CN112676171B - Automatic sorting equipment and control method thereof - Google Patents

Abstract

The invention discloses automatic sorting equipment and a control method thereof, and relates to the technical field of warehouse logistics. In one embodiment of the apparatus, the goods identifying and picking device on the rotatable suspension device can push the target goods to an inclined state through the telescopic pushing support, and adjust the mechanical arm to the inclined state, so as to utilize the clamping jaw of the mechanical arm to hold the bottom of the target goods, and restore the target goods to be horizontal after the target goods are successfully picked up, so as to finish the picking up of the target goods; the transmission device drives the rotatable suspension device to rotate, so that the goods identification and the target goods picked up by the pick-up device are sorted to the designated sorting position. Can simulate manual operation in order to reduce manual intervention, realize unmanned letter sorting, can many to many automatic letter sorting to flow the goods of a plurality of starting points positions and turn to a plurality of terminal points, the developments are nimble to set up letter sorting start-stop position, need not the manual regulation goods and put, realize automatic the putting goods.

Description

Automatic sorting equipment and control method thereof

Technical Field

The invention relates to the technical field of computers, in particular to automatic sorting equipment and a control method thereof.

Background

The existing automatic sorting equipment is used for automatically sorting based on a plurality of groups of conveyor belts. The goods to be sorted are placed at the initial position of sorting, the goods can automatically move on the conveyor belt, when the goods move to the junction of the conveyor belt, the sensor can identify label information of the goods, and then control the flow direction of the goods, a plurality of control nodes can exist in the whole sorting process until all the goods are transferred to the final card position of sorting, and the whole sorting process is finished.

In the process of implementing the present invention, the inventor finds that at least the following problems exist in the prior art:

the existing sorting technology requires more manual intervention in the links of goods picking, identifying, placing and the like, unmanned sorting cannot be achieved, and only one-to-many sorting process can be achieved, namely, the goods flow at one inlet starting point is turned to a plurality of end points, in addition, the starting and stopping positions of sorting cannot be dynamically and flexibly changed, and the goods with different sizes are required to be placed at the end point positions manually and respectively, and meanwhile, the placed goods are required to be moved to a temporary storage area for transportation.

Disclosure of Invention

In view of the above, embodiments of the present invention provide an automatic sorting apparatus and a control method thereof, which can simulate manual operations to reduce manual intervention in links of picking up, identifying, and placing goods, realize unmanned sorting, and can realize many-to-many automatic sorting, so that a flow of goods at a plurality of starting points can be diverted to a plurality of end points, and start and stop positions of sorting can be dynamically and flexibly set, and the goods placement at the end points of sorting is not required to be manually adjusted, so that automatic goods placement is realized, and the placed goods are not required to be moved to a temporary storage area.

To achieve the above object, according to one aspect of the embodiments of the present invention, there is provided an automatic sorting apparatus.

An automatic sorting apparatus comprising: the device comprises a rotatable suspension device and a transmission device, wherein the rotatable suspension device is provided with a goods identification and pickup device, the goods identification and pickup device comprises a telescopic pushing bracket and a plurality of groups of parallel telescopic mechanical arms, a goods picking end of each mechanical arm is provided with a clamping jaw, the goods identification and pickup device can push the target goods to an inclined state through the telescopic pushing bracket, the mechanical arms are adjusted to the inclined state, the bottom of the target goods is supported by the clamping jaws of the mechanical arms, and the target goods are restored to be horizontal after the target goods are successfully picked up, so that the picking of the target goods is completed; the transmission device drives the rotatable suspension device to rotate, so that the target cargoes picked up by the cargoes identification and pickup device are sorted to a designated sorting position.

Optionally, the goods identifying and picking device further includes a rotatable fixing surface and a tiltable angle fixing surface, wherein a connecting piece is arranged below the rotatable fixing surface, the tiltable angle fixing surface is connected with control angle cables with adjustable lengths on two sides of the connecting piece, and the tiltable angle fixing surface is rotated in a vertical direction by adjusting the lengths of the control angle cables, so that the multiple groups of mechanical arms below the tiltable angle fixing surface are driven to tilt; a pushing device moving track for the telescopic pushing bracket to move is also arranged below the rotatable fixing surface; when the rotatable fixing surface rotates in the horizontal direction, the plurality of groups of mechanical arms and the telescopic pushing support are driven to rotate in the horizontal direction.

Optionally, the cargo identifying and picking device identifies the target cargo using a camera and sensing component comprising at least two camera sensors and at least one distance sensor, wherein at least one first camera sensor is used to identify the target cargo from the top of the target cargo and at least one second camera sensor is used to identify the target cargo from the side of the target cargo, and the distance sensor is used to determine the distance to the target cargo.

Optionally, the goods recognition and pickup device further includes a telescopic tilting angle bracket for mounting the second camera sensor, and the height and viewing angle of the second camera sensor are made adjustable by changing the length and tilting angle of the telescopic tilting angle bracket.

Optionally, the plurality of rotatable suspension devices are configured, and the plurality of rotatable suspension devices are driven by the transmission device to synchronously rotate.

Optionally, the rotatable suspension device further comprises a stand column, the rotatable suspension device comprises a first cantilever and a sub-suspension device, the first cantilever is fixedly connected with the upper portion of the stand column, the sub-suspension device is in sliding connection with the first cantilever through a suspension sliding block, the first end of the second cantilever is fixedly connected with the suspension sliding block, the second end of the second cantilever is fixedly connected with the goods identification and pickup device, and the height of the second end of the second cantilever in the vertical direction is adjustable.

According to another aspect of the embodiments of the present invention, there is provided a control method of an automatic sorting apparatus.

A control method of an automatic sorting apparatus, comprising: controlling the goods identification and pickup device to pick up the target goods and label information for identifying the target goods; obtaining the volume of the target goods and the target sector corresponding to the sorted goods in the storage area according to the label information; determining a position of a radial distance corresponding to the volume of the target cargo in the target sector as the designated sorting position according to a preset corresponding relation between the volume of the cargo and the radial distances of all positions in the sector, wherein the radial distance of one position in one sector refers to the distance from the position to the circle center of a sorting area, the sorting area is a circular distribution area comprising a cargo storage area to be sorted and the sorted cargo storage area, and the rotatable suspension device can rotate right above the circle center of the sorting area; and controlling the transmission device to drive the rotatable suspension device to rotate so that the rotatable suspension device sorts the target cargoes to the designated sorting position.

Optionally, before the step of controlling the goods recognition and pickup device to pick up the target goods and the tag information for recognizing the target goods, the method further includes: configuring start-stop angles corresponding to the sectors included in the goods storage area to be sorted and the sorted goods storage area, and configuring the corresponding relation between the radial distance of each position in each sector of the sorted goods storage area and the goods volume.

According to yet another aspect of an embodiment of the present invention, an electronic device is provided.

An electronic device, comprising: one or more processors; and the memory is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors are enabled to realize the control method of the automatic sorting equipment.

According to yet another aspect of an embodiment of the present invention, a computer-readable medium is provided.

A computer readable medium having stored thereon a computer program which when executed by a processor implements the control method of the automatic sorting apparatus provided by the present invention.

