CN113695261B

CN113695261B - Clothing cut-parts letter sorting container collecting system

Info

Publication number: CN113695261B
Application number: CN202111259180.1A
Authority: CN
Inventors: 朱俊杰; 房建生; 赵田力
Original assignee: Suzhou Beta Intelligent Manufacturing Co ltd
Current assignee: Suzhou Beta Intelligent Manufacturing Co ltd
Priority date: 2021-10-28
Filing date: 2021-10-28
Publication date: 2022-03-18
Anticipated expiration: 2041-10-28
Also published as: CN113695261A

Abstract

The invention discloses a clothes cut piece sorting container collection system, which comprises a plurality of containers, a database, a sorting server and a manipulator, wherein the containers are used for accommodating sorted clothes cut pieces and are configured with container identification numbers corresponding to sorting positions of the containers; the database prestores the association relation between the cutting piece code and the container identification number, the cutting piece type information to which the cutting piece code belongs, and the cutting piece type information configured for the ready-made clothes corresponding to the cutting piece; the sorting server is in communication connection with the database; the robot is provided with a gripper for gripping the containers, which is in communication with the sorting server, the robot being configured with action setting information corresponding to the container identification number. The clothes cut-piece sorting container collection system provided by the invention can remove the container filled with all cut-pieces of clothes in time, so that sorting is sustainable, and time and labor are saved.

Description

Clothing cut-parts letter sorting container collecting system

Technical Field

The invention relates to the field of flexible manufacturing, in particular to a clothes cut piece sorting container collection system.

Background

The flexible manufacturing model is a production model distinguished from the traditional large-scale mass production, in which the supply chain system responds to the production distribution of a single demand, and the production instruction is completely triggered by the independent consumer, and the value chain is represented by the completely oriented activity of 'human-marketing-property-product-supply' with specific production-marketing one-to-one corresponding characteristics, namely 'production-supply-marketing-human-property-product-supply'.

The flexible manufacturing business model of the clothing industry is usually to receive the order of the customer's customized requirements, which make each product to be produced different, and in the case of the football game uniform order, it is necessary to print a team logo, a team sponsor, different names and numbers at different places of each uniform, and in addition, different sizes are available for different players.

In the prior art, a thermal sublimation process is utilized, printed contents printed on cut pieces on a paper surface are transferred onto cloth, then the cloth subjected to the thermal sublimation process is cut along the edges of the cut pieces to obtain a piece of fabric cut piece, and finally a plurality of cut pieces corresponding to one piece of ready-made clothes are sewn to obtain a ready-made clothes product. In the process of obtaining the cut pieces, a designer needs to make a printing drawing, which takes a long time, and the printing drawing is made manually, and may be mistaken, which brings a lot of labor cost.

In addition, what sort cut-parts at present specifically is: the cut pieces to be sorted are flatly spread on the table top or the ground, so that the placing positions of the cut pieces can be conveniently found, and a plurality of cut pieces of the same ready-made clothes are stacked together.

Such sorting methods have at least the following drawbacks:

1) a larger plane is needed to flatly spread the cut pieces, and the position of the target cut piece to be placed needs to be found for a longer time;

2) the overlapping of the cut pieces requires great care and is easily scattered after being stacked to a certain height;

3) the cut pieces of a plurality of ready-made clothes in one order are difficult to distinguish whether the cut pieces are completely sorted or not, and are easy to omit;

4) if the cut pieces in one order are sorted and then the order is sorted, the cut pieces of a plurality of orders can not be placed at the same time;

5) after one order is finished, cutting pieces are arranged and integrity is checked, and a lot of working hours are consumed;

6) for the cut pieces which do not print numbers but have different information of each person, the method has no intuition, increases the difficulty of searching the combined cut pieces with other cut pieces of the same ready-made clothes, and is easy to be confused;

7) the manual sorting mode is adopted, only a small number of cut pieces of ready-made clothes can be sorted one by taking orders as boundaries, so that products of different orders need to be printed separately, sublimed separately and cut separately, and the production scale of batch printing-sublimed-cutting is limited;

8) due to the content of the defect 7), the cloth waste rate is large, and the cloth cost is increased;

9) the manual sorting efficiency is low, and the time cost and the labor cost are high;

10) the manual sorting has no error correction mechanism, so that the sorting error is difficult to find, and the sorting error is difficult to correct after the sorting error is found.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a clothes cut-piece sorting container collection system, which adopts the following technical scheme:

the invention provides a clothes cut-piece sorting container collecting system, which is used for moving a container and clothes cut-pieces contained in the container to a specified collecting area after all cut-pieces of the same piece of clothes are sorted to the same container at different times, and comprises:

a plurality of containers for containing pieces of clothing to be sorted, different containers having different sorting locations, the containers being configured with container identification numbers corresponding to their sorting locations;

the database is prestored with the association relationship between the cut piece codes and the container identification numbers, the cut piece type information to which the cut piece codes belong and the cut piece type information configured for the ready-made clothes corresponding to the cut pieces, wherein the cut piece codes of different cut pieces of the same ready-made clothes are associated with the same container identification numbers;

a sorting server in communication with the database;

a manipulator provided with a gripper for gripping containers, in communication with the sorting server, said manipulator being configured with action setting information corresponding to container identification numbers;

the cut piece sorting container collection system performs a step of collecting a target container, for which cut piece collection is completed, to a designated collection area, and includes:

s1, after the cut pieces are moved to the containers corresponding to the container identification numbers associated with the cut piece codes of the cut pieces each time, the sorting server records the cut piece type information of the cut pieces contained in the containers in the database; judging whether all the types of the cut pieces allocated to the corresponding ready-made clothes are completely sorted into a container, if so, storing the state of the container in the database as complete;

s2, responding to a manual collection container instruction, the sorting server inquires container identification numbers of all containers with complete states from a database to obtain an inquiry result;

s3, according to the query result in the step S2, the sorting server sends an action command to the mechanical arm, wherein the action command comprises the container identification number of the container with complete state;

and S4, the manipulator matches the action setting information corresponding to the container identification number one by one, moves to the container corresponding to the container identification number according to the action setting information, clamps the container, drives the container to move to a specified collection area, and releases the clamping jaws to enable the container and the clothes cut pieces contained therein to be collected in the specified collection area.

