CN112573075A - Control method of sorting equipment, master control equipment and cargo sorting system - Google Patents
Control method of sorting equipment, master control equipment and cargo sorting system Download PDFInfo
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- CN112573075A CN112573075A CN201910945424.8A CN201910945424A CN112573075A CN 112573075 A CN112573075 A CN 112573075A CN 201910945424 A CN201910945424 A CN 201910945424A CN 112573075 A CN112573075 A CN 112573075A
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- sorting equipment
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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
- 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
- B65G1/1376—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning conveyor
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
Abstract
The application discloses a control method of sorting equipment, main control equipment and a cargo sorting system, wherein the control method comprises the following steps: acquiring the current warehousing position and the target shelf position of goods to be processed; the warehousing position and the target shelf position represent positions on the guide mechanism, and the sorting equipment can move on the guide mechanism; sending a first scheduling instruction to sorting equipment to control the sorting equipment to move to a warehousing position to receive goods to be processed; and sending a second scheduling instruction to the sorting equipment to control the sorting equipment to move to the target shelf position to place the goods to be processed on the corresponding shelf. Through the mode, a large amount of goods can be rapidly and effectively sorted, and the goods sorting efficiency is improved.
Description
Technical Field
The application relates to the technical field of cargo sorting, in particular to a control method of sorting equipment, a master control device and a cargo sorting system.
Background
With the continuous improvement of the life quality of people, online shopping is rapidly developed. The logistics industry brought by online shopping is also rapidly developed.
At the front end or the back end of the logistics transportation, classification is needed according to the cargo type or the delivery address. For example, the classification of goods types such as electronic products, fragile goods, fruits, chilled foods, etc., is based on the addresses of different provinces and cities. When sorting, how to sort a large amount of goods in a quick and orderly manner becomes a problem to be solved urgently.
Disclosure of Invention
The application provides a control method of sorting equipment, main control equipment and a cargo sorting system, which can be used for rapidly and effectively sorting a large amount of cargos and improving the cargo sorting efficiency.
In order to solve the technical problem, the application adopts a technical scheme that: a control method of a sorting device is provided, the control method is applied to a main control device, and the control method comprises the following steps: acquiring the current warehousing position and the target shelf position of goods to be processed; the warehousing position and the target shelf position represent positions on the guide mechanism, and the sorting equipment can move on the guide mechanism; sending a first scheduling instruction to sorting equipment to control the sorting equipment to move to a warehousing position to receive goods to be processed; and sending a second scheduling instruction to the sorting equipment to control the sorting equipment to move to the target shelf position to place the goods to be processed on the corresponding shelf.
The control method further comprises the following steps: acquiring a target shelf position and a delivery position; wherein the delivery position represents a position on the guide mechanism; sending a third scheduling instruction to the sorting equipment to control the sorting equipment to move to the target shelf position to take out the goods to be processed; and sending a fourth scheduling instruction to the sorting equipment to control the sorting equipment to move to the warehouse-out position to process the goods to be processed.
Wherein, the control method also comprises the following steps: acquiring corresponding current position information sent by all sorting equipment on a guide mechanism; and sending scheduling instructions to all the sorting equipment according to the current position information of all the sorting equipment so as to enable the distance between every two pieces of sorting equipment to be larger than a set distance threshold.
Wherein, the method also comprises: acquiring a first positioning instruction of target sorting equipment; the first positioning instruction is generated by the target sorting equipment reaching the original point position on the guide mechanism; and initializing the position information of the target sorting equipment, so that the initialized position information indicates that the target sorting equipment is located at the original point position.
When the target sorting equipment passes through the first stop block, the first optical sensor detects the first stop block, and the target sorting equipment further generates a first positioning instruction.
Wherein, the method also comprises: acquiring a second positioning instruction of the target sorting equipment; the second positioning instruction is generated by moving the target sorting equipment along the vertical lifting direction to reach the highest/low point position; and sending a pause instruction to the target sorting equipment to control the sorting equipment to pause the movement.
The sorting equipment comprises an elevating mechanism and a tray mechanism arranged on the elevating mechanism, a second optical sensor is arranged on the tray mechanism, a second stop block is arranged on a vertical elevating path of the sorting equipment, when the target sorting equipment passes through the second stop block, the second optical sensor detects the second stop block, and the target sorting equipment further generates a second positioning instruction.
Wherein, the method also comprises: when the goods to be processed enter the guide mechanism, detecting the goods to be processed to obtain the information of the goods; the acquisition information comprises at least one of length, width and height information, weight information or bar code information of the goods to be processed.
In order to solve the above technical problem, another technical solution adopted by the present application is: providing a main control device, wherein the main control device comprises a processor, a memory and a communication module, wherein the memory and the communication module are connected with the processor; the communication module is used for establishing communication connection with a plurality of sorting devices, the memory is used for storing program data, and the processor is used for executing the program data to realize the control method.
In order to solve the above technical problem, another technical solution adopted by the present application is: there is provided a cargo sorting system comprising: a guide mechanism; the sorting equipment is arranged on the guide mechanism and can move along the guide mechanism; a plurality of shelves provided corresponding to a plurality of positions of the guide mechanism; and the master control equipment is in communication connection with the plurality of sorting equipment and controls the work of the plurality of sorting equipment, wherein the master control equipment is the master control equipment.