One embodiment of the above invention has the following advantages or benefits: according to the cargo identification and pickup device of the automatic sorting equipment, the target cargo can be pushed to an inclined state through the telescopic pushing support, the mechanical arm is adjusted to the inclined state, the bottom of the target cargo is supported by the clamping jaw of the mechanical arm, the target cargo is restored to be horizontal after the target cargo is successfully picked up, so that the picking of the target cargo is completed, and the picked target cargo is sorted to a designated sorting position through rotation of the rotatable suspension device, so that simulation manual operation is realized. The rotatable suspension means is configured in a plurality so that a many-to-many automated sorting can be performed to divert a stream of cargo at a plurality of start points to a plurality of end points. The goods are not based on linear transmission in the sorting process, but start-stop angles corresponding to the sectors included in the goods storage area to be sorted and the sorted goods storage area are configured according to the needs, so that the start-stop positions of sorting are dynamically and flexibly set. The goods are automatically placed at the sorting end positions without manual adjustment, and the placed goods are not required to be moved to a temporary storage area. According to the preset corresponding relation between the cargo volume and the radial distance of each position in the sector, the position of the radial distance corresponding to the volume of the target cargo in the target sector is determined as the designated sorting position for placing the target cargo, and the target cargo is automatically placed at the designated sorting position by rotating the rotatable suspension device and sliding the suspension sliding block of the rotatable suspension device. According to the embodiment, manual intervention is reduced in links such as cargo picking, recognition and placement, unmanned sorting is achieved, and the placed cargoes are placed according to the polar coordinate positions, so that the placed cargoes are not required to be moved to a temporary storage area, and transportation is convenient.

Further effects of the above-described non-conventional alternatives are described below in connection with the embodiments.

Drawings

The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:

fig. 1 is a schematic cross-sectional view of an automated sorting apparatus according to one embodiment of the present invention;

FIG. 2 is a schematic view of a rotatable suspension device and upright in an aerial view according to one embodiment of the present invention;

FIG. 3 is an enlarged schematic cross-sectional view of a cargo identification and pickup device according to one embodiment of the invention;

FIGS. 4 (a) and 4 (b) are schematic diagrams of a retractable pusher carriage pushing a large target cargo to rotate in accordance with an embodiment of the present invention;

fig. 5 is a schematic top view of an automated sorting apparatus in a sorting area according to one embodiment of the present invention;

fig. 6 is a schematic diagram of main steps of a control method of the automatic sorting apparatus according to an embodiment of the present invention;

fig. 7 is a schematic view of main blocks of a control system of the automatic sorting apparatus according to an embodiment of the present invention;

FIG. 8 is an exemplary system architecture diagram in which embodiments of the present invention may be applied;

fig. 9 is a schematic diagram of a computer system suitable for use in implementing an embodiment of the invention.

Detailed Description

Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

The automatic sorting equipment of the embodiment of the invention mainly comprises: the device comprises a rotatable suspension device and a transmission device 1-2, wherein the rotatable suspension device is provided with a goods identification and pickup device 1-8, the goods identification and pickup device 1-8 comprises a telescopic pushing bracket 3-5 and a plurality of groups of parallel telescopic mechanical arms 3-11, the goods picking end of the mechanical arms 3-11 is provided with a clamping jaw 3-13, wherein,

the goods identification and pickup device 1-8 can push the target goods to an inclined state through the telescopic pushing support 3-5, and adjust the mechanical arm 3-11 to the inclined state so as to utilize the clamping jaw 3-13 of the mechanical arm 3-11 to hold the bottom of the target goods, and restore the target goods to be horizontal after the target goods are successfully picked up, so that the pickup of the target goods is completed; the transmission device 1-2 drives the rotatable suspension device to rotate, so that the target goods picked up by the goods identification and pickup device 1-8 are sorted to the designated sorting position.

The automatic sorting apparatus of the present invention will be described in detail by the following specific examples, respectively.

Fig. 1 is a schematic cross-sectional view of an automatic sorting apparatus according to one embodiment of the present invention.

As shown in fig. 1, the automatic sorting apparatus of the present embodiment includes a column 1-1, a transmission 1-2, a column supporting device 1-3, a supporting device fixing structure 1-4, a first cantilever 1-5, a suspension slider 1-6, a second cantilever 1-7, and a cargo recognition and pickup device 1-8.

The column 1-1 may include an outer column 2-1 (see fig. 2) and an inner column 2-2 (see fig. 2), and the automatic sorting apparatus may be fixed in the sorting area 5-1 (see fig. 5) by the inner column 2-2, and the outer column 2-1 may be rotatable around the inner column 2-2.

In an alternative embodiment the inner cylinder 2-2 may be replaced by a rotating shaft or the like which may serve the same purpose.

The outer column 2-1 is specifically a polygonal column, and the number of the rotatable suspension devices can be multiple, and the rotatable suspension devices can synchronously rotate under the drive of the transmission device 1-2. When a plurality of rotatable suspension devices are provided, the number of the first cantilevers 1-5 is correspondingly configured to be plural, each rotatable suspension device includes one first cantilever 1-5, and the number of the first cantilevers 1-5 is configured to be at most the number of edges of the polygon (the number of edges refers to the number of edges of the bottom surface of the polygon). In the embodiment shown in fig. 1, the transmission device 1-2 drives the outer cylinder 2-1 to rotate to realize the rotation of the rotatable suspension device.

The inner layer cylinder is erected in a sorting area, and the sorting area is a circular distribution area and comprises a goods storage area to be sorted and a sorted goods storage area. The center of the sorting area is the position of the inner layer cylinder, and specifically refers to the position point where the inner layer cylinder intersects with the plane where the sorting area is located.

The transmission device may specifically be a motor, and is configured to drive the outer column 2-1 of the upright 1-1 to rotate, thereby rotating the first cantilever 1-5.

In the embodiment shown in fig. 1, the first cantilever 1-5 is horizontally arranged, that is, the first cantilever 1-5 is perpendicular to the upright, and when the transmission device 1-2 drives the outer column 2-1 to rotate, the first cantilever 1-5 rotates in the horizontal direction.

As an alternative embodiment, the first cantilever 1-5 may be inclined at an angle to the horizontal, i.e. the angle between the first cantilever 1-5 and the upright 1-1 is not 90 degrees, and the first cantilever 1-5 rotates with the outer cylinder 2-1 around the inner cylinder 2-2 when the transmission 1-2 rotates the outer cylinder 2-1, in which case the track of the rotation of the first cantilever 1-5 is a conical surface.

The column supporting device 1-3 is used for supporting the column 1-1 so that the column 1-1 is stably installed in the sorting area 5-1, and the supporting device fixing structure 1-4 is used for fixing the column supporting device 1-3 and the column 1-1.

In an alternative embodiment the mounting column 1-1 may be reinforced by means of a universal reinforcement without the provision of column supports 1-3 and support fixture securing structures 1-4.

The suspension slider 1-6, the second suspension arm 1-7, and the cargo recognition and pickup device 1-8 constitute a sub-suspension, and the first suspension arm 1-5 and the sub-suspension constitute a rotatable suspension.

One end of the first cantilever 1-5 is fixedly connected with the upper part of the column 1-1, specifically, is connected with the upper part of the outer column 2-1 of the column 1-1.

The sub-suspension is slidably connected to the first suspension arm (1-5) by means of a suspension slider (1-6), wherein the suspension slider 1-6 is slidably connected to the first suspension arm 1-5, in particular the suspension slider 1-6 is slidably sleeved on the first suspension arm 1-5 such that the suspension slider 1-6 can be moved in the direction of the first suspension arm 1-5.

As an alternative embodiment, the first boom 1-5 may comprise a sliding rail and the suspension slider 1-6 is not slidably sleeved on the first boom 1-5, but is slidably embedded in the sliding rail of the first boom 1-5, the movement in the direction of the first boom 1-5 being achieved by the suspension slider 1-6 sliding in the sliding rail.

The second cantilever 1-7 comprises a first end 1-9, a second end 1-10, a third end 1-11, and two rod-shaped members 1-12 respectively positioned between the first end 1-9 and the third end 1-11 and between the second end 1-10 and the third end 1-11. The first end 1-9 of the second cantilever 1-7 is fixedly connected with the suspension slider 1-6, the second end 1-10 is fixedly connected with the goods recognition and pickup device 1-8, and the second cantilever 1-7 is folded at the third end 1-11 according to an angle, so that the height of the second end 1-10 of the second cantilever 1-7 in the vertical direction is adjustable.