Further, the panels of an article of clothing include a variety of the following panel types: the front piece, the back piece, the neckline, the left sleeve, the left cuff, the right cuff, the left front piece of the trousers, the left back piece of the trousers, the right front piece of the trousers and the right back piece of the trousers;

the next sorted clothing piece belongs to the same clothing piece or different clothing pieces as the currently sorted clothing piece.

Further, the sorting server is in communication connection with an order server of the flexible manufacturing system, and the order server can acquire cut piece data of an order in flexible manufacturing;

the method also comprises the following steps of acquiring the association relationship between the cut piece code and the container identification number and the cut piece type information before the step S1:

a1, the sorting server inquires whether a single piece unique identification code associated with the cut piece code exists in a database according to the cut piece code of the current sorted cut piece, and if not, A2-A6 is executed; if so, perform A7;

a2, sending a data request to the order server, wherein the data request comprises the cut piece code information;

a3, storing the cut piece data of all cut pieces in the order associated with the cut piece code sent by the order server in response to the data request in a database, wherein the cut piece data comprises the order number associated with the cut piece code, the single piece unique identification code of one or more ready-made clothes associated with the order number, the single piece unique identification code associated with the cut piece code, a plurality of cut piece codes associated with the single piece unique identification code and the cut piece type corresponding to each cut piece code;

a4, selecting a container in an unallocated state, associating the container identification number of the container with the single piece unique identification code associated with the cut piece code and/or the cut piece codes of all cut pieces corresponding to the single piece unique identification code, and updating the allocation state of the container from the unallocated state to the allocated state;

a5, storing the association information in the step A4 and the updated distribution state of the container in a database;

a6, outputting the container identification number associated with the cut piece code of the current sorted cut piece or the single piece unique identification code corresponding to the cut piece code;

a7, inquiring the database whether the single-piece unique identification code associated with the clip code has an associated container identification number, and if not, executing A4-A6; if so, A6 is executed.

Further, before step a3, the order server obtains the cut pieces data of all the cut pieces placed in the order associated with the cut piece codes according to the cut piece code information in the data request, and sends the cut pieces data to the sorting server, wherein,

constructing a data index for the cut piece data in advance by the following steps to acquire the cut piece data of all cut pieces placed in an order associated with the cut piece codes:

b1, making a binary tree for the clip codes, and mounting a linked list at each node of the binary tree;

b2, assigning a unique ID value to each cut piece in turn, and using the unique ID value to give a value of 10^xTaking the rest to obtain the x-digit cutting piece code of the corresponding cutting piece, wherein,the unique ID value is a positive integer;

b3, according to B2, enabling each clip code to sequentially correspond to a binary tree node generated by B1, and positioning the nodes of the clip codes on the binary tree;

and B4, adding a new chain table node on the chain table at the positioned node, and storing the cut piece data associated with the cut piece code or the address of the cut piece data to the new chain table node.

Further, determining the value of x according to the cut pieces operated in the production flow, wherein if the maximum value of the cut pieces operated in the production flow is estimated to be less than or equal to 100 ten thousand, x is 6, and the depth of the binary tree is 20.

Further, the association relationship between the pre-stored panel codes and the container identification numbers in the database is that the sorting server selects one of the containers in an unallocated state and allocates the selected one to the clothes panel to be allocated currently, and the step of allocating the container by the sorting server includes:

c1, the sorting server acquires the number n of cut pieces of ready-made clothes related to the current cut pieces of clothes to be distributed, wherein the number of the cut pieces of different ready-made clothes is the same or different, and n is a positive integer; and acquiring the container identification numbers of all containers in the unallocated state, wherein each container identification number corresponds to a known first time-consuming parameter t₁And a second time-consuming parameter t₂The first time-consuming parameter is the time required by the manipulator to grab the cut pieces and place the cut pieces into the container, and the second time-consuming parameter is the time required by the manipulator to collect the container to a specified collection position;

c2, calculating the total time consumption parameter t of each container in the undistributed state according to the following formula₃：

；

C3, total time consumption parameter t₃The container with the smallest value is used as a target distribution container, and the state of the container is updated from the undistributed state to the distributed state.

Furthermore, the clothing piece sorting container collection system also comprises a display device which is used for displaying a display interface comprising a plurality of virtual containers, wherein the virtual containers correspond to the real object containers at the corresponding sorting positions one by one;

display device with the letter sorting server electricity is connected, letter sorting server is used for carrying out analysis processes to the letter sorting status information of real object container to according to analysis result control display device shows in the virtual container by the state of letter sorting clothing cut-parts, include:

the sorting server acquires the container identification number associated with the currently sorted clothing cut piece so as to match the corresponding virtual container;

in response to the manipulator putting the clothes cut pieces which are sorted currently into the associated real container, the sorting server controls the display device to display corresponding characteristic information in the corresponding virtual container area;

until the manipulator finishes sorting all cut pieces of the same piece of clothes to the same physical container, the corresponding virtual container is converted into a state for displaying a full load prompt;

the interface of the full-load prompt states of the virtual containers and the partial virtual containers displayed on the display device provides basis for manually sending a collection container instruction.

Further, responding to the collection container instruction sent manually, wherein the state is that the lock marks are newly added to the virtual containers corresponding to all the containers which are complete;

the virtual container is changed to a frameless blank state in response to the object physical container to be collected leaving the sorting position;

and if the empty physical containers are supplemented to the empty sorting positions, the corresponding virtual containers are restored to be in a frame blank state.

Further, the virtual container is in a geometric shape, the area of the virtual container is divided into progress blocks, and the number of the progress blocks of different virtual containers is the same or different;

responding to the fact that a first cut piece type of clothes is put into the real object container, and the number of the cut piece types of the clothes to which the cut piece belongs is N, the corresponding virtual container displays a height bar of a first color with the height of 1/N from the bottom to the top; when a second cut piece type of cut piece is placed in the target real object container, a height bar with the height of 1/N of the second color is newly added to the adjacent area of the virtual container above the height bar with the first color;

and until the cutting piece of the Nth cutting piece type is placed in the real object container, the progress block of the virtual container is completely filled and the full-load prompt state is displayed.