The beneficial effect of this application is: in contrast to the prior art, the present application provides a method for controlling a sorting apparatus, including: acquiring the current warehousing position and the target shelf position of goods to be processed; the warehousing position and the target shelf position represent positions on the guide mechanism, and the sorting equipment can move on the guide mechanism; sending a first scheduling instruction to sorting equipment to control the sorting equipment to move to a warehousing position to receive goods to be processed; and sending a second scheduling instruction to the sorting equipment to control the sorting equipment to move to the target shelf position to place the goods to be processed on the corresponding shelf. In this way, can utilize letter sorting equipment and guiding mechanism to transport the goods to the goods shelves that correspond, through master control equipment's dispatch, can carry out rapid, effectual letter sorting to a large amount of goods, improve the efficiency of goods letter sorting, be favorable to follow-up goods to go out of the warehouse and dispatch the efficiency improvement of delivering.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
fig. 1 is a schematic diagram of a cargo sorting system provided herein;
fig. 2 is a schematic diagram illustrating the connection between a master control device and a plurality of sorting devices in the cargo sorting system provided in the present application;
FIG. 3 is a schematic structural view of a sorting apparatus provided herein;
FIG. 4 is a schematic view of a first configuration of the lift mechanism of FIG. 3;
FIG. 5 is a second schematic view of the lift mechanism of FIG. 3;
FIG. 6 is a schematic view of a third construction of the lift mechanism of FIG. 3;
FIG. 7 is a fourth structural schematic view of the lift mechanism of FIG. 3;
fig. 8 is a schematic flow chart of an embodiment of a method for controlling the sorting apparatus provided in the present application;
FIG. 9 is a schematic flow diagram of warehousing transportation provided herein;
FIG. 10 is a schematic flow diagram of the outbound transport provided herein;
FIG. 11 is a schematic flow chart diagram illustrating an embodiment of a method for delivering goods provided herein;
FIG. 12 is a schematic flow chart diagram illustrating another embodiment of a method for shipping goods provided herein;
FIG. 13 is a schematic flow chart diagram illustrating a method for shipping goods according to yet another embodiment of the present application;
FIG. 14 is a schematic flow chart diagram illustrating a method for delivering goods according to yet another embodiment of the present disclosure;
FIG. 15 is a schematic structural diagram of a master device provided herein;
FIG. 16 is a schematic structural diagram of an embodiment of a computer storage medium provided in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram of a cargo sorting system provided in the present application, and fig. 2 is a schematic connection diagram of a master control device and a plurality of sorting devices in the cargo sorting system provided in the present application, where the sorting system 10 includes a guide mechanism 11, a plurality of sorting devices 12, a plurality of shelves (not shown in fig. 1), and a master control device 13 (not shown in fig. 1). Wherein, a plurality of sorting devices 12 are arranged on the guide mechanism 11 and can move along the guide mechanism 11; the plurality of racks are provided corresponding to a plurality of positions of the guide mechanism 11; the main control device 13 establishes communication connection with the plurality of sorting devices 12 and controls the operation of the plurality of sorting devices 12.
Alternatively, the guiding mechanism 11 may be two parallel rails disposed at an interval, that is, the rail 71 and the rail 72, respectively, and two ends of the sorting device 12 are clamped on the two rails and can move along the two rails. The two rails may in particular be endless rails.
As shown in fig. 3, fig. 3 is a schematic structural diagram of the sorting apparatus provided in the present application, and the sorting apparatus 12 includes a lifting mechanism 50 and a tray mechanism 900 disposed on the lifting mechanism 50.
The lifting mechanism 50 includes a support 500, a first driving mechanism 600, and a second driving mechanism 700.
The first driving mechanism 600 is connected with the carriage 500 and is used for driving the tray mechanism 900 to move in a first direction, and the second driving mechanism 600 is connected with the carriage 500 and is used for driving the carriage 500 to move in a second direction, so that the tray mechanism 900 can be conveyed in the first direction and the second direction.
In a particular embodiment, the first direction and the second direction are perpendicular to each other. It should be noted that the first direction and the second direction mentioned in the present application include back and forth directions.
In the above embodiment, by providing a sorting mechanism, on one hand, the tray mechanism can be driven by the lifting mechanism to perform multi-directional movement, so as to move between the goods shelves and between the layers of the goods shelves, and on the other hand, the tray mechanism can control the tray to stretch, turn and rotate, so as to facilitate loading, transporting and unloading of materials. Greatly improve the loading and unloading automation of the materials.
As shown in fig. 4-7, the lifting mechanism 50 includes a support 500, a first driving mechanism 600, a second driving mechanism 700, and a supporting member 800.
The first driving mechanism 600 is connected to the support 500 and is used for driving the supporting member 800 to move in a first direction, and the second driving mechanism 600 is connected to the support 500 and is used for driving the support 500 to move in a second direction, so that the supporting member 800 can be transferred in the first direction and the second direction.
In a particular embodiment, the first direction and the second direction are perpendicular to each other. It should be noted that the first direction and the second direction mentioned in the present application include back and forth directions.
As shown in fig. 4, the first driving mechanism 600 includes a first motor 610 and a first transmission mechanism 620, and the first transmission mechanism 620 is connected to the first motor 610 to drive the supporting member 800 to move in the first direction when the first motor 610 drives the first transmission mechanism 620 for transmission. Specifically, the first motor 610 may be a rotary motor.
As shown in fig. 4, the first transmission mechanism 620 includes a first driving wheel 621 and a first transmission member 622, the first driving wheel 621 is connected to the output shaft of the first motor 610, the first transmission member 622 is connected to the first driving wheel 621, and specifically, the supporting member 800 may be fixed to the first transmission member 622. When the first motor 610 drives the first driving wheel 621 to rotate, the first driving member 622 is driven to move in a first direction, and the supporting assembly 800 is further driven to move in the first direction.
