steps G1-G2:
g1, controlling the warehousing robot 1 to rotate 90 degrees in situ, and enabling the rear side of the warehousing robot to face the set transverse fixed two-dimensional code 5;
and G2, controlling the warehousing robot 1 to move forwards to leave the moving channel 2 and enter the sorting area 4.
According to the goods sorting method of the logistics sorting system, the two-dimensional codes on four sides of the operation channel are used for navigation, so that the warehousing robot can execute sorting and carrying tasks by taking the operation channel as a core, and the dispatching is simple.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims (5)

1. A goods sorting method of a logistics sorting system, which is implemented by a control system of a warehousing robot, characterized in that the method comprises:
controlling the warehousing robot (1) to acquire a shelf (32) with a specified number from the shelf area (3);
controlling the warehousing robot (1) to enter a forward running path, and correcting the pose of the warehousing robot (1) according to an image which is acquired by a flat camera (11) and contains a two-dimensional code;
controlling the warehousing robot (1) to travel along the current forward running path;
judging whether the warehousing robot (1) reaches the front side of a set transverse fixed two-dimensional code (5);
when the warehousing robot (1) reaches the right side of the set transverse fixed two-dimensional code (5), the warehousing robot (1) is controlled to leave the running channel (2) from the entrance (21) on the opposite side of the set transverse fixed two-dimensional code (5) and enter the sorting area (4).
2. The goods sorting method of the logistics sorting system according to claim 1, wherein the controlling the warehousing robot (1) further comprises before acquiring the shelf (32) with the designated number from the shelf area (3):
acquiring tasks assigned by a scheduling center, wherein the tasks comprise the number of a target shelf;
controlling the warehousing robot (1) to enter a reverse running path, and correcting the pose of the warehousing robot (1) according to an image which is acquired by a flat camera (11) and contains a two-dimensional code;
controlling the warehousing robot (1) to travel along the current reverse running path;
judging whether the warehousing robot (1) reaches the front side of a set transverse fixed two-dimensional code (5);
when the warehousing robot (1) reaches the right side of the set transverse fixed two-dimensional code (5), the warehousing robot (1) is controlled to leave the operation channel (2) from the access (21) on the opposite side of the set transverse fixed two-dimensional code (5) and enter the goods shelf area (3).
3. The goods sorting method of the logistics sorting system according to claim 1, wherein the controlling the warehousing robot (1) to acquire the shelf (32) of the designated number from the shelf area (3) comprises:
the warehousing robot (1) enters a roadway (31) where the shelf (32) with the specified number is located;
adjusting the pose of the warehousing robot (1) to enable the transverse fixed two-dimensional codes (5) at the two ends of the roadway (31) and the roadway two-dimensional codes (7) to be respectively positioned at the visual field centers of the front and rear horizontal cameras (12);
controlling the warehousing robot (1) to walk along the roadway (31) until the warehousing robot reaches the side of the shelf (32) with the specified number;
controlling the warehousing robot (1) to enter the bottom of the shelf (32) with a specified number;
acquiring an image of the two-dimensional code of the goods shelf through the upward-looking camera (13) to judge whether the serial number of the goods shelf is a designated serial number, and if so, controlling the warehousing robot (1) to lift the robot;
and controlling the warehousing robot to return to the roadway (31) and move to the running channel (2) along the roadway (31).
4. The goods sorting method of the logistics sorting system according to claim 1, wherein the determining whether the warehousing robot (1) reaches the positive side of the set transverse fixed two-dimensional code (5) specifically comprises:
and judging whether the images acquired by the horizontally-arranged cameras (12) on the left side and the right side contain the set horizontal fixed two-dimensional codes (5), if so, controlling the warehousing robot (1) to adjust the position, and enabling the horizontal fixed two-dimensional codes (5) to be located in the center of the visual field of the corresponding horizontally-arranged camera (12).
5. The goods sorting method of the logistics sorting system according to claim 4, wherein the controlling the warehousing robot (1) to exit the travel channel (2) into the rack area (3) through the doorway (21) located at the opposite side of the set transverse fixed two-dimensional code (5) comprises:
controlling the warehousing robot (1) to rotate 90 degrees in situ, and enabling the rear side of the warehousing robot to face the set transverse fixed two-dimensional code (5);
and controlling the warehousing robot (1) to move forwards to leave the moving channel (2) and enter the goods shelf area (3).
CN202011453573.1A 2020-12-12 2020-12-12 Goods sorting method of logistics sorting system Withdrawn CN112478554A (en)

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CN202011453573.1A CN112478554A (en) 2020-12-12 2020-12-12 Goods sorting method of logistics sorting system
CN202111510334.XA CN114229298A (en) 2020-12-12 2021-12-11 Goods sorting method of logistics sorting system

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CN115599066A (en) * 2022-12-15 2023-01-13 浙江凯乐士科技集团股份有限公司（Cn） Narrow roadway goods taking and placing operation scheduling method and device, scheduling equipment and storage medium

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115599066A (en) * 2022-12-15 2023-01-13 浙江凯乐士科技集团股份有限公司（Cn） Narrow roadway goods taking and placing operation scheduling method and device, scheduling equipment and storage medium

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