Further, each clothing piece is provided with the piece code information, and the step S1 is preceded by acquiring the piece code information of the sorted clothing pieces by the piece code acquiring device in any one of the following manners:

the cut piece code of the clothes cut piece is a two-dimensional code, and the two-dimensional code is scanned by a code scanner to obtain the information of the cut piece code; alternatively, the first and second electrodes may be,

the cutting code of the clothing cutting piece is a digital code, and the cutting piece code information is manually input by using a keyboard device; alternatively, the first and second electrodes may be,

the piece cutting code of the clothes cutting piece is a two-dimensional code, a bar code or a digital code, and is imaged by the image acquisition device and analyzed through an image to obtain the piece cutting code information.

Furthermore, the clothing cut-parts sorting container collecting system also comprises a feed hopper, wherein the feed hopper is used for placing the currently sorted cut-parts, a plurality of photoelectric sensors are arranged in the feed hopper, and the photoelectric sensors are used for detecting the condition that the clothing cut-parts enter the feed hopper;

in response to the light-shielding detection signal detected by all the photoelectric sensors being non-shielded to a light-shielding detection signal of at least one photoelectric sensor becoming shielded, the cut piece code newly acquired by the cut piece code acquisition means is taken as the cut piece code information of the clothes piece sorted in step S1, and a sorting instruction including the cut piece code information of the sorted clothes piece is sent to the robot arm by the sorting server.

Further, if the shading detection signal of at least one photoelectric sensor is converted into the shading detection signal detected by all photoelectric sensors by shading, the clothes cut piece is judged to leave the feed hopper;

and if the sorting server receives the judgment result that the clothes cut pieces leave the feed hopper twice continuously, triggering an alarm device and/or emptying all sorting instructions received by the mechanical arm.

Further, in step S3, the sorting server issues the motion commands to the robot, one by one, each motion command including the container identification number of only one full container.

Further, after step S4, the method further includes: the sorting server sending a fill-up instruction to the robot, the fill-up instruction including a container identification number of the container collected to the designated collection area;

and the manipulator moves to the appointed distribution area according to the filling instruction, clamps the unloaded container and moves the unloaded container to the sorting position corresponding to the container identification number.

Further, the filling instruction further comprises the number m of containers collected to the designated collection area, wherein m is a positive integer, the manipulator moves to the designated distribution area according to the filling instruction, clamps m empty containers stacked up and down at one time, and sequentially moves to the sorting positions corresponding to the container identification numbers in the filling instruction, wherein the lowest empty container is unloaded at the first sorting position, then moves to the second sorting position after clamping m-1 empty containers, unloads the lowest container at the corresponding sorting position each time, and moves to the last sorting position for unloading after clamping the last empty container.

The technical scheme provided by the invention has the following beneficial effects:

a. the container with the cut pieces can be removed in time, so that sorting is sustainable, larger business sheet can be borne, and time and labor are saved;

b. the sorting area is efficiently utilized, the turnover is high, and the space of a factory is saved;

c. the problem of manual container taking by mistake is avoided, and the sorting accuracy is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic view of a first perspective view of a clothing piece sorting receptacle collection system according to an exemplary disclosed embodiment of the invention;

FIG. 2 is a schematic diagram illustrating a second perspective view of a clothing piece sorting receptacle collection system according to an exemplary embodiment of the present disclosure;

FIG. 3 is a schematic view of a container collection process of a clothing piece sorting container collection system according to an exemplary embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of a robot in a clothing piece sorting container collection system according to an exemplary embodiment of the present disclosure;

fig. 5 is a schematic flow chart of acquiring association relationship between a cut piece code and a container identification number in a clothing cut piece sorting container collection system according to an exemplary embodiment of the disclosure;

FIG. 6 is a schematic diagram illustrating a data indexing process in a clothing piece sorting container collection system according to an exemplary embodiment of the present disclosure;

fig. 7 is a schematic flow chart of a sorting server distribution container in a clothing piece sorting container collection system according to an exemplary embodiment of the present disclosure.

Wherein the reference numerals are respectively: 1-mechanical arm, 2-container and 3-feeding hopper.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.

In an embodiment of the present invention, a clothing piece sorting container collecting system is provided, which is used for sorting pieces of clothing, specifically, sorting each piece of clothing into a unique corresponding container in sequence, where the plurality of pieces of clothing correspond to the same container uniquely, the pieces are sorted one by one, and the sorting order is not limited to sorting all pieces of clothing before and then sorting the pieces of clothing after sorting. After sorting all the pieces of the same piece of clothing into the same container at different times, moving the container to a designated collection area, see fig. 1 and 2, the sorting container collection system comprises a plurality of containers 2 for containing the sorted pieces of clothing, a database, a sorting server and a manipulator 1, the different containers having different sorting positions, the containers being configured with container identification numbers corresponding to their sorting positions; the database prestores the association relationship between the cut piece codes and the container identification numbers, the cut piece type information to which the cut piece codes belong, and the cut piece type information configured for the ready-made clothes corresponding to the cut pieces (namely the cut piece type information of each cut piece corresponding to one ready-made clothes), wherein the cut piece codes of different cut pieces of the same ready-made clothes are associated with the same container identification numbers; the sorting server is in communication connection with a database; the manipulator is provided with the clamping jaw that is used for the centre gripping container, its and letter sorting server communication connection, the manipulator is configured with the action setting information that corresponds with the container identification number, the manipulator is according to letter sorting server's instruction, removes the cut-parts respectively to the container that the container identification number that its cut-parts sign indicating number is correlated with corresponds in. It should be noted that the manipulator returns to the initial position after each sorting action is performed, the action paths from the initial position to the uniform cut piece grabbing position and the action paths from the uniform cut piece grabbing position to each container are preset and stored, so that the manipulator can easily trigger corresponding moving actions according to the sorting positions corresponding to the container identification numbers.

The sorting server is used for correlating the cutting piece codes of all the cutting pieces of the same piece of clothes to the same container identification code, and storing the correlation information of the cutting piece codes of all the clothes or the sorted clothes and the container identification code to the database, so that different cutting pieces corresponding to the same piece of clothes can be automatically placed into the same container through the manipulator.