As an alternative embodiment, the second boom 1-7 is not arranged to be foldable according to angle, but is arranged as a vertical and telescopic boom, by means of which the height of the second end 1-10 of the second boom 1-7 in the vertical direction is adjustable.

The automatic sorting equipment of the embodiment of the invention adjusts the positions of the goods identification and pickup devices 1-8 through the following actions, so as to pick and identify the target goods in the goods storage area to be sorted and sort the target goods to the designated sorting position in the sorted goods storage area, wherein the actions of the mutual matching comprise: rotating the first suspension arm 1-5, sliding the suspension slider 1-6, adjusting the height of the second end 1-10 of the second suspension arm 1-7 in the vertical direction.

The goods identifying and picking device 1-8 uses the camera shooting and sensing component to identify the target goods, specifically comprises identifying the position of the target goods and identifying the tag information on the target goods, wherein the position of the target goods can be used for identifying one goods to be sorted closest to the goods identifying and picking device 1-8 from a plurality of goods to be sorted, taking the goods as the target goods, and positioning the position of the target goods. The camera and sensor unit is also used to detect the operational status of the target cargo and other components of the cargo-identifying and picking up device 1-8, for example, to detect the lower edge of the target cargo to determine if the target cargo has been successfully picked up, etc., during picking up the target cargo and placing the target cargo in a designated sorting location in the sorted cargo storage area. The specific components of the load identification and pickup device 1-8 are described in detail below.

The automatic sorting equipment of the embodiment of the invention further comprises a network device, a control system and a control system, wherein the network device is used for sending the information identified or detected by the camera shooting and sensing component to the automatic sorting equipment, and receiving a control instruction sent by the control system, wherein the control instruction is used for controlling the automatic sorting equipment to pick up, identify and sort target cargoes.

As an alternative embodiment, the automatic sorting apparatus may not include the upright 1-1, but directly fix the rotatable suspension device in the sorting area 5-1 (in this alternative embodiment, the center of the sorting area is the fixing place of the rotatable suspension device, specifically, the point where the rotatable suspension device intersects the plane of the sorting area), and may horizontally rotate under the driving of the driving device 1-2. Specifically, in this alternative embodiment, a third boom including a horizontal portion and an inclined portion is provided, the horizontal portion of the third boom having the same function as the first boom 1-5 of the embodiment shown in fig. 1, and the inclined portion having the function similar to that of the column 1-1 of the embodiment shown in fig. 1 is used for supporting and fixing the rotatable suspension device, and the inclined portion is different from the column 1-1 in that the inclined portion is not vertically provided but is provided at an angle to the vertical direction (the angle may be set as needed). In this alternative embodiment, the suspension slider 1-6, the second suspension arm 1-7, and the cargo recognition and pick-up device 1-8 constitute a sub-suspension, the third suspension arm and the sub-suspension constitute a rotatable suspension, the sub-suspension is connected to the horizontal portion through the sub-suspension, and the specific connection relationship of the sub-suspension to the horizontal portion is the same as that of the sub-suspension to the first suspension arm 1-5 in the embodiment shown in fig. 1. In this alternative embodiment, the position of the goods recognition and pick-up device 1-8 is adjusted to pick up and recognize the target goods to be sorted into the goods storage area and sort the target goods into the designated sorting position of the sorted goods storage area by the following actions: rotating the third suspension, sliding the suspension slider 1-6, adjusting the height of the second end 1-10 of the second suspension 1-7 in the vertical direction.

The goods storage area to be sorted and the sorted goods storage area are determined by the control system in advance, and the configuration specifically can comprise: the method comprises the steps of configuring a cargo storage area to be sorted, starting and stopping angles corresponding to sectors included in the sorted cargo storage areas, and configuring a corresponding relation between radial distances of positions in each sector of the sorted cargo storage area and cargo volumes, wherein the radial distance of one position in one sector refers to the distance from the position to the center of a circle of a sorting area 5-1.

When the target cargoes are sorted to the designated sorting position of the sorted cargoes storage area, the designated sorting position is specifically: the method comprises the steps that target cargoes are located in a target sector corresponding to a sorted cargo storage area, and the radial distance corresponding to the volume of the target cargoes is located; wherein the volume and the target sector of the target cargo are determined based on the tag information of the target cargo identified by the cargo identification and pickup device 1-8.

Fig. 2 is a schematic view of a rotatable suspension device and upright in an aerial view according to one embodiment of the invention.

As shown in fig. 2, the upright 1-1 of the present embodiment includes an outer column 2-1 and an inner column 2-2, the outer column 2-1 is an octagon, the cross section of which is regular octagon, the inner column 2-2 is arranged inside the outer column 2-1, the present embodiment is configured with eight rotatable suspension devices, each of which has the same structure and includes a first suspension arm 1-5 and a sub-suspension device, the sub-suspension device includes a suspension slider 1-6, a second suspension arm 1-7, and a cargo identifying and picking device 1-8. The suspension slider 1-6 is slidably sleeved on the first suspension arm 1-5. The eight first cantilevers 1-5 are fixedly connected with different sides of the outer cylinder 2-1, respectively, and specifically, each first cantilever 1-5 may be embedded into a side of the outer cylinder 2-1. The outer column 2-1 may support and drive each first cantilever 1-5 to rotate in a horizontal direction, and the rotation may be performed at a constant speed.

Note that, the outer column 2-1 of the present embodiment is not limited to an eight-prism, and may be configured as an N-prism (N is a natural number) according to service requirements.

Fig. 3 is an enlarged schematic cross-sectional view of a cargo recognition and pick-up device according to one embodiment of the invention.

As shown in fig. 3, the cargo identifying and picking device 1-8 of the present embodiment includes: the camera comprises a fixing piece 3-1, a fixed camera bracket 3-2, a rotatable fixing surface 3-3, a pushing device moving track 3-4, a telescopic pushing bracket 3-5, a telescopic inclined angle bracket 3-6, a connecting piece 3-7, a control angle cable 3-8, an inclined angle fixing surface 3-9, a mechanical arm moving track 3-10, a plurality of groups of parallel telescopic mechanical arms 3-11, a pressure sensor 3-12, a clamping jaw 3-13, a camera and distance sensor 3-14 and a second camera sensor 3-15.

The goods recognition and pick-up device 1-8 is fixedly connected with the second end 1-10 of the second cantilever 1-7 by a fixing piece 3-1. The fixed camera support 3-2 and the rotatable fixing surface 3-3 are both connected below the fixing member 3-1, and the rotatable fixing surface 3-3 is rotatable in the horizontal direction, but the fixed camera support 3-2 does not rotate along with the rotatable fixing surface 3-3.

The lower part of the rotatable fixing surface 3-3 is connected with a connecting piece 3-7 (the rectangular part and the round part pointed by '3-7' in the figure integrally form the connecting piece 3-7), and the connection part of the rotatable fixing surface 3-3 and the connecting piece 3-7 is not shown (shielded by a pushing device moving track 3-4) in fig. 3. The pushing device moving track 3-4 for the telescopic pushing support 3-5 to move is also arranged below the rotatable fixing surface 3-3, the non-pushing goods end of the telescopic pushing support 3-5 is connected with the pushing device moving track 3-4 in a sliding mode, and the pushing goods end of the telescopic pushing support 3-5 is provided with a pushing supporting point 3-16 for pushing goods. The pushing object end of the telescopic pushing support 3-5 refers to the end contacted with the goods when pushing the goods, and correspondingly, the end not contacted with the goods is the non-pushing object end.

