CN112691917A - Express delivery is logistics system for letter sorting based on letter sorting robot - Google Patents
Express delivery is logistics system for letter sorting based on letter sorting robot Download PDFInfo
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- CN112691917A CN112691917A CN202011448865.6A CN202011448865A CN112691917A CN 112691917 A CN112691917 A CN 112691917A CN 202011448865 A CN202011448865 A CN 202011448865A CN 112691917 A CN112691917 A CN 112691917A
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- sorting
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- sorting robot
- dimensional codes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
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Abstract
The invention discloses an express sorting logistics system based on a sorting robot, which comprises the sorting robot and a square sorting area for the movement of the sorting robot, wherein vertical two-dimensional codes are arranged on four sides of the sorting area; the two-dimensional codes on the front side and the rear side of the sorting area are equal in number and are arranged in pairs one by one, and the two-dimensional codes on the same pair on the front side and the rear side are arranged oppositely; the two-dimensional codes on the left side and the right side of the sorting area respectively form a two-dimensional code linear array, the two-dimensional codes on the left side and the right side are arranged in a staggered mode, and each two-dimensional code on one side is opposite to the gap position of the two-dimensional code linear array on the other side; a channel for a sorting robot to pass through is formed between every two adjacent two-dimensional codes of each two-dimensional code linear array; and a camera with a horizontally arranged lens is arranged on the sorting robot. The logistics system has the advantages that the number of the two-dimensional codes needed is small, and the two-dimensional codes are not easy to damage due to the vertical arrangement of the two-dimensional codes.
Description
Technical Field
The invention relates to the field of logistics sorting systems, in particular to an express sorting logistics system based on a sorting robot.
Background
In commodity circulation express delivery letter sorting field, generally transport the express delivery to the position that this express delivery corresponds through letter sorting robot, the operation in-process, letter sorting robot mainly adopts two-dimensional code navigation mode to navigate the operation, and current two-dimensional code navigation mode relies on pasting subaerial two-dimensional code to navigate, and this kind of two-dimensional code navigation mode needs the two-dimensional code of overall arrangement many, and the two-dimensional code is fragile.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the logistics system for express sorting based on the sorting robot, which needs few two-dimensional codes during two-dimensional code navigation and is not easy to damage.
The technical scheme is as follows: in order to achieve the purpose, the logistics system for express sorting based on the sorting robot comprises the sorting robot and a square sorting area for the movement of the sorting robot, wherein vertical two-dimensional codes are arranged on four sides of the sorting area;
the two-dimensional codes on the front side and the rear side of the sorting area are equal in number and are arranged in pairs one by one, and the two-dimensional codes on the same pair on the front side and the rear side are arranged oppositely;
the two-dimensional codes positioned on the left side and the right side of the sorting area respectively form a two-dimensional code linear array; a channel for the sorting robot to pass through is formed between every two adjacent two-dimensional codes of each two-dimensional code linear array; the two-dimensional codes on the left side and the right side are arranged in a staggered mode, and each two-dimensional code on one side is opposite to the channel on the other side;
and a camera with a horizontally arranged lens is arranged on the sorting robot.
Furthermore, four cameras are installed on the sorting robot, form a circumferential array, all the lenses of the cameras are arranged horizontally, and the directions of every two adjacent cameras in the circumferential direction are perpendicular to each other.
Furthermore, the sorting robot comprises a movable chassis, and a bearing and delivering device is mounted on the movable chassis; the bearing and delivering device is used for bearing the express when not in operation, and the bearing and delivering device is used for delivering the express borne by the bearing and delivering device to the target position when in operation.
Further, the bearing and delivering device is a conveying belt.
Furthermore, a plurality of sorting pit positions are arranged in the sorting area and used for receiving express delivered by the sorting robot.
Further, the sorting machine further comprises a loading station which is arranged outside the sorting area, and the sorting robot loads the goods from the loading station.
Further, each sorting robot is provided with a code scanner.