Therefore, the database stores the association information between the cut piece codes and the container identification codes of all the sorted clothes, for example, the sorting server inquires the database to know that the cut piece codes 100866, 100867, 100868, 100865 and 100861 all correspond to the container identification code R1234, and the cut piece codes respectively correspond to 100871, 100877, 100873, 100872 and 100875 all correspond to the container identification code R4321. Specifically, the method of the database storing the association information is described in detail below.

The content of the corresponding clothes can be the same or different for the clothes cut pieces, the content of the clothes includes but is not limited to the cut piece types, printed content and sizes of the various cut pieces of the clothes, the cut piece types of the single clothes include but are not limited to front piece, back piece, collar, left sleeve opening, right sleeve opening, left front piece of trousers, left back piece of trousers, right front piece of trousers and right back piece of trousers, and the cut piece of the single clothes includes a plurality of cut piece types. The single clothes are also respectively provided with different single unique identification codes correspondingly, and the single unique identification codes are related to the cut piece codes of all the cut pieces contained in the clothes.

For example, for an article of clothing, the unique identification code of one piece is Y0001, which includes five panels of front panel, back panel, collar, left sleeve and right sleeve, the panels of which correspond to 100866, 100867, 100868, 100865 and 100861 respectively, and the unique identification code of another article of clothing is Y0002, which includes six panels of front panel, back panel, left sleeve, right sleeve, left cuff and right cuff, the panels of which correspond to 100871, 100877, 100873, 100872, 100875 and 100876 respectively;

when the cut-parts are piled up together at will, the staff leans on the corresponding cut-parts of manual sorting stick clothing, finds that the cut-parts are difficult to distinguish fast, and letter sorting work load is big in the collection method, the staff only needs to type the cut-parts code information of cut-parts into the letter sorting server and put the manipulator and treat the position of pressing from both sides, can accomplish letter sorting and collection, all is equipped with cut-parts code information on every clothing cut-parts, and the manual work can include but not limited to following three kinds to the mode that letter sorting server types cut-parts code information:

in the first mode, the cut piece code of the clothes cut piece is a two-dimensional code, and the two-dimensional code is scanned by a code scanner to acquire the information of the cut piece code;

in a second mode, the cutting code of the clothes cutting piece is a digital code, and the cutting code information is manually input by using a keyboard device;

and in a third mode, the cutting code of the clothes cutting piece is a two-dimensional code, a bar code or a digital code, and the cutting code is imaged by using an image acquisition device and is obtained through image analysis. It should be noted that the above modes can be provided in multiple modes at the same time, so that when one mode cannot be used for information entry, an alternative mode is used for information entry, and the reliability of the mode is enhanced.

The next sorted piece of clothing may belong to the same piece of clothing as the currently sorted piece of clothing, or may belong to a different piece of clothing, without affecting the application of the method.

When there are one or more receptacles in which all the panels of the single item of clothing have been sorted, it is therefore necessary to collect the already completed receptacles in order to free up a position for the placement of the following panel, so that the corresponding receptacle identification number position is converted into another empty receptacle, in which a new panel of clothing can be placed.

Referring to fig. 3, the cut piece sorting container collecting system collects the target containers, in which cut piece collection is completed, to a designated collecting area, and includes the following steps:

for example, the database stores that the cut piece type of the cut piece code 100866 is front piece type, the cut piece type of the cut piece code 100867 is back piece type, the cut piece type of the cut piece code 100868 is neckline type, the cut piece type of the cut piece code 100865 is left sleeve type, and the cut piece type of the cut piece code 100861 is right sleeve type, and the database stores that the unique identification code corresponding to the container identification code R1234 is Y0001, and the cut piece type corresponding to the single piece unique identification code Y0001 is front piece, back piece, neckline, left sleeve, right sleeve, when the information of the cut piece code 100866 of one cut piece is recorded, the cut piece is known to be front piece, the association relationship between the cut piece and the clothes in the database is obtained, the mechanical arm puts the cut piece into the container corresponding to the container identification code R1234, and the front piece sorting of the clothes Y0001 is recorded in the database, and checking whether the other corresponding cut pieces of the ready-made garment Y0001 have corresponding sorting records. Every time the cut pieces are put into the container R1234, the records are recorded and judged, and if all the cut pieces of the ready-made clothes Y0001 have corresponding sorting records, the fact that the cut pieces of the ready-made clothes in the container are complete is indicated.

In this embodiment, can adopt manipulator or manual mode to put into the container that matches with the cut-parts: in a first mode, the manipulator is further used for moving the cut pieces which are currently sorted to the containers corresponding to the container identification numbers associated with the cut piece codes according to the instructions of the sorting server; and in the second mode, the sorting server sends prompt information of the containers associated with the cut pieces of the cut pieces currently sorted to the manual work through the prompt device so as to guide the manual work to move the cut pieces currently sorted to the containers matched with the prompt information.

specifically, in the sorting process, an operator can check the hollow containers in the sorting area, find that the number of the containers is small, for example, less than 20 containers, and manually issue a container collecting instruction, and the sorting server obtains container identification numbers of all the containers which are complete according to information query of the database.

the sorting server sends action instructions to the mechanical arm one by one, wherein each action instruction comprises the container identification number of only one complete container, or the sorting server sends a whole action instruction to the mechanical arm, and the action instruction comprises the container identification numbers of all the complete containers at present.

When the action command comprises the container identification number of only one complete container, when one action command is executed, the mechanical handle waits for the next action command to execute the collection operation after one corresponding complete container is transferred to the collection area; when the motion command includes the container identification numbers of all the present self-contained containers, the manipulator transfers the containers to the collection area in order according to the container identification numbers of the self-contained containers when executing the motion command.

After step S4, the method further includes the following steps:

the sorting server sending a fill-up instruction to the robot, the fill-up instruction including a container identification number of the container collected to the designated collection area; and the manipulator moves to the appointed distribution area according to the filling instruction, clamps the unloaded container and moves the unloaded container to the sorting position corresponding to the container identification number.