The tiltable angle fixing surfaces 3-9 are rotatable in the vertical direction. The tiltable angle fixing surface 3-9 is fixedly connected with length-adjustable control angle cables 3-8 arranged on two sides of the connecting piece 3-7, a mechanical arm moving track 3-10 is arranged below the tiltable angle fixing surface 3-9, the mechanical arm 3-11 is used for picking up target goods, and a non-picking-up goods end of the mechanical arm 3-11 is connected with the mechanical arm moving track 3-10 in a sliding mode. The pick-up end of the robot arm 3-11 refers to the end that is in contact with the cargo when picking up the cargo, and accordingly, the end that is not in contact with the cargo is referred to as the non-pick-up end. The tiltable angle fixing surfaces 3-9 are rotated in the vertical direction by adjusting the lengths of the control angle cables 3-8 at both sides of the connecting piece 3-7, so that the multiple groups of mechanical arms 3-11 below the tiltable angle fixing surfaces 3-9 are driven to tilt.

The rotatable fixing surface 3-3 rotates in the horizontal direction to drive a plurality of groups of parallel telescopic mechanical arms 3-11 and telescopic pushing brackets 3-5 to rotate in the horizontal direction.

The pressure sensors 3-12 are arranged inside each set of arms, i.e. on the side between two arms of the same set, e.g. in the position shown in fig. 3. The pick-up goods end of the mechanical arm 3-11 is provided with a clamping jaw 3-13.

The cargo recognition and pickup device 1-8 of the present embodiment recognizes a target cargo using a camera and sensing section including at least two camera sensors including at least one first camera sensor for recognizing the target cargo from the top of the target cargo and at least one second camera sensor 3-15 for recognizing the target cargo from the side of the target cargo, and at least one distance sensor for determining the distance to the target cargo. The first camera sensor and the distance sensor are mounted in the same location, which are shown in fig. 3 as camera and distance sensors 3-14.

The telescopic inclination angle bracket (3-6) is used for installing the second camera sensor (3-15), the telescopic inclination angle bracket (3-6) can adjust the length through telescopic, and the inclination angle can be changed in the vertical direction, but the telescopic inclination angle bracket can not rotate along with the rotation of the rotatable fixing surface 3-3. One end of the telescopic inclined angle bracket 3-6 is connected with one end of the fixed camera bracket 3-2, the other end of the telescopic inclined angle bracket 3-6 is connected with the second camera sensor 3-15, and the telescopic inclined angle bracket 3-6 is telescopic and can be inclined to a certain angle in the vertical direction (the inclined angle range can be preset). The height and viewing angle of the second camera sensor 3-15 are made adjustable as the length and the tilting angle of the telescopic tilting angle bracket 3-6 are changed.

In the cargo identifying and picking device 1-8 of the present embodiment, in the case that the target cargo cannot be picked up by the mechanical arm 3-11, the target cargo is pushed to an inclined state by the telescopic pushing bracket 3-5, and the mechanical arm 3-11 is adjusted to the inclined state, so that the bottom of the target cargo is held by the clamping jaw 3-13 of the mechanical arm 3-11, and the target cargo is restored to be horizontal after the target cargo is successfully picked up, so as to complete the picking of the target cargo. The principle is as follows: for the goods with smaller visual angle area above the goods, the weight is usually smaller, and after the mechanical arms 3-11 on two sides of the goods are extended, the goods can be directly clamped and lifted, and the picking process is finished. For objects with larger view angle areas, the view angle focal plane image of the object is in a parallelogram shape (the actual cargo plane is rectangular, the actual cargo is cuboid) and usually has larger weight, the mechanical arm 3-11 tries to clamp the cargo first, and if the surface friction force of the mechanical arm 3-11 is insufficient to clamp the cargo, the telescopic pushing support 3-5 controls the pushing support 3-16 to push the cargo, namely, one cargo (cuboid) rotates by a certain angle with one bottom edge as an axis. And then adjusting the inclinable angle fixing surface 3-9 to enable a plurality of groups of parallel telescopic mechanical arms 3-11 to be parallel to the side surface of the cuboid. The arm 3-11 near the side where the load is lifted is controlled to extend until the jaw 3-13 under the arm 3-11 at the side where the load is lifted is opened by 90 degrees, and the load is gripped inward. Then, the height of the second end 1-10 (not shown in fig. 3) of the second cantilever 1-7 in the vertical direction is controlled to lift the goods recognition and pickup device 1-8 up a distance, after the goods are suspended, the other side mechanical arm 3-11 is controlled to extend, and the clamping jaw 3-13 of the other side mechanical arm 3-11 is opened by 90 degrees to clamp the goods inwards. Finally, the tiltable angle fixing surfaces 3-9 are adjusted to keep the cargoes horizontal, and the picking process is finished.

The process of picking up the target cargo specifically includes:

the first camera sensors in the camera and the distance sensors 3-14 collect images from above all cargoes in the storage area of the cargoes to be sorted, the positions of the cargoes in the images collected by the first camera sensors are different, the center point of the collected images is right below the first camera sensors, and the cargoes closest to the center point in the images are the cargoes closest to the cargoes identifying and picking devices 1-8, namely the target cargoes.

The automatic sorting apparatus makes the goods recognition and pickup device 1-8 of the present embodiment reach directly above the target goods by rotating the first boom 1-5 (not shown in fig. 3) and sliding the suspension slider 1-6 (not shown in fig. 3).

The distance to the target cargo is measured by the camera and the distance sensor of the distance sensors 3-14, and the automatic sorting apparatus lowers the cargo recognition and pickup device 1-8 to a predetermined working height by adjusting the height of the second end 1-10 (not shown in fig. 3) of the second boom 1-7 in the vertical direction according to the measured distance.

The edge of the object cargo is detected from above the object cargo by the first camera sensor, and the rotation angle of the rotatable fixing surface 3-3 in the horizontal direction is adjusted to adjust the robot arm 3-11 to a direction suitable for picking up the object cargo. The plurality of groups of parallel telescopic mechanical arms 3-11 move in the mechanical arm moving track 3-10 to reach the edge of the target goods, the distance between the mechanical arms 3-11 in the same group is equal to the width of the target goods, the mechanical arms 3-11 extend downwards, the second camera sensors 3-15 descend synchronously, the second camera sensors 3-15 start to work, and at the moment, the second camera sensors 3-15 are used for detecting the lower edge of the target goods. When the pick-up end of the robot arm 3-11 descends to the lower edge of the target cargo, the robot arm 3-11 stops extending downward and tries to grip the target cargo.

If the pressure between the mechanical arm 3-11 and the target cargo sensed by the pressure sensor 3-12 reaches a pressure threshold value, the target cargo is lifted by using the friction force between the mechanical arm 3-11 and the target cargo. The change in position of the lower edge of the target cargo can be detected by the second camera sensor 3-15 to determine whether the target cargo has been successfully lifted, indicating that the target cargo has not been lifted if the lower edge of the target cargo is still in its original position, and indicating that the target cargo has been lifted if the lower edge position is raised.

If the target cargo fails to be lifted, indicating that the target cargo is too heavy, the robot arms 3-11 leave the clamped state and leave the target cargo a distance (which may be preset). The telescopic pushing support 3-5 is controlled to move in the pushing device moving track 3-4, and the target goods are pushed to an inclined state through the telescopic pushing support 3-5, so that in the process, the second camera sensor 3-15 can detect the inclined angle of the target goods.

And adjusting the multiple groups of mechanical arms 3-11 to achieve the same inclination state as the inclination angle of the target goods, so as to utilize the clamping jaw 3-13 of one side mechanical arm 3-11 to support the bottom of the lifting side of the target goods, and after the target goods are lifted so as to enable the target goods to leave the contacted plane, utilizing the clamping jaw 3-13 of the other side mechanical arm 3-11 to support the bottom of the other side of the target goods, and then recovering the target goods to be horizontal, thereby completing the pickup of the target goods. In this process, the position change and the inclination angle change of the target cargo, and the positions of the robot arm 3-11 and the gripper jaw 3-13 are detected by the second camera sensor 3-15.