Has the advantages that: according to the logistics system for express sorting based on the sorting robot, the vertically-arranged two-dimensional codes are arranged on the periphery of the sorting area, and the camera with the horizontally-arranged lens is mounted on the sorting robot, so that the sorting robot can perform navigation movement by reading the vertically-arranged two-dimensional codes; through carrying out the overall arrangement with the two-dimensional code around the letter sorting region, letter sorting robot can be in the letter sorting regional horizontal vertical motion and can pass in and out the letter sorting region. The logistics system has the advantages that the number of the two-dimensional codes needed is small, and the two-dimensional codes are not easy to damage due to the vertical arrangement of the two-dimensional codes.
Drawings
FIG. 1 is a schematic diagram of a logistics system for express sorting based on a sorting robot;
FIG. 2 is a schematic structural diagram of a sorting robot;
FIG. 3 is a flow chart of a sorting method based on the logistics system of the invention.
In the figure: 1-a sorting robot; 11-a camera; 12-moving the chassis; 13-carrying the delivery device; 14-a code scanner; 2-a sorting area; 21-sorting pit positions; 22-a channel; 3-two-dimensional code; 4-loading station.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The logistics system for express sorting based on the sorting robot as shown in the attached figure 1 comprises the sorting robot 1 and a square sorting area 2 for the movement of the sorting robot 1, wherein two-dimensional codes 3 which are vertically arranged are arranged on four sides of the sorting area 2; the two-dimensional codes 3 positioned on the front side and the rear side of the sorting area 2 are equal in quantity and are arranged in pairs one by one, and the two-dimensional codes 3 of the same pair on the front side and the rear side are arranged oppositely; the two-dimensional codes 3 positioned on the left side and the right side of the sorting area 2 respectively form a two-dimensional code linear array; a channel 22 for the sorting robot 1 to pass through is formed between every two adjacent two-dimensional codes 3 of each two-dimensional code linear array; the two-dimensional codes 3 on the left side and the right side are arranged in a staggered mode, and each two-dimensional code 3 on one side is opposite to the channel 22 on the other side; the sorting robot 1 is provided with a camera 11 with a horizontally arranged lens. The two-dimensional code 3 can be attached to a wall or a special bracket.
In the logistics system, the two-dimension codes 3 on the front side and the rear side are arranged in pairs and oppositely, so that the sorting robot 1 can walk along the connecting line of the two-dimension codes 3 which are oppositely arranged in front and rear; the two-dimensional codes 3 on the left side and the right side are used for guiding the turning position or the exit position of the sorting robot 1, when the sorting robot 1 walks along the connecting line of the same pair of two-dimensional codes 3 on the front side and the rear side, and when the sorting robot walks to the point position of the two-dimensional code on the right side or the left side, the sorting robot can turn left or right to turn between another pair of two-dimensional codes which are opposite in the longitudinal direction or can drive away from the sorting area 2 from the channel 22 on the opposite side of the two-dimensional code on the left side or the right side. The control system of the sorting robot 1 can walk horizontally and vertically in the sorting area 2 through the image acquired by the camera 11, and the two-dimensional code does not need to be pasted on the ground in the sorting area 2, and only the vertically arranged two-dimensional codes 3 are required to be arranged around the control system.
Preferably, as shown in fig. 2, four cameras 11 are mounted on the sorting robot 1, a camera module of the four cameras can be controllably rotated integrally relative to the body of the sorting robot 1, the four cameras 11 form a circumferential array, lenses of all the cameras 11 are arranged horizontally, and the orientations of every two adjacent cameras 11 in the circumferential direction are perpendicular to each other. By arranging the camera module, the sorting robot 1 can conveniently acquire all directions
The sorting robot 1 comprises a mobile chassis 12, and a bearing and delivering device 13 is mounted on the mobile chassis 12; the carrying and delivering device 13 is used for carrying the express when not operating, and the carrying and delivering device 13 is used for delivering the express carried by the carrying and delivering device to the target position when operating. In this embodiment, the carrying and delivering device 13 is a conveyor belt.
The sorting area 2 is internally provided with a plurality of sorting pit positions 21, and the sorting pit positions 21 are used for receiving express delivered by the sorting robot 1.
And a loading station 4 arranged outside the sorting area 2, wherein the sorting robot 1 loads the goods from the loading station 4. At the loading station 4 there is a manual or sorting robot to drop the parcels onto the delivery device 13 of the sorting robot 1.
Furthermore, each of the sorting robots 1 is provided with a code scanner 14.