The filling instruction further includes the number m of containers collected to the designated collection area, where m is a positive integer, and for the empty positions left by the m containers after being collected, the following three filling methods are specifically provided:

in a first filling manner, the manipulator holds m empty containers stacked up and down at a preset number threshold at one time, and sequentially moves the empty containers to sorting positions corresponding to container identification numbers of all the complete containers (at this time, because the containers at the positions are collected to a specified collecting area in advance, the empty containers are in an empty state at present, and the new empty containers are to be filled to sort cut pieces of a new piece of clothes), wherein the lowest empty container is unloaded at the first sorting position, then the empty containers at m-1 are held, then the empty containers are moved to a second sorting position, and the lowest container is unloaded at the corresponding sorting position each time until the last empty container is held, and then the empty containers are moved to the last sorting position to be unloaded.

And in the second filling mode, n empty containers are stacked at a filling position, the manipulator clamps 1 empty container each time and moves a sorting position corresponding to the container identification number of a complete container for placement, the operation is repeated, and the manipulator moves back and forth between the filling position and the sorting position corresponding to the container identification number of each complete container in sequence until all the empty sorting positions are filled.

In the third filling mode, each time a complete container is collected to a corresponding area by the manipulator, an empty container is filled to a position corresponding to the original complete container. The collecting area of the complete container and the appointed distribution area of the empty container are located on the same side of the container sorting area, the motion path of the mechanical arm between the collecting area and the empty container can be easily determined and set, and after the mechanical arm collects the complete container to the collecting area, the mechanical arm is used for clamping the empty container to the appointed distribution area to fill the empty container to the position corresponding to the original complete container, so that the time for the mechanical arm to subsequently fill and move is saved.

It should be noted that, with reference to fig. 4, the manipulator, when gripping the containers for collection or filling, works with different jaws than when gripping the cut pieces, switching the jaws by rotation to adapt to different article sizes for gripping.

The method for storing the associated information in the database is specifically realized by the following steps: the sorting server is in communication connection with an order server of the flexible manufacturing system, the order server can obtain cut piece data of all cut pieces of an order in flexible manufacturing, and before step S1, it is required to obtain an association relationship between a cut piece code of a currently sorted cut piece and a container identification number and cut piece type information, referring to fig. 5, a specific implementation manner includes the following steps:

a3, storing the cut piece data of all cut pieces in the order associated with the cut piece code sent by the order server in response to the data request in a database, wherein the cut piece data includes but is not limited to the order number associated with the cut piece code, the single piece unique identification code of one or more ready-made clothes associated with the order number, the single piece unique identification code associated with the cut piece code, a plurality of cut piece codes associated with the single piece unique identification code, and the type of the cut piece corresponding to each cut piece code; the process that the order server responds to the data request to acquire the cut piece data comprises the following steps: the order related to the cutting codes in the data request is taken firstly, then all the cutting codes in the order are obtained, and then the cutting data corresponding to all the cutting codes are inquired respectively. The embodiment of the invention also provides a data indexing method, which is convenient for quickly inquiring the cut piece data corresponding to the cut piece according to the cut piece code in the following process by pre-constructing the index, and is described in detail below.

A4, selecting a container in an unallocated state, associating the container identification number of the container with the single piece unique identification code associated with the clip code, and updating the allocation state of the container from the unallocated state to the allocated state; meanwhile, the container identification number can be associated with the cut piece codes of all the cut pieces corresponding to the single unique identification code.

and A6, outputting the container identification number associated with the cut piece code (or the single piece unique identification code corresponding to the cut piece code) of the current sorted cut piece, namely finishing the acquisition process of the container distribution information.

It should be noted that the containers themselves do not have identification numbers, and each container is produced in batches without obvious difference when the containers are separated from the sorting position, so that the containers can be used alternately, and when the containers are placed at the corresponding sorting position, the containers generate the identification numbers corresponding to the positions, so that the containers replaced at the same position can have the same identification numbers corresponding to the containers before replacement.

As described above, the order server obtains the order associated with the cut-parts codes according to the cut-parts code information in the data request, further obtains all the cut-parts data in the order, and sends the data to the sorting server, specifically, the order server can quickly query the cut-parts data of a certain cut-parts code through the pre-constructed data index, including but not limited to the order number, the cut-parts type, the single-parts unique identification code, all the single-parts unique identification codes in the order, and the cut-parts code and the cut-parts type of all the cut-parts corresponding to each single-parts unique identification code, as shown in fig. 6, the pre-constructed data index includes the following steps:

b1, making a balanced binary tree aiming at the clip codes, and mounting a linked list at each node of the binary tree;

b2, assigning a unique ID value to each cut piece in sequence, wherein the ID value is a positive integer, and using the unique ID value to 10^xTaking the rest to obtain the cutting piece code of x digits of the corresponding cutting piece, wherein the cutting piece code is the last x digits of the cutting piece ID when the decimal system is used for representing the cutting piece ID and the cutting piece code;

It should be noted that before step B1, the user needs to determine the value of x according to the number of cut pieces running in the production process, specifically in combination with the production capacity, for example, 3000 pieces of clothing are produced per day, estimated as 10 pieces per piece of clothing, and in combination with the order processing cycle, for example, the order delivery is completed within 20 days in the slowest case before, x needs to satisfy 10⁶More than 60 ten thousand, preferably, about 20 ten thousand safety margins are reserved to determine the total cutting piece magnitude, if the total cutting piece magnitude is tens of thousands, x is equal to 5, if the total cutting piece magnitude is hundreds of thousands, x is equal to 6, if the total cutting piece magnitude is millions, x is equal to 7, and the like. Taking x as an example of 6, when the unique ID value of a slice is greater than or equal to 100 ten thousand, the binary tree does not add nodes with a depth of 20 (because the number of summary points of the binary tree with a depth of 20 is greater than 100 ten thousand), so that enough nodes correspond to the slice code, and only 20 comparisons are needed at most,the binary tree node corresponding to the cut piece code can be found. When an ID of a panel running in the production line is 131072, it is paired with 10⁶And (3) obtaining the corresponding cut piece code 131072 by taking the surplus, wherein the related information is stored on the last link table node of the link table at the corresponding node by default, when the ID value of a cut piece running in the production process is 1131072, the ID value is more than 100 ten thousand, at this moment, the cut piece is at least the second batch of cut pieces, the previous cut piece with the ID value 131072 is processed, at this moment, if the previous cut piece is the same as the cut piece code of the previous order, the subsequent processing cannot be influenced, and at this moment, the number of the cut pieces is 10⁶Taking the remainder, obtaining the corresponding segment code 131072, and positioning a tree node on the binary tree which is the same as the unique ID value 131072 of the segment, thereby obtaining the related information of the tail node of the mounted linked list, wherein it should be noted that, when processing a new batch of segments, that is, the segment codes of the two segments before and after each 100 ten thousand added segments are the same (for example, the unique ID values of the segments are 131072, 1131072, 2131072, etc., and the corresponding segment codes are 131072), that is, the positioned binary tree nodes are the same, the binary tree is matched with the linked list, and the order of the linked list nodes implies a time order, for example, each time there is new segment data, a linked list node is added backwards to the linked list at the corresponding binary tree node for storing the new segment data associated with the segment code or the address of the segment data. Because the mode of not traversing the linked list nodes is adopted, the value is directly taken in the linked list every time, and the index searching difficulty of the cut piece data can not be increased practically even if the unique ID of the cut piece reaches hundreds of millions or no matter how large.