The cargo recognition and pickup device 1-8 may push the target cargo to an inclined state from above or from the side of the target cargo when picking up the target cargo, wherein the telescopic push bracket 3-5 is located above the target cargo and away from the side of the second camera sensor 3-15 when the telescopic push bracket 3-5 pushes the target cargo from above the target cargo; when the telescopic pushing bracket 3-5 pushes the target cargo from the side of the target cargo, the telescopic pushing bracket 3-5 is located at the side of the target cargo and is on the same side as the second camera sensor 3-15. Thus, the side on which the target cargo is lifted is the side close to the second camera sensor 3-15, so that the second camera sensor 3-15 detects the position change and the inclination angle change of the target cargo, the position change of the robot arm 3-11 and the jaw 3-13, and the like.

Fig. 4 (a) and 4 (b) are schematic diagrams showing the telescopic pushing rack of the present embodiment pushing a large target cargo to rotate. The bulk of the present embodiment is primarily referred to as heavy, such cargo also typically having a relatively large volume. FIG. 4 (a) is a schematic view showing the telescopic pushing frame 3-5 pushing the target cargo to rotate from above the target cargo, and when the telescopic pushing frame 3-5 pushing the cargo from above the target cargo, pushing force is generated at the pushing fulcrum 3-16 by extending the telescopic pushing frame 3-5; fig. 4 (b) is a schematic view of the telescopic pushing frame 3-5 pushing the target cargo to rotate from the side of the target cargo, and when the telescopic pushing frame 3-5 pushes the cargo from the side of the target cargo, pushing force is generated at the pushing fulcrum 3-16 by moving the telescopic pushing frame 3-5 in the pushing device moving rail 3-4.

The cargo identifying and picking-up device 1-8 of the present embodiment identifies the target cargo after picking up the target cargo, mainly identifying tag information of the target cargo. Tag information such as bar code information. The cargo identification process is described below.

In case the tag is located above the target cargo, the tag information of the target cargo may be identified directly by the camera and the first one of the distance sensors 3-14.

In case the tag is not above the target cargo, the rotatable fixing surface 3-3 is adjusted while the second camera sensor 3-15 on the telescopic tilting angle bracket 3-6 starts to recognize tag information at the side of the target cargo. If no tag information is recognized from each side, indicating that the tag of the target cargo is located at the bottom, adjusting the inclination angle of the telescopic inclination angle bracket 3-6 and extending the telescopic inclination angle bracket 3-6 so that the second camera sensor 3-15 can shoot the bottom of the cargo to recognize the tag information of the bottom of the target cargo.

Fig. 5 is a schematic top view of an automated sorting apparatus in a sorting area according to one embodiment of the present invention.

As shown in fig. 5, the sorting area 5-1 is circularly distributed, the sorting area 5-1 takes the position of an inner layer cylinder 2-2 of the automatic sorting equipment as a circle center, and comprises a goods storage area to be sorted (see the upper half part of the sorting area 5-1 in fig. 5) and a sorted goods storage area (see the lower half part of the sorting area 5-1 in fig. 5), and different areas belong to different angle (namely, angle coordinates in polar coordinates) intervals, so that dynamic setting and adjustment are convenient. In fig. 5, 5-2 is a truck for transporting the sorted goods, and the position of the parked truck 5-2 is reserved when the sector angle of the sorted goods storage area is arranged.

The automatic sorting equipment provided by the embodiment of the invention can be provided with N rotatable suspension devices, wherein N is any integer between 1 and 8. In fig. 5, only a top view of one rotatable suspension of the automatic sorting apparatus is schematically shown, the top view comprising a first suspension arm 1-5 and a suspension slider 1-6. The automatic sorting apparatus recognizes a tag of a target cargo using the cargo recognition and pickup device 1-8 (not shown in fig. 5) on the rotatable suspension device and picks up the target cargo according to its polar coordinate position, calculates the polar coordinate of a designated sorting position to which the target cargo is finally sorted according to the sorted cargo storage area to which the target cargo should be sorted and the volume size of the target cargo, and finally places the target cargo at the designated sorting position.

The cargo picking process comprises the following steps: and placing the goods to be sorted in the goods storage area to be sorted. When the rotatable suspension device is moved over the goods storage area to be sorted, the goods recognition and pick-up device 1-8 starts to work to position the target goods to be picked up (positioned by means of the camera sensor on the goods recognition and pick-up device 1-8) and to control the current rotatable suspension device (i.e. the rotatable suspension device of fig. 5, which shows a top view) to pick up the positioned target goods. The rotation of the first boom 1-5 is suspended during the picking up of the goods to avoid unsuccessful picking up of the goods. Sub-suspensions (including the suspension slider 1-6, the second suspension arm 1-7, the goods identification and pick-up device 1-8) (not shown in fig. 5) on other rotatable suspensions (not shown in fig. 5) may continue to operate. After the rotatable suspension device carries the target goods to the designated height, the target goods move along with the first cantilevers 1-5 and are conveyed to the sorted goods storage area for placement.

The goods placing process comprises the following steps: the first boom 1-5 is brought to a designated sorting position of the sorted goods storage area and the rotatable suspension means starts to simultaneously lower and move the target goods. When the target cargo volume is large, the storage area is placed in the direction that the radius of the sorted cargo storage area is close to the edge, whereas when the target cargo volume is small, the storage area is placed in the direction that the radius of the sorted cargo storage area is close to the center (namely, the radius coordinate of the polar coordinate). Specifically, the designated sorting location to which the target good is ultimately sorted is determined by: the method comprises the steps of firstly determining a target sector corresponding to a sorted goods storage area, and then determining the position of the radial distance corresponding to the volume of the target goods in the target sector, wherein the volume of the target goods and the target sector are determined according to the label information of the target goods identified by the goods identification and pickup devices 1-8. Therefore, the embodiment of the invention realizes automatic tallying according to different volumes. The trucks to be loaded are also stopped near the outer area of the radius of the sorted goods storage area, so that the subsequent loading is convenient.

When the rotatable suspension device is used for placing goods, the first cantilevers 1-5 can also pause rotating so as to avoid errors in the position where the goods are placed, and at the moment, the sub-suspension devices on other rotatable suspension devices can still work continuously.

When the cargoes in the sorted cargoes storage area occupy the ground surface of the area, the rotatable suspension device can superimpose and place new cargoes on the upper layer of the existing cargoes, so that occupied space is reduced. And when the height of the cargoes reaches the minimum working height of the rotatable suspension device, suspending the cargoes sorting corresponding to the sorted cargoes storage area. The minimum working height of the rotatable suspension means refers to the maximum height of the second end 1-10 (not shown in fig. 5) of the second boom 1-7 of the rotatable suspension means in a vertical direction from the ground of the sorting area 5-1.

And finishing the whole automatic sorting process when all cargoes are sorted. The embodiment of the invention utilizes polar coordinates (comprising sector angles and radial distances) to determine the positions of the goods to be sorted, and utilizes the characteristics of the polar coordinates to be placed on different polar coordinate radius axes according to the volumes of the goods. The change of goods and temporary storage areas can be well dealt with. The rotatable suspension device (comprising the goods identification and pickup devices 1-8) is utilized to simulate manual sorting and carrying modes, so that manual intervention is reduced, and unmanned sorting and carrying are realized. In addition, the embodiment of the invention does not need a conveyor belt, and compared with the sorting scheme of a sorting robot with a stepping device and a robot arm, the sorting method and the sorting device have the advantages of low cost, high sorting speed and the like.

In the whole automatic sorting process, the automatic sorting equipment of the embodiment of the invention is controlled to work through a background control system. The control method and control system of the automatic sorting apparatus according to the embodiment of the present invention will be described in detail.

Fig. 6 is a schematic diagram of main steps of a control method of the automatic sorting apparatus according to an embodiment of the present invention.