As shown in fig. 4, the first transmission mechanism 620 further includes a first driven wheel 623, and the first transmission member 622 is wound around the first driving wheel 621 and the first driven wheel 623.
As shown in fig. 4, the first driven wheel 623 and the first driving wheel 621 are respectively disposed at two ends of the bracket 500, sliding surfaces of the first driven wheel 623 and the first driving wheel 621 may have racks, the first transmission member 622 may specifically be a conveyor belt, and an inner surface of the first transmission member 622 is also provided with racks to cooperate with the racks of the first driven wheel 623 and the first driving wheel 621.
In an exemplary embodiment, the support frame 500 is provided with a guide rail 510 along the length direction of the first transmission member 622, and the supporting member 800 is provided with a guide block (not shown) to cooperate with the guide rail 510, so that the supporting member 800 can maintain good stability when moving along the first direction.
As shown in fig. 4 and 7, the second driving mechanism 700 includes a second motor 710 and a driving wheel 720, the second motor 710 is connected to the driving wheel 720, and the driving wheel 720 is configured to engage with the guiding mechanism 11, so that the toggle bracket 500 moves in the second direction relative to the guiding mechanism 11 when the second motor 710 drives the driving wheel 720 to rotate.
The second driving mechanism 700 further includes a second transmission mechanism 730, and the second transmission mechanism 730 is respectively connected to the second motor 710 and the driving wheel 720, so as to drive the driving wheel 720 to rotate when the second motor 710 drives the second transmission mechanism 730 for transmission.
In an embodiment, the second transmission mechanism 730 includes a second driving wheel 731 and a second transmission member 732, the second driving wheel 731 is connected to the output shaft of the second motor 710, and the second transmission member 732 is disposed around the second driving wheel 731 and the driving wheel 720.
The second transmission mechanism 730 further includes a second driven wheel 733 and a connecting rod 734, the second transmission member 732 is disposed around the second driving wheel 731 and the second driven wheel 733, and the connecting rod 734 is connected to the second driven wheel 733 and the driving wheel 720 respectively.
As shown in fig. 6 and 7, the bracket 500 includes a first surface 520 and a second surface 530 disposed opposite to each other, the first surface 520 is provided with an accommodating groove 521, and the second motor 710 may be disposed on the accommodating groove 521.
As shown in fig. 7, the connecting rod 734 is rotatably disposed on the second surface 530, and the bracket 500 is disposed with a first through groove 541, a second through groove 542, and a third through groove 543 for communicating the first surface 520 and the second surface 530. The second transmission member 732 may be a transmission belt, one end of which is wound around the second driving wheel 731, and the other end of which is wound around the second driven wheel 733 disposed on the connecting rod 734 through the first through groove 541.
The number of the driving wheels 720 may be two, the two driving wheels 720 are respectively disposed at two ends of the connecting rod 734, the main portions of the two driving wheels 720 are located at one side of the second surface 530, and the two driving wheels 720 are respectively exposed at the first surface 520 through the second through groove 542 and the third through groove 543 to engage with the guiding mechanism.
As shown in fig. 5, the lifting mechanism 50 further includes at least two guide wheels 550, and the at least two guide wheels 550 are used for being slidably clamped on the guide mechanism 11.
Specifically, the guide wheels 550 may be two or four, and are not limited herein.
As shown in fig. 5, four guide wheels 550 are disposed at one end of the bracket 500, and the four guide wheels 550 are disposed opposite to each other in pairs, the rotation axes of the guide wheels 550 are perpendicular to the rotation axes of the gears, and the four guide wheels 550 can slidably engage with the guide rail 71 or the guide rail 72 to guide the lifting mechanism 50, thereby enhancing the stability of the lifting mechanism 50 when moving along the second direction.
In the above embodiments, the present application provides a lifting mechanism, which may include a support, a first driving mechanism, a second driving mechanism, and a supporting assembly. And first actuating mechanism can drive the bearing subassembly and move along the first direction, and second actuating mechanism can drive the bearing subassembly and move along the second direction. Enabling the racking assembly to achieve multi-directional motion.
Based on the above goods sorting system, several control methods based on the above goods sorting system are described below.
Referring to fig. 8, fig. 8 is a schematic flowchart of an embodiment of a method for controlling a sorting apparatus provided in the present application, where the method includes:
step 81: when the goods to be processed enter the guide mechanism, detecting the goods to be processed to obtain the information of the goods; the acquisition information comprises at least one of length, width and height information, weight information or bar code information of the goods to be processed.
Alternatively, the length, width and height of the goods to be processed can be detected by means of infrared scanning, and specifically, infrared transmitters and receivers (or arrays) can be arranged in six directions of up, down, left, right, front and back for detecting the length, width and height of the goods. For the weight, a weighing method may be adopted, for example, a weighing device is provided at a position on the rail mechanism for detecting the weight of the goods. The bar code information may be a two-dimensional code or a bar code, and a code scanning device may be disposed on the guide rail mechanism to scan the two-dimensional code or the bar code on the cargo to obtain cargo information, where the cargo information may include a cargo name, a receiving address, a delivery address, sender information, receiver information, a cargo price, and the like.
Step 82: and warehousing and transporting the goods to be processed.
As shown in fig. 9, fig. 9 is a schematic flow chart of warehousing and transportation provided by the present application, and step 82 may specifically include:
step 821: acquiring the current warehousing position and the target shelf position of goods to be processed; wherein the warehousing location and the target shelf location represent locations on a guide mechanism on which the sorting equipment is movable.