Through the index setting of the pre-established binary tree-linked list, the speed of indexing the data information associated with the cut-parts codes can be greatly increased; due to the adoption of the extraction of the globally unique ID (pair 10)^xThe rest is taken) film cutting codes are x digits without increasing digits, the image incidental characteristic information of the correspondingly generated two-dimensional codes is reduced, the requirement on printing precision can be reduced on the premise that the area of the two-dimensional codes is fixed, and the recognition speed is accelerated; similarly, on the premise that the printing process precision is fixed, the area of the two-dimensional code can be reduced, and materials are saved.

This embodiment provides a preferred distribution method if different unassigned containers are associated with the cut pieces in a matching manner, which results in different subsequent sorting speeds, and the step of distributing the containers by the sorting server, see fig. 7, comprises the steps of:

wherein the first time consumption parameter t₁The method comprises the following steps:

recording the single actual time consumption of each time when the cutting piece is grabbed and placed into the container by the manipulator, and taking the average value of the latest i actual time consumptions as a first time consumption parameter t corresponding to the container₁Wherein i is a positive integer, for example, the average value of the latest 3000 times of consumed time is taken as the first consumed time parameter t corresponding to the container₁If the number of the data consumed is less than i times at first, the data of all times is taken for averaging.

Specifically, the manipulator is configured to start from an initialization position to grab the cut pieces for the first time after the system is powered on each time, and after the cut pieces are placed in the container, execute the next sorting instruction, namely start from the current container, grab the cut pieces from a feed hopper and move to the target container position in the instruction; the single actual time-consuming time for the manipulator to grasp a cut piece and place it into the container at a time is obtained by:

the sorting server or the mechanical arm records the starting time from the current position (namely the time when the sorting server sends the sorting instruction or when the mechanical arm receives the sorting instruction) under the condition that the mechanical arm receives the sorting instruction of the sorting server, and records the ending time when the cut pieces are placed in the container (the time when the mechanical arm releases the clamping jaw or the time when the sorting server receives a signal sent by the mechanical arm after releasing the clamping jaw); the sorting server or robot takes the time difference between the start time and the end time as the single actual elapsed time for the robot to grasp the cut pieces and place them into the container.

It can be seen that the starting position of the container is not the same container but a large probability, and therefore, the average value of the latest i actual time consumptions is taken as the first time consumption parameter t corresponding to the container₁. Specifically, the manipulator is configured with action setting information corresponding to container identification numbers in advance, specifically, each container identification number corresponds to a position coordinate value of each corresponding dimension, when the manipulator moves from one container X to another container Y, a position coordinate difference value of each dimension between the containers Y and X can be obtained, each dimension corresponds to motor drive, and position conversion can be completed in approximately the same time by adjusting the rotating speed of each dimension motor.

The second time consumption parameter t₂The method comprises the following steps:

recording the single actual consumed time of each time when the manipulator grabs the container and puts the container to the specified collection position, and taking the average value of the latest j actual consumed time as a second consumed time parameter t corresponding to the container₂Wherein j is a positive integer, for example, taking the average value of the latest 800 times as the second time-consuming parameter t corresponding to the container₂And when j times of time-consuming data are less than j times at first, averaging the data of all times.

Specifically, the manipulator is configured to pick a container from the initialization position for the first time after the system is powered on each time, and execute a next collection instruction after the container is placed at the specified collection position, that is, pick the container from the current specified collection position to the next collected container, and drive the container to move to the specified collection position; the single actual elapsed time each time the robot picks the container and places it at the designated collection location is obtained by:

the sorting server or the mechanical arm records the starting time from the current position (namely the time when the sorting server sends a collecting instruction or when the mechanical arm receives the collecting instruction) under the condition that the mechanical arm receives the collecting instruction of the sorting server, and records the ending time when the mechanical arm puts the container to the appointed collecting position after taking the container (the time when the mechanical arm loosens the clamping jaw, or the time when the sorting server receives a signal sent by the mechanical arm after the mechanical arm loosens the clamping jaw); the sorting server or robot takes the time difference between the start time and the end time as the single actual elapsed time for the robot to grab the container and place it at the designated collection location.

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Wherein, the first time consumption parameter t corresponding to the container₁And a second time-consuming parameter t₂Can be updated along with the sorting and collecting times, and the total time consumption parameter t₃The sum of the time required for the manipulator to grasp all the cut pieces of the corresponding clothes and put them all into the container and the time required for collecting the container to a designated collecting position is expressed.

If there are a plurality of containers in an undistributed state₃The value is minimum, then further allocation is done in two ways:

first, if the total time consumption parameter t of a plurality of containers in an undistributed state is calculated in step C2₃If the value is minimum, the sorting server obtains the total time consumption parameter t₃Information on the distance between the containers having the smallest value and in the undistributed state and the feed hopper 3, respectively, and the container farthest from the feed hopper is selected as the target distribution container. If there are still at least two options, i.e. if the total time-consuming parameter t₃Minimum valueAnd the distance between more than two containers in the plurality of containers in the non-distribution state and the feed hopper is the largest, the sorting server acquires the distance information between the more than two containers with the largest distance and the appointed collection position respectively, and selects the container which is the farthest from the appointed collection position as the target distribution container.