The control method of the embodiment may be executed by a background control system (simply referred to as a control system) that controls the automatic sorting apparatus, and the control system may be located on a server or a terminal. The control method of the automatic sorting apparatus of the present embodiment mainly includes the following steps S601 to S604.

Step S601: and controlling the goods identification and pickup device to pick up the target goods and the tag information for identifying the target goods.

Step S602: and obtaining the volume of the target goods and the target sector corresponding to the sorted goods in the storage area of the target goods according to the label information.

Step S603: and determining the position of the radial distance corresponding to the volume of the target cargo in the target sector as a designated sorting position according to the preset corresponding relation between the volume of the cargo and the radial distances of the positions in the sector.

Wherein the radial distance of a position in a sector is the distance from the position to the centre of the sorting area 5-1, the sorting area is a circular distribution area comprising a goods storage area to be sorted and a sorted goods storage area, and the rotatable suspension device is rotatable around the right above the centre of the sorting area.

Step S604: the control transmission device drives the rotatable suspension device to rotate so that the rotatable suspension device sorts the target cargoes to a designated sorting position.

Specifically, the control system may control the transmission 1-2 to rotate the first boom 1-5 of the rotatable suspension, thereby causing the rotatable suspension to carry and place the target load to a designated sorting location to complete sorting.

The control method of this embodiment further includes, before step S601, pre-configuring start-stop angles corresponding to the sectors included in the to-be-sorted cargo storage area and the sorted cargo storage area, and configuring a correspondence between radial distances of positions in each sector of the sorted cargo storage area and cargo volumes.

The automatic sorting apparatus of the present embodiment may be provided with a plurality of rotatable suspensions, and in the case of providing more than two rotatable suspensions, the control system may further include, before controlling the rotation of the first boom 1-5 of one of the rotatable suspensions: it is determined that the rotatable suspension to be controlled has been assigned rotational control. The transmission 1-2 can rotate the rotatable suspension in case the rotatable suspension is assigned rotational control.

The control method of the automatic sorting apparatus of the present embodiment will be described in detail below based on the structure of the embodiment shown in fig. 1 to 3.

Picking and positioning:

the first cantilever 1-5 waits for a background control system (short control system) to distribute the rotation control right of the rotatable suspension device to which the first cantilever belongs; when the first boom 1-5 determines that the rotation control right is obtained, the control system turns on the top camera sensor (i.e., the first camera sensor) in the cargo recognition and pickup device 1-8. The top camera sensor obtains the position of the nearest target cargo, and the control system obtains the angle difference between the angle of the first cantilever 1-5 and the angle of the target cargo according to the position of the target cargo. The control system controls the transmission device to drive the rotatable suspension device to rotate around the position right above the circle center of the sorting area, wherein the circle center of the sorting area is the position point where the upright post 1-1 intersects with the plane where the sorting area is located. The rotatable suspension device rotates around the center of the sorting area right above, namely, rotates by taking the upright column 1-1 as an axis. Specifically, the control system starts the transmission device 1-2 to drive the outer column body 2-1 of the upright column 1-1 to rotate, so that the first cantilever 1-5 rotates to the angle of the target cargo.

Then, the control system controls the transmission device 1-2 to stop driving the outer column body 2-1 of the upright column 1-1 to rotate, and according to information acquired by the top camera sensor, the control system can obtain the distance difference between the suspension slide block 1-6 on the first cantilever 1-5 and the position of the target goods, and the control system starts the suspension slide block 1-6 to move to the position right above the target goods.

Picking:

the rotatable suspension device does not have rotational control during picking, i.e. its first boom 1-5 is not rotatable, to avoid unsuccessful picking.

The control system obtains the height difference between the goods identification and pickup device 1-8 and the target goods according to the top camera sensor and the distance sensor, and controls the foldable second cantilever 1-7 between the goods identification and pickup device 1-8 and the suspension slider 1-6 to descend to a predetermined working height according to the height difference.

After the second cantilever 1-7 reaches a preset working height, the top camera sensor detects the edge of the target cargo, and the control system controls the parallel telescopic mechanical arms 3-11 to move in the horizontal direction, so that the same group of mechanical arms 3-11 reach the position with the same interval as the target cargo. The pick-up end of the robot arm 3-11 descends in synchronization with the side camera sensor (i.e., the second camera sensor 3-15) while the side camera sensor starts to operate.

When the side camera sensor detects the lower edge of the target cargo, the control system stops the extension of the robotic arm 3-11 (i.e. stops picking up the object end movement). The robot arms 3-11 on both sides of the target cargo attempt to grip the target cargo. When the pressure detected by the pressure sensor 3-12 inside the mechanical arm 3-11 reaches a predetermined pressure threshold, the control system stops the pinching-up action of the mechanical arm 3-11. The control system controls the folding angle of the second boom 1-7 to try to lift the target cargo, and if the side camera sensor does not detect a change from the side to the lower edge of the target cargo (indicating that the lifting of the target cargo is unsuccessful, not lifted, and the target cargo is overweight), the control system controls the mechanical arms 3-11 on both sides of the target cargo, leaving the clamped state, and leaving the target cargo to reach a certain distance threshold.

The control system controls the telescopic pushing support 3-5 to increase pressure on the edge of the target cargo (the edge of the increased pressure is opposite to the direction of the side camera sensor so as to facilitate the camera sensor to monitor the subsequent position of the clamping jaw 3-13). When the side camera sensor detects that the target cargo is rotated to a preset angle, the control system controls the telescopic pushing support 3-5 to stop working.

The control system controls the length of the control angle cable above the tiltable angle fixing surface 3-9 to enable the tiltable angle fixing surface 3-9 to rotate in the vertical direction, so that the mechanical arm 3-11 is driven to tilt, and after the tilting angle of the mechanical arm 3-11 is the same as that of the target cargo, the tiltable angle fixing surface 3-9 is controlled to stop rotating.

The control system controls the mechanical arm 3-11 lifted by the target cargo to descend to the suspended area of the target cargo. After the side camera sensor detects the side until the clamping jaw 3-13 reaches the suspension area at the lower edge of the lifted target cargo, the control system stops the descending of the side mechanical arm 3-11. The control system controls the mechanical arm 3-11 to clamp the target goods and ascend, and when the side camera sensor detects that the side clamping jaw 3-13 is coincident with the lower edge of the target goods (when the side clamping jaw 3-13 supports the target goods), the control system stops the ascending of the mechanical arm 3-11 (the ascending refers to the shortening length of the mechanical arm 3-11 which is stretched before).

The control system controls the second foldable boom 1-7 between the goods recognition and pick-up device 1-8 and the suspension slider 1-6 to lift the target goods. When the folding angle in the folding cantilever reaches a predetermined first angle threshold, the control system controls the second cantilever 1-7 to suspend lifting of the target cargo. The control system controls the control angle cable above the tiltable angle fixing surface 3-9 to change the length so as to adjust the target cargo to a horizontal state.

The control system controls the mechanical arm 3-11 at the other side to descend (namely, extend), and when the clamping jaw 3-13 of the mechanical arm 3-11 at the other side reaches the lower edge of the target goods, the clamping jaw is detected by the side camera sensor and fed back to the control system. The control system controls the other side arm 3-11 to stop descending (elongation) and start ascending (shortening). After the side camera sensor detects that the side clamping jaw 3-13 coincides with the lower edge of the target cargo, the control system stops the other side mechanical arm 3-11 from ascending (shortening) so that the clamping jaw 3-13 of the other side mechanical arm 3-11 supports the target cargo. The control system controls the foldable second boom 1-7 to lift the target cargo and stops lifting when the folding angle reaches a predetermined second angle threshold.