The invention also provides a sorting method based on the logistics system, which is applied to a control system of the sorting robot 1, as shown in fig. 3, and the method comprises the following steps S501-S505:
step S501, express delivery information is obtained through the code scanner 14;
in this step, the operation of collecting the identifiable code (such as the two-dimensional code and the bar code) on the express delivery to the barcode reader 14 for identification is completed manually or by a manipulator.
Step S502, obtaining the serial number of the sorting pit 21 corresponding to the express according to the information of the express;
step S503, planning the running route of the sorting robot 1 according to the serial number of the loading station 4 and the serial number of the sorting pit 21;
step S504, controlling the sorting robot 1 to move to the sorting pit 21 corresponding to express delivery in a two-dimensional code navigation mode according to a planned navigation route;
and step S505, controlling the carrying and delivering device 13 to operate to deliver the express to the sorting pit 21.
Through the steps S501-S505, the express identification, the path planning and the process of delivering the express to the corresponding sorting pit positions 21 can be realized, the sorting automation is realized, and the sorting efficiency is greatly improved.
Preferably, the step S505 further includes the following steps S601 to S603:
step S601, receiving the serial number of a loading station 4 distributed by an upper-layer dispatching system;
step S602, planning a path according to the current point position and the number of the loading station 4;
and step S603, controlling the sorting robot 1 to move to a loading station 4 distributed by an upper dispatching system by using a two-dimensional code navigation mode according to the planned navigation route.
The above steps S603 are followed by the above steps S501 to S505, and the above steps are repeated in cycles.
Specifically, the controlling the sorting robot 1 to move in the two-dimensional code navigation manner according to the planned navigation route includes the following steps a1-a 5:
step A1, controlling the sorting robot 1 to move between two longitudinally opposite two-dimensional codes;
in this step, the front-back direction is the longitudinal direction, and the lateral direction appearing behind is the left-right direction.
And A2, adjusting the pose of the sorting robot 1 to enable the front and the back of the robot to be over against two longitudinally opposite two-dimensional codes.
Step A3, controlling the sorting robot 1 to walk along a connecting line of two longitudinally opposite two-dimensional codes;
step A4, when the sorting robot 1 walks to the position opposite to each transversely arranged two-dimensional code, determining the operation action corresponding to the point position according to the longitudinally opposite two-dimensional codes and the transversely arranged two-dimensional codes;
and step A5, controlling the sorting robot 1 to operate according to the operation action corresponding to the point.
Through the method, the sorting robot 1 can walk among all the preset point positions in the sorting area 2. The sorting robot 1 mainly walks vertically and keeps the position and posture, and changes the traveling direction by reading the transverse two-dimensional codes, so that the sorting robot 1 can transversely switch between different pairs of vertically opposite two-dimensional codes, and the sorting robot 1 walks among all preset point positions in the sorting area 2.
Specifically, the step a1 of controlling the sorting robot 1 to move to the position between two longitudinally opposite two-dimensional codes includes the following steps B1-B3:
step B1, selecting a pair of two-dimensional codes which are opposite in the longitudinal direction as a target two-dimensional code group, and recording the attitude data of the camera module when two-dimensional codes in the target two-dimensional code group respectively appear in two cameras with front and back orientation;
in this step, the target two-dimensional code group may be selected according to a pre-planned operation path, or may be selected by the control system when the operation path is not pre-planned, in which case the latter is generally performed after the sorting robot 1 fails and the failure is resolved.
Step B2, determining the deviation direction of the sorting robot 1 relative to the connecting line of two longitudinally opposite two-dimensional codes;
in this step, the direction of deviation is determined from the attitude data in step B1.
Step B3, controlling the sorting robot 1 to travel against the deviating direction.
The steps B1-B3 are circularly operated until the sorting robot 1 is positioned on the connecting line of the two-dimensional codes which are longitudinally opposite. Specifically, the criteria whether the sorting robot 1 is located on the line connecting the two-dimensional codes that are longitudinally opposed are: and judging whether the two-dimensional codes which are longitudinally opposite are respectively positioned on the bilateral symmetry center line of the images acquired by the front camera 11 and the rear camera 11. And in the process of executing the step A3, the control system acquires images of the front camera and the rear camera all the time according to the set frequency, judges whether the sorting robot 1 deviates or not by judging whether the two-dimensional codes which are longitudinally opposite are positioned on the bilateral symmetry center line of the images, and adjusts the pose of the sorting robot 1 according to the deviation so as to enable the robot to walk along a straight line.