Second, if the total time consumption parameter t of a plurality of containers in an undistributed state is calculated in step C2₃If the value is minimum, the sorting server randomly selects a total time consumption parameter t₃One of the containers having the smallest value and in an undispensed state is the target dispensing container.

After step C3, the following steps are also performed:

c4, the sorting server sends a sorting instruction to a mechanical arm, wherein the sorting instruction comprises the container identification number of the target distribution container, and the mechanical arm is configured with action setting information corresponding to the container identification number in advance;

c5, placing the current sorted cut pieces into the target distribution container by the manipulator according to the sorting instruction, and recording the single actual time consumed for the manipulator to grab and place the cut pieces into the container;

c6, updating the first time consumption parameter t corresponding to the target dispensing container according to the single actual time consumption recorded in the step C5 when the manipulator grabs the cutting piece and puts the cutting piece into the container₁And waiting for the first sorted cut piece of the next piece of clothing, and repeatedly executing the steps C1-C6.

It should be noted that, when steps C1-C6 are repeatedly executed, the newly recorded one-time actual elapsed time and the previous i-1-time one-time actual elapsed time constitute i-time averaging, and the latest first elapsed time parameter t is obtained₁For example, take i =100, and the first time-consuming parameter t currently used by the container₁6.40s and the latest recorded single actual time consumption of the container is 8.40s, the updated first time consumption parameter t of the container can be obtained₁It was 6.42s, and the calculation was (6.40X 99+ 8.40)/100. However, the present invention is not limited to the above update method.

In order to visually display the current overall cut piece sorting and container loading conditions, the clothing cut piece sorting container collection system further comprises a display device, the display device is used for displaying a display interface comprising a plurality of virtual containers, the virtual containers correspond to the real object containers at corresponding sorting positions one by one, the display device is electrically connected with the sorting server, the sorting server can analyze and process the sorting state information of the real object containers and control the display device to display the states of the sorted clothing cut pieces in the virtual containers according to the analysis results, and the method specifically comprises the following steps: the sorting server acquires the container identification number associated with the currently sorted clothing cut piece so as to match the corresponding virtual container; in response to the manipulator putting the clothes cut pieces which are currently sorted into the associated real object container, the sorting server controls the display device to display corresponding characteristic information in the corresponding virtual container area, which is described in detail as follows; until the manipulator finishes sorting all cut pieces of the same piece of clothes to the same physical container, the corresponding virtual container is converted into a state for displaying a full load prompt;

displaying corresponding characteristic information in the corresponding virtual container area, such as: the virtual container is in a geometric shape, the area of the virtual container is divided into progress blocks, and the number of the progress blocks of different virtual containers is the same or different. Responding to the fact that a first cut piece type of clothes is put into the real object container, and the number of the cut piece types of the clothes to which the cut piece belongs is N, the corresponding virtual container displays a height bar of a first color with the height of 1/N from the bottom to the top; when a second cut piece type of cut piece is placed in the target real object container, a height bar with the height of 1/N of the second color is newly added to the adjacent area of the virtual container above the height bar with the first color; and until the Nth cut piece type is placed in the physical container, the progress block of the virtual container is completely filled to display the full-load prompt state, which indicates that the corresponding cut pieces in the physical container are complete.

The interface of the full-load prompt state of the virtual container and the partial virtual containers displayed on the display device can also provide a basis for manually sending a collection container instruction. The operator can clearly know the condition of the letter sorting of present each interior cut-parts of real object container through observing display device, for example look over total 100 virtual containers, 20 virtual containers show the characteristics that cut-parts have been completed, 75 show that cut-parts are but not complete, 5 show that no cut-parts are put into, the operator can send the collecting container by the manual work this moment to avoid follow-up not having the condition that real object container distributes to cut-parts.

In order to facilitate the manipulator to accurately clamp the cut pieces to be sorted currently, the clothes cut piece sorting container collecting system further comprises a feed hopper 3 for placing the cut pieces to be sorted currently, two (or more) photoelectric sensors are arranged in the feed hopper, and the photoelectric sensors can detect the condition that the clothes cut pieces enter the feed hopper;

before sending the letter sorting instruction to the manipulator, still need judge whether there is the cut-parts at present in the feeder hopper to avoid the staff not in time to put into the feeder hopper with the cut-parts, make the manipulator clamp empty. If the shading detection signals detected by all the photoelectric sensors are not shaded and are converted into shading detection signals of at least one photoelectric sensor to be shaded, then the fact that the cut pieces are placed in the feeding hopper is indicated, the cut piece codes obtained by the cut piece code obtaining device latest are used as the cut piece code information of the clothes cut pieces sorted in the step S1, and a sorting instruction is sent to the mechanical arm by the sorting server, wherein the sorting instruction comprises the cut piece code information of the sorted clothes cut pieces. If the shading detection signal of the photoelectric sensor indicates that no cut piece is placed in the feeding hopper (the feeding characteristic is not met), the manipulator is in a waiting state or executes the next mechanical arm action instruction after executing the previous action. If the shading detection signal of at least one photoelectric sensor is converted from shading to non-shading, and the current shading detection signal results of the two photoelectric sensors are both non-shading, determining that the cut pieces of clothes leave the feed hopper; if the sorting server receives the judgment result that the clothes cut pieces leave the feed hopper twice continuously, the alarm device is triggered, and all sorting instructions received by the manipulator are emptied.

In order to update and match in real time the cut pieces in the container correspond to the information recorded in the sorting system, the clothes cut piece sorting system scans code through a code scanner to input the cut piece codes printed on the sorted clothes cut pieces, records the corresponding code scanning time, and makes the following settings: when the shading detection signal of at least one photoelectric sensor is converted from non-shading to shading, the cut piece code corresponding to the latest code scanning time of the code scanner is used as the cut piece code information of the clothes cut piece sorted in the step S1, and then the new cut piece code obtained by code scanning of the code scanner is used as the identity information of the next sorted clothes cut piece (the next cut piece is placed into the feed hopper to trigger the shading detection signal of the photoelectric sensor). This arrangement avoids errors in the following two cases. When a worker takes one cut piece to sweep the code, the cut piece is not placed in the feed hopper, but another cut piece is taken to sweep the code, and then the next cut piece is placed in the feed hopper; when the staff took a cut-parts to sweep the sign indicating number twice in succession and put into the feeder hopper, when this cut-parts by the letter sorting back, the staff had taken another cut-parts to sweep the sign indicating number after put into the feeder hopper. If the scheme before improvement can carry out mismatching with the last cut-parts and the last sign indicating number information of sweeping, lead to the manipulator to sort the latter cut-parts to wrong container to influence follow-up letter sorting, and the scheme after the improvement can be fine avoid this kind of condition to take place.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing is directed to embodiments of the present application and it is noted that numerous modifications and adaptations may be made by those skilled in the art without departing from the principles of the present application and are intended to be within the scope of the present application.