The guide mechanism is provided with a warehousing position and a delivery position, wherein the warehousing position and the delivery position can be the same position and are respectively used for warehousing and delivery at different time. The warehousing position and the ex-warehouse position can also be two different positions, and the warehousing and the ex-warehouse can be respectively carried out at the same time.
Taking the annular guide mechanism as an example, a plurality of shelves are arranged in the extending direction of the annular guide mechanism, and when the sorting equipment moves along the guide mechanism, the sorting equipment can move to any one shelf to place and take out goods.
Step 822: and sending a first scheduling instruction to the sorting equipment to control the sorting equipment to move to the warehousing position to receive the goods to be processed.
Wherein the first scheduling instruction may include a sorting equipment number, a goods number, and the like. For example, a code scanning device may be disposed on the sorting device, a barcode or a two-dimensional code is disposed on the goods, when the sorting device moves to the warehousing position, whether the goods is to-be-processed goods that need to be sorted is detected, and if so, the to-be-processed goods is sorted.
Step 823: and sending a second scheduling instruction to the sorting equipment to control the sorting equipment to move to the target shelf position to place the goods to be processed on the corresponding shelf.
The second scheduling instruction may include a target shelf position, specifically, a shelf number, a shelf layer number, and the like. After the goods to be processed are sorted, the goods are conveyed to the corresponding goods shelf, and the goods are placed on the goods shelf.
Alternatively, a marker may be provided on each shelf and the sorting apparatus provided with a corresponding sensor, the sensor sensing the corresponding marker when the sorting apparatus moves on the guide mechanism to a position where the sorting apparatus does not pass by a shelf, and the location of the sorting apparatus can be obtained in this way since the marker provided on each shelf is unique. For example, the equipment on the sorting equipment scans a code gun, different two-dimensional codes are pasted on different shelves, when the sorting equipment passes through the shelf A, the two-dimensional codes on the shelf A can be scanned, the shelf A is identified by analyzing the two-dimensional codes, and then the information is sent to the main control equipment, so that the main control equipment can acquire the position of the current sorting equipment.
It will be appreciated that in connection with the above-described structural embodiment of the sorting apparatus, since the racks have a multi-layer structure, the sorting apparatus has a corresponding lifting mechanism for adjusting the vertical height of the sorting apparatus to place the goods on the corresponding rack layer.
Step 83: and carrying out ex-warehouse transportation on the goods to be processed.
As shown in fig. 10, fig. 10 is a schematic flow chart of the warehouse-out transportation provided by the present application, and step 83 may specifically include:
step 831: acquiring a target shelf position and a delivery position; wherein the delivery position indicates a position on the guide mechanism.
Step 832: and sending a third dispatching instruction to the sorting equipment to control the sorting equipment to move to the target shelf position to take out the goods to be processed.
Wherein the third scheduling instruction may include a sorting equipment number, a goods location, a shelf number, and the like. For example, a scanning device may be disposed on the sorting device, a barcode or a two-dimensional code is disposed on the goods, when the sorting device moves to the corresponding shelf, whether the goods at the corresponding position on the shelf are to-be-processed goods that need to be sorted is detected, and if yes, the to-be-processed goods are sorted.
Step 833: and sending a fourth scheduling instruction to the sorting equipment to control the sorting equipment to move to the warehouse-out position to process the goods to be processed.
Wherein the fourth scheduling instruction includes an ex-warehouse location.
Different from the prior art, the control method of the sorting equipment provided by the embodiment includes: acquiring the current warehousing position and the target shelf position of goods to be processed; the warehousing position and the target shelf position represent positions on the guide mechanism, and the sorting equipment can move on the guide mechanism; sending a first scheduling instruction to sorting equipment to control the sorting equipment to move to a warehousing position to receive goods to be processed; and sending a second scheduling instruction to the sorting equipment to control the sorting equipment to move to the target shelf position to place the goods to be processed on the corresponding shelf. In this way, can utilize letter sorting equipment and guiding mechanism to transport the goods to the goods shelves that correspond, through master control equipment's dispatch, can carry out rapid, effectual letter sorting to a large amount of goods, improve the efficiency of goods letter sorting, be favorable to follow-up goods to go out of the warehouse and dispatch the efficiency improvement of delivering.
In the scheduling and sorting process, the main control equipment is further used for acquiring corresponding current position information sent by all sorting equipment on the guide mechanism; and sending scheduling instructions to all the sorting equipment according to the current position information of all the sorting equipment so as to enable the distance between every two pieces of sorting equipment to be larger than a set distance threshold.
For example, a minimum distance between two sorting devices may be set to 20cm, it being understood that a large number of sorting devices are provided on the guide mechanism, each of which works independently but is controlled by the master control device. For example, 10 pieces of sorting equipment on the guide mechanism are in operation, if a new piece of sorting equipment is called, the distance between the 10 pieces of running sorting equipment is smaller than 20cm, and the possibility of collision is increased, the piece of sorting equipment to be called can be controlled to be in a waiting state, and if one piece of sorting equipment in the 10 pieces of running sorting equipment completes the current scheduling task and is in an idle state, the piece of sorting equipment to be called is controlled to work.
In another embodiment, the number of sorting devices in a guiding mechanism is fixed, for example 10, when a new cargo needs to be dispatched, all current sorting devices need to be checked for idle status, if there is an idle sorting device, the dispatching is to transport the cargo, if there is no idle sorting device, the cargo is in a waiting status, and when there is an idle sorting device, the cargo is transported.