Specifically, the step B1 specifically includes the following steps C1-C4:
step C1, controlling the camera module to rotate, enabling a random two-dimensional code or a preset two-dimensional code to appear in an image obtained by one of the front camera and the back camera, marking the two-dimensional code as a first two-dimensional code, and controlling the camera module to stop rotating;
in the step, when the target two-dimensional code group is selected by the control system when the operation path is not planned in advance, the random two-dimensional code appearing in the camera and the two-dimensional code opposite to the two-dimensional code can be selected as the target two-dimensional code group; when the target two-dimensional code group is selected according to a pre-planned running path, controlling the camera module to stop rotating when one two-dimensional code in the preset target two-dimensional code group appears in an image acquired by at least one camera in the front camera and the back camera;
step C2, recording the first attitude data of the current camera module;
in this step, the first attitude data mainly includes the relative angle of the camera module with respect to the body portion of the sorting robot 1;
a step C3 of controlling the camera module to rotate so that a two-dimensional code opposite to the first two-dimensional code appears in an image acquired toward the other of the front and rear two cameras;
step C4, recording the second pose data of the current camera module.
Based on the steps C1-C4, the step B2 specifically includes: and determining the deviation direction of the sorting robot 1 relative to the connecting line of the two longitudinally-opposite two-dimensional codes according to the first posture data and the second posture data. Specifically, according to the position coordinates of the two-dimensional codes of the target two-dimensional code group and the relative angle between the first posture data and the second posture data, a triangle with the three of the two-dimensional codes and the sorting robot 1 as three vertexes can be obtained, so that the deviation direction of the sorting robot 1 relative to the connecting line of the two-dimensional codes can be obtained.
Preferably, before the step a3, the step D1-D3 is further included before the step a3 of controlling the sorting robot 1 to walk along the connecting line of the two longitudinally opposite two-dimensional codes:
step D1, planning the operation path of the sorting robot 1 to obtain a navigation path;
step D2, obtaining all inflection points on the navigation path and the operation action corresponding to each inflection point according to the navigation path;
and D3, listing the mapping relation between the transverse two-dimensional code and the longitudinal two-dimensional code corresponding to each inflection point position and the operation action corresponding to the inflection point position into a navigation reference table corresponding to the sorting robot 1.
Based on the steps D1-D3, the step a5 of determining the operation corresponding to the point according to the longitudinally opposite two-dimensional codes and the transversely arranged two-dimensional codes specifically includes: and according to the longitudinally-opposite two-dimensional codes and the transversely-arranged two-dimensional codes, the operation action corresponding to the point position is obtained by referring to the navigation reference table.
When the operation actions in the step a5 include actions of rotating left at 90 degrees on site and continuing to move forward, rotating right at 90 degrees on site and continuing to move forward, executing forward, turning around on site and moving forward, and the like, the control system controls the sorting robot 1 to rotate on site and simultaneously control the camera group 2 to rotate at a constant speed when controlling the sorting robot 1 to rotate on site, so that the posture of the camera group 2 relative to the ground is kept unchanged; after the sorting robot 1 reaches a node and the traveling direction needs to be changed, the next node needs to be operated, when images acquired by two backward facing cameras 11 in the camera group 2 contain two longitudinally opposite two-dimensional codes of the next node, the control system controls the sorting robot 1 to rotate left by 90 degrees or rotate right by 90 degrees in situ, and continues to move along a straight line between the two longitudinally opposite two-dimensional codes of the next node, so that the continuous voyage is repeated, the sorting robot 1 can be controlled to execute a task in the sorting area 2, and the sorting robot 1 can reach any point in the sorting area 2.