The control system controls the top camera sensor to attempt to identify the target cargo tag of the logistics (i.e., tag information of the target cargo) above the target cargo. If not recognized, the control system controls the rotatable fixing surface 3-3 to rotate 360 degrees, and the side camera sensor searches for a label on the side of the target goods in the rotating process. If none of the side surfaces is recognized, the control system controls the telescopic tilting angle bracket 3-6 to a certain angle and enables the telescopic tilting angle bracket 3-6 to extend so that the side surface camera sensor reaches below the lower edge of the target goods, and the side surface camera sensor recognizes the label of the target goods at the bottom of the target goods.

And after the target cargo label is identified, the target cargo label is transmitted back to the control system through the network device. The control system controls the telescopic tilt angle brackets 3-6 of the retraction sides.

After the picking is finished, the first cantilever 1-5 waits for the control system to distribute the rotation control right of the rotary suspension device to carry out subsequent operation and placement.

The cargo conveying and placing process comprises the following steps:

the control system obtains the destination and the volume of the target goods in the logistics subsystem (a system for storing information) according to the labels of the target goods sent by the automatic sorting equipment. And the control system queries the start-stop angle of the sector where the destination is located in a local database of the control system according to the destination. The control system queries the distance (the larger the volume is, the farther the distance) of the corresponding center point, namely the center of the sorting area 5-1, in the local database of the control system according to the target cargo volume, namely the installation position of the inner layer cylinder 2-2 in the sorting area 5-1, and the distance of a certain position corresponding to the center point, namely the distance from the position to the center of the sorting area 5-1.

After the control system distributes the rotation control right of the rotatable suspension device, the transmission device 1-2 is started to drive the first cantilever 1-5 to move to a designated sector (namely, a target sector corresponding to the sorted goods storage area) according to the obtained angle range and distance, and the goods identification and pickup device 1-8 is enabled to convey the target goods to the position right above the designated sorting position. The control system queries the local database information, and finds the angle and distance of the lowest point in the height of the placed goods (the height of the placed goods can be obtained by the side camera sensor) within the specified distance of the specified sector. The control system controls the angle at which the first boom 1-5 moves above the bottommost point, stopping the rotation of the first boom 1-5 (when the rotatable suspension device does not have rotational control).

The control system controls the suspension slider 1-6 on the first suspension arm 1-5 to slide to a position corresponding to the distance from the lowest point to the center point, and controls the foldable second suspension arm 1-7 to descend the target cargo to a designated height. The control system controls the mechanical arms 3-11 to loosen gradually (so as to avoid the target goods from being damaged by excessive vibration) one by one, so that the target goods are placed on a stack of placed goods with the lowest height at the radial distance of the target sector corresponding to the volume of the target goods.

The control system then controls the resetting of the foldable second boom 1-7. The control system updates the height of the placement location in the database. The control system releases the non-rotatable state of the outer column 2-1 of the automatic sorting device, and other rotatable suspension devices can obtain rotation control rights.

The control method of the automatic sorting equipment can control the automatic sorting equipment to automatically position, pick up, transport and place cargoes, thereby completing automatic sorting of cargoes, reducing manual intervention, realizing dynamic and flexible setting of sorting start-stop positions and realizing automatic sorting of many-to-many. It will be appreciated by those skilled in the art that for some of the alternative embodiments of the automated sorting apparatus described above with respect to the embodiment of fig. 1, control may also be provided with reference to the above-described method.

Fig. 7 is a schematic view of main modules of a control system of the automatic sorting apparatus according to an embodiment of the present invention.

As shown in fig. 7, the control system 700 of the automatic sorting apparatus of the present embodiment mainly includes:

a cargo pick-up and recognition control module 701 for controlling the cargo recognition and pickup device to pick up the target cargo and to recognize tag information of the target cargo;

the cargo volume and sector determining module 702 is configured to obtain a volume of the target cargo according to tag information of the target cargo, and a target sector corresponding to the target cargo in the sorted cargo storage area;

a sorting position determining module 703, configured to determine, as a designated sorting position, a position in the target sector where a radial distance corresponding to a volume of the target cargo is located according to a preset correspondence between a volume of the cargo and a radial distance of each position in the sector, where the radial distance of one position in one sector is a distance from the position to a center of a sorting area, the sorting area is a circular distribution area including a cargo storage area to be sorted and a sorted cargo storage area, and the rotatable suspension device is rotatable about a position directly above the center of the sorting area;

the sorting control module 704 is used for controlling the transmission device to drive the rotatable suspension device to rotate so that the rotatable suspension device sorts the target cargoes to the designated sorting position.

The control system 700 may further include a configuration module for: and configuring a start-stop angle corresponding to each sector included in the goods storage area to be sorted and the sorted goods storage area, and configuring a corresponding relation between the radial distance of each position in each sector of the sorted goods storage area and the goods volume.

In addition, the specific implementation of the control system of the automatic sorting apparatus in the embodiment of the present invention has been described in detail in the control method of the automatic sorting apparatus, so that the description is not repeated here.

Fig. 8 illustrates an exemplary system architecture 800 of a control method of an automated sorting apparatus or a control system of an automated sorting apparatus to which embodiments of the present invention may be applied.

As shown in fig. 8, a system architecture 800 may include terminal devices 801, 802, 803, a network 804, and a server 805. The network 804 serves as a medium for providing communication links between the terminal devices 801, 802, 803 and the server 805. The network 804 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.

A user may interact with the server 805 through the network 804 using the terminal devices 801, 802, 803 to receive or send messages or the like. Various communication client applications such as shopping class applications, web browser applications, search class applications, instant messaging tools, mailbox clients, social platform software, etc. (by way of example only) may be installed on the terminal devices 801, 802, 803.

The terminal devices 801, 802, 803 may be a variety of electronic devices having a display screen and supporting web browsing, including but not limited to smartphones, tablets, laptop and desktop computers, and the like.

The server 805 may be a server providing various services, such as a background management server (by way of example only) that provides support for shopping-type websites browsed by users using the terminal devices 801, 802, 803. The background management server may analyze and process the received data such as the product information query request, and feed back the processing result (e.g., cargo information—only an example) to the terminal device.

It should be noted that, the control method of the automatic sorting apparatus provided in the embodiment of the present invention is generally executed by the server 805, and accordingly, the control system of the automatic sorting apparatus is generally disposed in the server 805.

It should be understood that the number of terminal devices, networks and servers in fig. 8 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.

Referring now to FIG. 9, there is illustrated a schematic diagram of a computer system 900 suitable for use in implementing the terminal device or server of embodiments of the present application. The terminal device or server illustrated in fig. 9 is merely an example, and should not impose any limitation on the functionality and scope of use of the embodiments of the present application.

As shown in fig. 9, the computer system 900 includes a Central Processing Unit (CPU) 901, which can execute various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 902 or a program loaded from a storage section 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data necessary for the operation of the system 900 are also stored. The CPU 901, ROM 902, and RAM 903 are connected to each other through a bus 904. An input/output (I/O) interface 905 is also connected to the bus 904.

The following components are connected to the I/O interface 905: an input section 906 including a keyboard, a mouse, and the like; an output portion 907 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage portion 908 including a hard disk or the like; and a communication section 909 including a network interface card such as a LAN card, a modem, or the like. The communication section 909 performs communication processing via a network such as the internet. The drive 910 is also connected to the I/O interface 905 as needed. A removable medium 911 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed as needed on the drive 910 so that a computer program read out therefrom is installed into the storage section 908 as needed.

In particular, according to the disclosed embodiments of the invention, the processes described above with reference to the main step schematic diagrams may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the main step schematic. In such an embodiment, the computer program may be downloaded and installed from the network via the communication portion 909 and/or installed from the removable medium 911. When the computer program is executed by a Central Processing Unit (CPU) 901, the above-described functions defined in the system of the present application are performed.

The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The primary step diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the main step diagrams or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or main step diagrams, and combinations of blocks in the block diagrams or main step diagrams, can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or combinations of special purpose hardware and computer instructions.