Optionally, in an embodiment, a first positioning instruction of the target sorting device is obtained; the first positioning instruction is generated by the target sorting equipment reaching the original point position on the guide mechanism; and initializing the position information of the target sorting equipment, so that the initialized position information indicates that the target sorting equipment is located at the original point position.
When the target sorting equipment passes through the first stop block, the first optical sensor detects the first stop block, and the target sorting equipment further generates a first positioning instruction.
It is understood that the first optical sensor is an optical coupler, and in addition, in other embodiments, the first optical sensor may be disposed at the origin of the guiding mechanism, and the first stopper may be disposed on the sorting apparatus, which may also achieve similar effects.
Optionally, in another embodiment, a second positioning instruction of the target sorting equipment is obtained; the second positioning instruction is generated by moving the target sorting equipment along the vertical lifting direction to reach the highest/low point position; and sending a pause instruction to the target sorting equipment to control the sorting equipment to pause the movement.
The sorting equipment comprises an elevating mechanism and a tray mechanism arranged on the elevating mechanism, a second optical sensor is arranged on the tray mechanism, a second stop block is arranged on a vertical elevating path of the sorting equipment, when the target sorting equipment passes through the second stop block, the second optical sensor detects the second stop block, and the target sorting equipment further generates a second positioning instruction.
It is understood that the second optical sensor is an optical coupler, and in addition, in other embodiments, the second optical sensor device may be disposed on a vertical lifting path of the sorting device, and the second stopper may be disposed on a tray mechanism of the sorting device, which may also achieve similar effects.
The following is exemplified by a logistics system comprising three sections:
a first part: an outdoor robot delivery part for delivering the goods to a sorting center by an outdoor robot;
a second part: the sorting center, namely the sorting system of the above embodiment, is docked with the outdoor robot at the warehousing position, and is used for receiving the goods conveyed by the outdoor robot and carrying out the sorting action disclosed in the above embodiment; the delivery position of the robot is butted with an indoor robot and used for delivering the target goods to the indoor robot;
and a third part: and the indoor robot distribution part is used for distributing the goods to the corresponding user addresses by the indoor robot.
In a specific embodiment, the main control device establishes a communication connection with the user terminal, determines the dispatch time, and then sorts and dispatches the second part and the third part based on the dispatch time.
As shown in fig. 11, fig. 11 is a schematic flowchart of an embodiment of a method for dispatching goods, which is applied to a dispatch server, and the method includes:
step 111: a first shipment based dispatch task is generated.
Alternatively, the scheduling server may establish a dispatch task table, wherein the dispatch task table may be in units of delivery cabinets, as shown in the following table:
for example, the distribution cabinet 1 corresponding to the task 1 is a courier which designates all residents on one or more floors, or the distribution cabinet 2 corresponding to the task 2 is a courier which needs to be distributed in a certain time period.
Alternatively, the scheduling server determines an idle robot from the plurality of indoor robots, and then schedules the idle robot to perform the task 1, that is, the delivery and distribution cabinet 1 is transported for express delivery.
Specifically, when goods are to be dispatched, the dispatching server can generate a dispatching task based on the goods to be dispatched, so that the indoor robot executes a dispatching action according to the dispatching task; the dispatch task includes a dispatch period of time, a first location of a distribution cabinet associated with the first cargo, a second location of a customer address associated with the first cargo for enabling the indoor robot to transport the distribution cabinet from the first location to the second location prior to the start of the dispatch period of time.
Step 112: sending dispatch information associated with the dispatch task to the user side.
The dispatching information at least comprises a dispatching time period and a pickup code, and the dispatching server sends the dispatching information to the user side after generating a dispatching task so as to inform the user of the dispatching time period and the pickup code of the first goods.
The user side displays the dispatching information sent by the dispatching server after receiving the dispatching information, the user can select whether to identify the dispatching time period according to the self condition, and if the user can take the parts in the dispatching time period, the user side sends a confirmation instruction to the dispatching server; if the user fails to confirm the delivery time period, if the user is inconvenient to receive in the delivery time period or the user end still does not send a confirmation instruction after the preset time, the dispatching server can regenerate the delivery information, so that the situation that the indoor robot delivers the first goods first and the user cannot take the goods and wastes time and resources is avoided.
In other embodiments, the scheduling server may further send the selection information of the delivery time period to the user side, and after receiving the selectable time period sent by the user side, send the delivery information including the delivery time period and the pickup code to the user side again.
For example, the dispatch period is set to 15 minutes. In a specific application scenario, the scheduling server sends dispatch information to the user side, including a dispatch time period of 6 months, 1 day, 19: 00-19: 15, pick code 1234. The user receives the dispatch information and prompts "does the user agree with the time period dispatch? And the selection key is 'yes' or 'no', when the user side feeds back yes ', the dispatching time is determined, dispatching is carried out based on the dispatching time, when the user side feeds back no', a plurality of alternative time periods, such as '20: 00 on 1/6/1/20: 15 on 1/6', are displayed on the user side for the user to select, after the selection instruction of the user side is obtained, the dispatching task is updated, and the dispatching time period is determined again.
Step 113: after receiving the confirmation instruction of the user side, scheduling the corresponding indoor robot to dispatch the first goods based on the dispatching task.
After receiving the confirmation instruction sent by the user side, the dispatching server can arrange the indoor robot to dispatch the first goods according to the dispatching task, and can dispatch the first goods according to the distance and the current busy degree of the indoor robot, for example, the indoor robot closer to the first goods or a distribution cabinet storing the first goods can be selected to dispatch the first goods, or the indoor robot with less goods to be dispatched is selected to dispatch the first goods.