According to the logistics system for express sorting based on the sorting robot, the vertically-arranged two-dimensional codes are arranged on the periphery of the sorting area, and the camera with the horizontally-arranged lens is mounted on the sorting robot, so that the sorting robot can perform navigation movement by reading the vertically-arranged two-dimensional codes; through carrying out the overall arrangement with the two-dimensional code around the letter sorting region, letter sorting robot can be in the letter sorting regional horizontal vertical motion and can pass in and out the letter sorting region. The logistics system has the advantages that the number of the two-dimensional codes needed is small, and the two-dimensional codes are not easy to damage due to the vertical arrangement of the two-dimensional codes.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (7)
1. The logistics system for express sorting based on the sorting robot is characterized by comprising the sorting robot (1) and a square sorting area (2) for the sorting robot (1) to move, wherein vertical two-dimensional codes (3) are arranged on four sides of the sorting area (2);
the two-dimensional codes (3) positioned on the front side and the rear side of the sorting area (2) are equal in quantity and are arranged in pairs one by one, and the two-dimensional codes (3) of the same pair on the front side and the rear side are arranged oppositely;
the two-dimensional codes (3) positioned on the left side and the right side of the sorting area (2) respectively form a two-dimensional code linear array; a channel for the sorting robot (1) to pass through is formed between every two adjacent two-dimensional codes (3) of each two-dimensional code linear array; the two-dimensional codes (3) on the left side and the right side are arranged in a staggered manner, wherein each two-dimensional code (3) on one side is just opposite to the channel on the other side;
and a camera (11) with a horizontally arranged lens is arranged on the sorting robot (1).
2. The logistics system for sorting express delivery based on sorting robot of claim 1, wherein the sorting robot (1) is provided with four cameras (11), the four cameras form a circumferential array, the lenses of all the cameras (11) are arranged horizontally, and the orientation of every two adjacent cameras (11) in the circumferential direction is perpendicular to each other.
3. The logistics system for sorting express deliveries based on a sorting robot according to claim 1, wherein the sorting robot (1) comprises a moving chassis (12), and the moving chassis (12) is provided with a bearing and delivering device (13); the carrying and delivering device (13) is used for carrying the express when not in operation, and the carrying and delivering device (13) is used for delivering the express carried by the carrying and delivering device to a target position when in operation.
4. The sorting robot-based logistics system for express sorting according to claim 3, wherein the carrier and delivery device (13) is a conveyor belt.
5. The logistics system for express sorting based on a sorting robot as claimed in claim 1, wherein the sorting area (2) is provided with a plurality of sorting pit locations (21), and the sorting pit locations (21) are used for receiving express delivered by the sorting robot (1).
6. The logistics system for sorting courier based on sorting robot according to claim 1, further comprising a loading station (4) placed outside the sorting area (2), the sorting robot (1) loading goods from the loading station (4).
7. The logistics system for sorting parcels according to claim 6, wherein each sorting robot (1) is provided with a code scanner (14).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011448865.6A CN112691917A (en) | 2020-12-12 | 2020-12-12 | Express delivery is logistics system for letter sorting based on letter sorting robot |
| CN202111510327.XA CN114226254A (en) | 2020-12-12 | 2021-12-11 | Express delivery is logistics system for letter sorting based on letter sorting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011448865.6A CN112691917A (en) | 2020-12-12 | 2020-12-12 | Express delivery is logistics system for letter sorting based on letter sorting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112691917A true CN112691917A (en) | 2021-04-23 |
Family
ID=75508360
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011448865.6A Withdrawn CN112691917A (en) | 2020-12-12 | 2020-12-12 | Express delivery is logistics system for letter sorting based on letter sorting robot |
| CN202111510327.XA Withdrawn CN114226254A (en) | 2020-12-12 | 2021-12-11 | Express delivery is logistics system for letter sorting based on letter sorting robot |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111510327.XA Withdrawn CN114226254A (en) | 2020-12-12 | 2021-12-11 | Express delivery is logistics system for letter sorting based on letter sorting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN112691917A (en) |
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2020
- 2020-12-12 CN CN202011448865.6A patent/CN112691917A/en not_active Withdrawn
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2021
- 2021-12-11 CN CN202111510327.XA patent/CN114226254A/en not_active Withdrawn
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| Publication number | Publication date |
|---|---|
| CN114226254A (en) | 2022-03-25 |
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Application publication date: 20210423 |
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| WW01 | Invention patent application withdrawn after publication |