The modules involved in the embodiments of the present invention may be implemented in software or in hardware. The described modules may also be provided in a processor, for example, as: a processor includes a cargo pick and identification control module, a cargo volume and sector determination module, a sort location determination module, a sort control module. The names of these modules do not constitute limitations on the module itself in some cases, and for example, the cargo pick-up and identification control module may also be described as "a module for controlling the cargo identification and pick-up device to pick up the target cargo and to identify tag information of the target cargo".

As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be present alone without being fitted into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to include: the device comprises a rotatable suspension device and a transmission device 1-2, wherein the rotatable suspension device is provided with a goods identification and pickup device 1-8, the goods identification and pickup device 1-8 comprises a telescopic pushing bracket 3-5 and a plurality of groups of parallel telescopic mechanical arms 3-11, the goods picking end of the mechanical arms 3-11 is provided with clamping jaws 3-13, the goods identification and pickup device 1-8 can push the target goods to an inclined state through the telescopic pushing bracket 3-5, and adjust the mechanical arms 3-11 to the inclined state so as to utilize the clamping jaws 3-13 of the mechanical arms 3-11 to hold the bottom of the target goods, and the target goods are restored to be horizontal after the target goods are successfully picked up, so that the picking of the target goods is completed; the transmission device 1-2 drives the rotatable suspension device to rotate, so that the target cargoes picked up by the cargoes identification and pickup device 1-8 are sorted to a designated sorting position.

According to the technical scheme of the embodiment of the invention, the goods identification and pickup device of the automatic sorting equipment pushes the target goods to an inclined state through the telescopic pushing support under the condition that the mechanical arm fails to pick up the target goods, adjusts the mechanical arm to the inclined state so as to support the bottom of the target goods by using the clamping jaw of the mechanical arm, restores the target goods to be horizontal after the target goods are successfully picked up, completes the picking up of the target goods, sorts the picked up target goods to a designated sorting position through the rotation of the rotatable suspension device, and therefore realizes simulated manual operation, reduces manual intervention in the links of goods picking up, identifying, placing and the like, and realizes unmanned sorting. The rotatable suspension means is configured in a plurality so that a many-to-many automated sorting can be performed to divert a stream of cargo at a plurality of start points to a plurality of end points. The goods are not based on linear transmission in the sorting process, but start-stop angles corresponding to the sectors included in the goods storage area to be sorted and the sorted goods storage area are configured according to the needs, so that the start-stop positions of sorting are dynamically and flexibly set. The goods are automatically placed at the sorting end positions without manual adjustment, and the placed goods are not required to be moved to a temporary storage area. According to the preset corresponding relation between the cargo volume and the radial distance of each position in the sector, the position of the radial distance corresponding to the volume of the target cargo in the target sector is determined as the designated sorting position for placing the target cargo, and the target cargo is placed at the designated sorting position by rotating the rotatable suspension device and sliding the suspension sliding block of the rotatable suspension device. Therefore, manual intervention is reduced, automatic goods placement is realized, and the placed goods can be conveniently transported without moving to a temporary storage area because the goods are placed according to polar coordinate positions.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives can occur depending upon design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. An automatic sorting apparatus, comprising: the device comprises a rotatable suspension device and a transmission device (1-2), wherein the rotatable suspension device is provided with a goods identification and pickup device (1-8), the goods identification and pickup device (1-8) comprises a telescopic pushing bracket (3-5) and a plurality of groups of parallel telescopic mechanical arms (3-11), the goods pickup end of the mechanical arms (3-11) is provided with clamping jaws (3-13),

the goods identification and pickup device (1-8) identifies a target goods by using a camera shooting and sensing component, the goods identification and pickup device (1-8) can push the target goods to an inclined state through the telescopic pushing support (3-5) and adjust the mechanical arm (3-11) to the inclined state so as to hold the bottom of the target goods by using the clamping jaw (3-13) of the mechanical arm (3-11), and the target goods are restored to be horizontal after the target goods are successfully picked up so as to finish the pickup of the target goods;

The transmission device (1-2) drives the rotatable suspension device to rotate, so that the target cargoes picked up by the cargoes identification and pickup device (1-8) are sorted to a designated sorting position.

2. The apparatus according to claim 1, wherein the goods identification and pickup device (1-8) further comprises a rotatable fixing surface (3-3) and an inclinable fixing surface (3-9), wherein,

a connecting piece (3-7) is arranged below the rotatable fixing surface (3-3), the tiltable angle fixing surface (3-9) is connected with length-adjustable control angle cables (3-8) on two sides of the connecting piece (3-7), and the tiltable angle fixing surface (3-9) is rotated in the vertical direction by adjusting the length of the control angle cables (3-8), so that the plurality of groups of mechanical arms (3-11) below the tiltable angle fixing surface (3-9) are driven to tilt;

a pushing device moving track (3-4) for moving the telescopic pushing bracket (3-5) is also arranged below the rotatable fixing surface (3-3);

when the rotatable fixing surface (3-3) rotates in the horizontal direction, the plurality of groups of mechanical arms (3-11) and the telescopic pushing support (3-5) are driven to rotate in the horizontal direction.

3. The apparatus according to claim 1, characterized in that the camera and sensing means comprise at least two camera sensors and at least one distance sensor, wherein at least one first camera sensor is used for identifying the target cargo from the top of the target cargo and at least one second camera sensor (3-15) is used for identifying the target cargo from the side of the target cargo, the distance sensor being used for determining the distance to the target cargo.

4. A device according to claim 3, characterized in that the goods recognition and pick-up means (1-8) further comprise a telescopic tilt angle bracket (3-6) for mounting the second camera sensor (3-15), the height and viewing angle of the second camera sensor (3-15) being made adjustable by changing the length and tilt angle of the telescopic tilt angle bracket (3-6).

5. The apparatus according to claim 1, wherein the rotatable suspension means are configured in a plurality, a plurality of which are rotated synchronously by the transmission means (1-2).

6. The apparatus according to claim 1, further comprising a column (1-1), the rotatable suspension means comprising a first boom (1-5) and a sub-suspension means, the first boom (1-5) being fixedly connected to the upper part of the column (1-1), the sub-suspension means being slidingly connected to the first boom (1-5) by a suspension slider (1-6), a first end (1-9) of a second boom (1-7) being fixedly connected to the suspension slider (1-6), a second end (1-10) being fixedly connected to the cargo recognition and pick-up means (1-8), and a second end (1-10) of the second boom (1-7) being height-adjustable in a vertical direction.

7. A control method of the automatic sorting apparatus according to any one of claims 1 to 6, comprising:

controlling the goods recognition and pickup device to recognize a target goods by using the camera shooting and sensing component, and picking up the target goods and the tag information for recognizing the target goods;

obtaining the volume of the target goods and the target sector corresponding to the sorted goods in the storage area according to the label information;

determining a position of a radial distance corresponding to the volume of the target cargo in the target sector as the designated sorting position according to a preset corresponding relation between the volume of the cargo and the radial distances of all positions in the sector, wherein the radial distance of one position in one sector refers to the distance from the position to the circle center of a sorting area, the sorting area is a circular distribution area comprising a cargo storage area to be sorted and the sorted cargo storage area, and the rotatable suspension device can rotate right above the circle center of the sorting area;

and controlling the transmission device to drive the rotatable suspension device to rotate so that the rotatable suspension device sorts the target cargoes to the designated sorting position.

8. The method of claim 7, further comprising, prior to the step of controlling the goods recognition and pickup device to pick up the target goods and to recognize tag information of the target goods:

configuring start-stop angles corresponding to the sectors included in the goods storage area to be sorted and the sorted goods storage area, and configuring the corresponding relation between the radial distance of each position in each sector of the sorted goods storage area and the goods volume.

9. An electronic device, comprising:

one or more processors;

a memory for storing one or more programs,

the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 7-8.

10. A computer readable medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 7-8.