Specifically, since the motion paths of the indoor robots are controlled by the scheduling server and position information is fed back to the scheduling server, the scheduling server has position information and working state information of each indoor robot, and the following working state/position information table of the indoor robot can be established:
| indoor robot | Operating state/position information |
| Indoor robot 1 | Dispatching distribution cabinet 1/X building X number |
| Indoor robot 2 | Dispatching distribution cabinet 2/X elevator 1 |
| Indoor robot 3 | Idle/X-span express storage point |
In addition, the operating status/location information based on each cabinet can be established as follows:
different from the prior art, the embodiment provides a method for dispatching goods, a dispatching server generates a dispatching task according to goods to be dispatched, dispatching information related to the dispatching task is sent to a user side according to the dispatching task, after a confirmation instruction is received, a dispatching indoor robot dispatches the goods to an address corresponding to the goods according to dispatching time, the dispatching server can be used for dispatching the dispatching of the goods, and dispatching efficiency and success rate are improved.
In addition, in other embodiments, the following method may be adopted:
before the express is loaded into the cabinet, the delivery information of a certain number of express (corresponding to the number of cells in a distribution cabinet) is sent to a plurality of corresponding user sides, and after the certain number of express is received, the express is loaded into the specified distribution cabinet and delivered.
Referring to fig. 12, fig. 12 is a schematic flowchart of another embodiment of a method for delivering goods, which is applied to a dispatch server and includes:
step 121: a first shipment based dispatch task is generated.
Step 122: sending dispatch information associated with the dispatch task to the user side.
Wherein, steps 121-122 are the same as steps 111-112 in the above embodiment, and are not described herein again.
Step 123: after receiving a rejection instruction of the user side, sending a plurality of alternative time periods to the user side for the user side to select, and updating the dispatching task based on the time period selected by the user side.
When the user considers that the dispatching time period in the dispatching information is not appropriate, the user side sends a rejection instruction to the dispatching server; after receiving the rejection instruction, the scheduling server can send a plurality of dispatching time periods to the user side, and after the user selects a proper dispatching time period, the user side feeds back the time selected by the user to the scheduling server, so that the scheduling server updates the dispatching task.
Step 124: and planning first path information based on the current position and the first position of the indoor robot after receiving a confirmation instruction of the user side.
After receiving the confirmation instruction, the scheduling server can plan the motion track of the indoor robot by using a path planning method according to the current position of the indoor robot and the first position corresponding to the distribution cabinet in the distribution task, and generates first path information.
Optionally, a building map is pre-imported into the scheduling server and the indoor robot, and the scheduling server formulates the first path information according to the building map. Further, the indoor robot acquires surrounding environment information through a sensor arranged on the indoor robot, such as a laser radar, a camera, an ultrasonic sensor, and the like, and can determine the position of the indoor robot in the map by combining with a positioning sensor. And then the indoor robot operates according to the first path information sent by the scheduling server, and feeds back the position information of the indoor robot to the scheduling server in real time.
Step 125: the first path information is sent to the indoor robot to operate the indoor robot to a first location and load a distribution cabinet associated with the first cargo.
The dispatching server sends the first path information to the indoor robot, and the indoor robot moves from the current position to the first position of the distribution cabinet according to the first path information; the dispatching server controls the indoor robot to load the distribution cabinet related to the goods to be distributed.
Step 126: second path information is planned based on the first location and the second location.
And the scheduling server plans the motion trail of the indoor robot according to the first position of the distribution cabinet and the user address to generate second path information.
Step 127: and sending second path information to the indoor robot so that the indoor robot runs to a second position to dispatch the first goods.
And the dispatching server sends the second path information to the indoor robot, and the indoor robot transports the distribution cabinet to the user address along the path in the second path information after receiving the second path information, so that the first goods are dispatched.
The motion trail of the indoor robot is planned by the scheduling server, so that the indoor robot moves from the current position to the position of the distribution cabinet, the distribution cabinet is loaded, and then the indoor robot moves to the corresponding consignee address of the goods along the planned path, and the goods are dispatched.
Alternatively, the first path information and the second path information may include various motion states such as plane motion, ascending and descending, elevator riding, turning and the like.
Referring to fig. 13, fig. 13 is a schematic flowchart of a further embodiment of a method for delivering goods, which is applied to a dispatch server and includes:
step 131: a first shipment based dispatch task is generated.
Step 132: sending dispatch information associated with the dispatch task to the user side.
Step 133: after receiving the confirmation instruction of the user side, scheduling the corresponding indoor robot to dispatch the first goods based on the dispatching task.
Wherein, the steps 131-133 are the same as the steps 111-113 in the above embodiment, and are not repeated herein.
Step 134: and when the pickup information sent by the distribution cabinet is received or after the dispatching time period is ended, sending a return instruction or a next dispatching instruction to the indoor robot.
The pickup information is generated by a user when the user operates the distribution cabinet based on the pickup code and finishes pickup, after the indoor robot transports the distribution cabinet corresponding to the first goods to the user address, the dispatching server can detect whether the first goods are picked up, if the dispatching server receives the pickup information sent by the distribution cabinet, namely the first goods are picked up, the dispatching server can send an instruction to the indoor robot, and the robot is arranged to return or dispatch the next goods.
Step 135: and if the first goods are not picked up after the dispatching time period is over, sending goods retention information to the user side, sending a plurality of alternative time periods to the user side for the user side to select, and updating the dispatching task based on the time periods selected by the user side.
If the dispatching server still does not receive pickup information sent by the distribution cabinet after the dispatching time period is finished, namely the first goods cannot be picked up by the user in the dispatching time period, the dispatching server sends a goods retention message to the client to remind the user that the first goods are retained, and can send a plurality of dispatching time periods to the user side for the selection of the user period to update the dispatching task.