Claims

1. A clothing cut-parts letter sorting container collecting system for after all cut-parts with same clothing sort to same container in different times, remove appointed collection area with this container and the clothing cut-parts that hold therein together, clothing cut-parts letter sorting container collecting system includes:

the sorting server is configured to acquire cut piece data of all cut pieces in an order associated with one cut piece, wherein the cut piece data at least comprises a cut piece code, a single piece unique identification code of a finished garment corresponding to the cut piece, a plurality of cut piece codes associated with the single piece unique identification code and a cut piece type corresponding to each cut piece code, and the sorting server allocates the same container identification number for the plurality of cut piece codes associated with the same single piece unique identification code in advance according to the cut piece data;

the database is in communication connection with the sorting server and is prestored with the association relationship between the cut piece codes and the container identification numbers, the cut piece type information to which the cut piece codes belong and the cut piece type information configured for the ready-made clothes corresponding to the cut pieces, wherein the cut piece codes of different cut pieces of the same ready-made clothes are associated with the same container identification numbers;

s4, the manipulator matches the action setting information corresponding to the container identification number one by one, moves to the container corresponding to the container identification number according to the action setting information, clamps the container, drives the container to move to a specified collection area, and releases the clamping jaw to enable the container and the clothes cut pieces contained in the container to be collected in the specified collection area;

the sorting server is in communication connection with an order server of the flexible manufacturing system, and the order server can acquire cut piece data of an order in flexible manufacturing;

2. The garment piece sorting container collection system of claim 1 wherein the pieces of an article of clothing include a plurality of the following types of pieces: the front piece, the back piece, the neckline, the left sleeve, the left cuff, the right cuff, the left front piece of the trousers, the left back piece of the trousers, the right front piece of the trousers and the right back piece of the trousers;

3. The clothing piece sorting container collection system according to claim 1, wherein before step A3, the order server obtains the piece data of all pieces ordered in relation to the piece code according to the piece code information in the data request and sends it to the sorting server, wherein,

b2, assigning a unique ID value to each cut piece in turn, and using the unique ID value to give a value of 10^xTaking the remainder to obtain the x-digit cutting piece code of the corresponding cutting piece, wherein the unique ID value is a positive integer;

4. The clothing piece sorting container collection system according to claim 3, wherein the value x is determined according to the number of pieces operated in the production process, and if the maximum number of pieces operated in the production process is estimated to be less than or equal to 100 ten thousand, x is 6, and the depth of the binary tree is 20.

5. The clothing piece sorting container collection system of claim 1 wherein the pre-stored association of the database of the piece codes and the container identification numbers is such that the sorting server selects one of the containers in an unassigned state and assigns it to a clothing piece currently to be assigned, the step of the sorting server assigning a container comprising:

c1, the sorting server acquires the number n of cut pieces of ready-made clothes related to the current cut pieces of clothes to be distributed, wherein the number of the cut pieces of different ready-made clothes is the same or different, and n is a positive integer; and acquiring the container identification numbers of all containers in the unallocated state, wherein each container identification number corresponds to a known first time-consuming parameter t₁And a second time-consuming parameter t₂The first time-consuming parameter is the time required for the manipulator to grab the cut pieces and place the cut pieces into the container, and the second time-consuming parameter is the time required for the manipulator to collect the container to the specified collection positionA (c) is added;

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6. The clothing piece sorting container collection system of claim 1, further comprising a display device for displaying a display interface including a plurality of virtual containers, the virtual containers corresponding one-to-one with the physical containers at respective sorting locations;

7. The clothing piece sorting container collection system according to claim 6, wherein in response to the manual collection container command, the status is that the lock mark is newly added to the virtual container corresponding to all the containers already in full;

8. The clothing piece sorting container collection system according to claim 6 or 7, wherein the virtual container is a geometric shape, the area of the virtual container is divided into progress blocks, and the number of progress blocks of different virtual containers is the same or different;

9. The clothing piece sorting container collecting system according to claim 1, wherein each clothing piece is provided with piece code information, and the step S1 is preceded by acquiring the piece code information of the sorted clothing piece by any one of the following piece code acquiring means:

10. The clothing piece sorting container collection system according to claim 9, further comprising a feed hopper for placing currently sorted pieces, wherein a plurality of photoelectric sensors are disposed in the feed hopper, and the photoelectric sensors are used for detecting the condition that clothing pieces enter the feed hopper;

11. The clothing piece sorting container collection system according to claim 10, wherein if the light-shielding detection signal of at least one of the photosensors is converted from being light-shielded to light-shielding detection signals detected by all of the photosensors being non-shielded, then it is determined that a clothing piece has left the feed hopper;

12. The clothing piece sorting container collection system of claim 1, wherein in step S3, the sorting server issues the action commands to the robot arm on a case-by-case basis, each action command including a container identification number for only one full container.

13. The clothing piece sorting container collection system of claim 1, further comprising, after step S4: the sorting server sending a fill-up instruction to the robot, the fill-up instruction including a container identification number of the container collected to the designated collection area;

14. The clothing piece sorting container collection system according to claim 13, wherein the filling command further includes a number m of containers collected to the designated collection area, where m is a positive integer, and the manipulator moves to the designated distribution area according to the filling command, clamps m empty containers stacked one above another at a time, and sequentially moves to the sorting positions corresponding to the identification numbers of the containers in the filling command, wherein the lowermost empty container is unloaded at a first sorting position, then moves to a second sorting position after clamping m-1 empty containers, unloads the lowermost container at the corresponding sorting position each time, and moves to the last sorting position for unloading after clamping the last empty container.