In other embodiments, the scheduling server may further send a dispatch confirmation message to the user terminal after the dispatch time period is ended, to inquire whether the user terminal needs to dispatch the dispatch again, and if the confirmation message that the user terminal needs to dispatch the dispatch again is received, dispatch is performed again; in order to avoid spending excessive distribution time cost and resources, the number of times of dispatching again can be limited, for example, if the number exceeds three times and the user still does not take the piece, the piece is not dispatched, and the user is informed to go to the express point to take the piece by himself.
Referring to fig. 14, fig. 14 is a schematic flowchart of a further embodiment of a method for dispatching goods, which is applied to a dispatch server and includes:
step 141: a first shipment based dispatch task is generated.
Step 142: sending dispatch information associated with the dispatch task to the user side.
Step 143: after receiving the confirmation instruction of the user side, scheduling the corresponding indoor robot to dispatch the first goods based on the dispatching task.
Wherein, the steps 141-143 are the same as the steps 111-113 in the above embodiment, and are not repeated herein.
Step 144: and acquiring an receiving request based on the second goods sent by the user terminal.
The receiving request comprises sender information and receiver information, and if the user needs to send the mail, namely the dispatching server dispatches the indoor robot to carry out home receiving after receiving the receiving request sent by the user side.
Step 145: and generating an receiving task based on the receiving request.
Step 146: and determining whether the indoor robot which is sending is in the building corresponding to the user address associated with the receiving task or not based on the receiving task.
And the dispatching server generates an addressee task according to the sender information, wherein the addressee task comprises an addressee time period, a third position of the selected distribution cabinet and a fourth position of a user address related to the second goods, and the addressee task is used for enabling the indoor robot to convey the distribution cabinet to the fourth position from the third position before the addressee time period begins.
In order to reasonably utilize resources, the scheduling server can determine whether an indoor robot which is sending is near a building corresponding to the addressee when the indoor robot is selected to get the pickup at home, so that the indoor robot is not scheduled from a far position.
Step 147: and if the indoor robot which is sending the goods exists in the building corresponding to the user address, inserting the receiving task into a task list of the indoor robot.
If an indoor robot which is sending is located in a building corresponding to the user address, the scheduling server leads an addressee task into a task list of the indoor robot so that the indoor robot can execute the addressee task; if there are multiple indoor robots in the building that are dispatching, then the indoor robot that is closer to the user's address or has fewer tasks to execute in the current task list may be selected.
Step 148: and sending the receiving information associated with the receiving task to the user side.
The receiving information at least comprises a receiving time period and a receiving code, and the scheduling server sends the receiving information comprising the receiving time period and the receiving code to the user side, so that the user can arrange time conveniently, and unnecessary waiting time is reduced.
Step 149: and after the confirmation instruction of the user side is received, scheduling the corresponding indoor robot to receive the second goods based on the receiving task.
After receiving the receiving information, the user side can send a confirmation instruction to the scheduling server under the condition that the receiving time meets the requirements of the user, so that the scheduling server schedules the indoor robot in the building corresponding to the address of the user to receive the information.
The dispatching server interacts with the user side, a dispatching task and an accepting task are generated according to the first goods and the second goods, the indoor robot can be dispatched to dispatch and accept, and labor cost is reduced.
Referring to fig. 15, fig. 15 is a schematic structural diagram of the main control device provided in the present application, and the main control device 13 includes a processor 131, and a memory 132 and a communication module 133 connected to the processor 131.
The communication module 133 is configured to establish a communication connection with a plurality of sorting devices, and the communication module 133 may be a WIFI module, a bluetooth module, an infrared module, or the like, and certainly, in other embodiments, may also be a wired communication module, which is not described in detail herein. The main control device 13 mainly sends corresponding control instructions through the communication module 133 to enable the sorting device to work, and the sorting device can feed back the execution result of the instructions through the communication module, and the position information of the sorting device.
The memory 132 is used for storing program data, and the processor 131 is used for executing the program data to realize the following control method:
acquiring the current warehousing position and the target shelf position of goods to be processed; the warehousing position and the target shelf position represent positions on the guide mechanism, and the sorting equipment can move on the guide mechanism; sending a first scheduling instruction to sorting equipment to control the sorting equipment to move to a warehousing position to receive goods to be processed; and sending a second scheduling instruction to the sorting equipment to control the sorting equipment to move to the target shelf position to place the goods to be processed on the corresponding shelf.
In an alternative embodiment, when executing the program data, the processor 131 further implements the following control method: acquiring a target shelf position and a delivery position; wherein the delivery position represents a position on the guide mechanism; sending a third scheduling instruction to the sorting equipment to control the sorting equipment to move to the target shelf position to take out the goods to be processed; and sending a fourth scheduling instruction to the sorting equipment to control the sorting equipment to move to the warehouse-out position to process the goods to be processed.
In an alternative embodiment, when executing the program data, the processor 131 further implements the following control method: acquiring corresponding current position information sent by all sorting equipment on a guide mechanism; and sending scheduling instructions to all the sorting equipment according to the current position information of all the sorting equipment so as to enable the distance between every two pieces of sorting equipment to be larger than a set distance threshold.
In an alternative embodiment, when executing the program data, the processor 131 further implements the following control method: acquiring a first positioning instruction of target sorting equipment; the first positioning instruction is generated by the target sorting equipment reaching the original point position on the guide mechanism; and initializing the position information of the target sorting equipment, so that the initialized position information indicates that the target sorting equipment is located at the original point position.
When the target sorting equipment passes through the first stop block, the first optical sensor detects the first stop block, and the target sorting equipment further generates a first positioning instruction.
In an alternative embodiment, when executing the program data, the processor 131 further implements the following control method: acquiring a second positioning instruction of the target sorting equipment; the second positioning instruction is generated by moving the target sorting equipment along the vertical lifting direction to reach the highest/low point position; and sending a pause instruction to the target sorting equipment to control the sorting equipment to pause the movement.
The sorting equipment comprises an elevating mechanism and a tray mechanism arranged on the elevating mechanism, a second optical sensor is arranged on the tray mechanism, a second stop block is arranged on a vertical elevating path of the sorting equipment, when the target sorting equipment passes through the second stop block, the second optical sensor detects the second stop block, and the target sorting equipment further generates a second positioning instruction.
In an alternative embodiment, when executing the program data, the processor 131 further implements the following control method: when the goods to be processed enter the guide mechanism, detecting the goods to be processed to obtain the information of the goods; the acquisition information comprises at least one of length, width and height information, weight information or bar code information of the goods to be processed.
Referring to fig. 16, fig. 16 is a schematic structural diagram of an embodiment of a computer storage medium provided in the present application, in which a program data 161 is stored in the computer storage medium 160, and when the program data is executed by a processor, the method is implemented as follows:
acquiring the current warehousing position and the target shelf position of goods to be processed; the warehousing position and the target shelf position represent positions on the guide mechanism, and the sorting equipment can move on the guide mechanism; sending a first scheduling instruction to sorting equipment to control the sorting equipment to move to a warehousing position to receive goods to be processed; and sending a second scheduling instruction to the sorting equipment to control the sorting equipment to move to the target shelf position to place the goods to be processed on the corresponding shelf.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other manners. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units in the other embodiments described above may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.
Claims (10)
1. A control method of a sorting device is characterized in that the control method is applied to a master control device and comprises the following steps:
acquiring the current warehousing position and the target shelf position of goods to be processed; wherein the warehousing location and the target shelf location represent locations on a guide mechanism on which the sorting equipment is movable;
sending a first scheduling instruction to the sorting equipment to control the sorting equipment to move to the warehousing position to receive the goods to be processed; and
and sending a second scheduling instruction to the sorting equipment to control the sorting equipment to move to the target shelf position to place the goods to be processed on the corresponding shelf.
2. The control method according to claim 1,
the control method further comprises the following steps:
acquiring the target shelf position and the warehouse-out position; wherein the delivery position represents a position on a guide mechanism;
sending a third scheduling instruction to the sorting equipment to control the sorting equipment to move to the target shelf position to take out the goods to be processed; and
and sending a fourth scheduling instruction to the sorting equipment to control the sorting equipment to move to the ex-warehouse position to process the goods to be processed.
3. The control method according to claim 2,
the control method further comprises the following steps:
acquiring corresponding current position information sent by all sorting equipment on the guide mechanism;
and sending scheduling instructions to all the sorting equipment according to the current position information of all the sorting equipment so as to enable the distance between every two pieces of sorting equipment to be larger than a set distance threshold.
4. The control method according to claim 1,
the method further comprises the following steps:
acquiring a first positioning instruction of target sorting equipment; wherein the first positioning instruction is generated by the target sorting equipment reaching an origin position on the guide mechanism;
initializing the position information of the target sorting equipment, so that the initialized position information represents that the target sorting equipment is located at the origin position.
5. The control method according to claim 4,
the target sorting equipment is provided with a first optical sensor, the original point position is provided with a first stop block, when the target sorting equipment passes through the first stop block, the first optical sensor detects the first stop block, and the target sorting equipment further generates the first positioning instruction.
6. The control method according to claim 1,
the method further comprises the following steps:
acquiring a second positioning instruction of the target sorting equipment; wherein the second positioning instruction is generated by the target sorting equipment moving along a vertical lifting direction to reach a highest/low point position;
sending a pause instruction to the target sorting equipment to control the sorting equipment to pause the movement.
7. The control method according to claim 6,
the sorting equipment comprises a lifting mechanism and a tray mechanism arranged on the lifting mechanism, a second optical sensor is arranged on the tray mechanism, a second stop block is arranged on a vertical lifting path of the sorting equipment, when the target sorting equipment passes through the second stop block, the second optical sensor detects the second stop block, and the target sorting equipment further generates a second positioning instruction.
8. The control method according to claim 1,
the method further comprises the following steps:
when goods to be processed enter the guide mechanism, detecting the goods to be processed to obtain goods information of the goods; the acquisition information comprises at least one of length, width and height information, weight information or bar code information of the goods to be processed.
9. The master control equipment is characterized by comprising a processor, a memory and a communication module, wherein the memory and the communication module are connected with the processor;
wherein the communication module is configured to establish a communication connection with a plurality of sorting apparatuses, the memory is configured to store program data, and the processor is configured to execute the program data to implement the control method according to any one of claims 1 to 8.
10. A cargo sorting system, comprising:
a guide mechanism;
the sorting equipment is arranged on the guide mechanism and can move along the guide mechanism;
a plurality of racks provided corresponding to a plurality of positions of the guide mechanism;
a master control device, which establishes communication connection with the plurality of sorting devices and controls the operation of the plurality of sorting devices, wherein the master control device is the master control device according to claim 9.
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| CN201910945424.8A CN112573075A (en) | 2019-09-30 | 2019-09-30 | Control method of sorting equipment, master control equipment and cargo sorting system |
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