CN113968445B - Light and small piece high-speed sorting control method, system and device - Google Patents
Light and small piece high-speed sorting control method, system and device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
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Abstract
The invention provides a light and small workpiece high-speed sorting control method, a system and a device. The method comprises the steps of running on a controller, obtaining a sorting task issued by a warehousing management system, carrying out simulation optimization according to the sorting task, calculating the number of required sorting carrying robots and required material box carrying robots based on preset rules, generating a field and turnover material box layout, generating a sorting task execution model, selecting a control mode according to the models of the sorting carrying robots and the material box carrying robots, sending an instruction to the sorting carrying robots and the material box carrying robots, and receiving a task completion result. According to the invention, goods are received and sorted by the sorting and carrying robot, a special sorting platform is not required to be built, the sorting and carrying robot can be expanded at any time according to the quantity of the goods, the size of an order sorting task is self-adapted, and reasonable robot quantity, sorting field and turnover bin layout are provided.
Description
Technical Field
The invention relates to the technical field of logistics sorting, in particular to a light and small workpiece high-speed sorting control method, system and device.
Background
Logistics refers to the overall process of planning, implementing and managing goods from their production locations to their consumption locations through transportation, storage and distribution. Corresponding sorting mechanisms can be arranged according to different types of goods in the logistics process, a sorting system with a complex structure is generally required to be arranged for the goods with large volume or mass, and a manual sorting system, a high-speed cross belt sorting system like the sorting system, an electronic tag auxiliary sorting system, a Kivas goods-to-person sorting system and a small yellow person sorting system are generally adopted for the parcel goods with small volume and mass.
The manual sorting system is high in labor intensity of workers, low in efficiency and prone to error in the working process, and the existing pure manual sorting system of the logistics distribution center is rarely and independently used.
The high-speed cross belt like sorting machine system further comprises: the sorting machine has high sorting speed, the single-layer sorting machine system has the maximum sorting speed up to 10800 pieces/hour, the highest linear speed up to 2.25 m/s and the weight of processed articles less than or equal to 30 Kg. However, such sorting equipment generally has high price, occupies a large area, is fixed in position and size, cannot adaptively adjust the overall use scale along with the size of the service to be processed, and has high energy consumption.
An electronic label assisted picking system (pick to light) is a computer-assisted paperless picking system, which adopts a computer to transmit picking instructions to a display screen in front of an operator to guide the operator to complete specified operations. The principle is as follows: the digital display is arranged at each goods position, the order information is transmitted to the digital display by the control of the computer, the goods picking personnel picks the goods according to the numbers displayed by the digital display, and the goods picking work is finished by pressing the confirmation button after the goods picking is finished, which is also called as the electronic label goods picking. The main disadvantages of such systems are: the sorting equipment system is fixed, can not be changed at will, and along with the increase of the sorting scale, the sorting field is also large, and the whole using scale can not be adjusted in a self-adaptive manner along with the scale of the service to be processed. Manual processing, high working strength of workers and low sorting efficiency.
The KIVAS system is a robot project of Kiva systems company, consists of a KIVA robot, a KIVA shelf and a control system thereof, and provides a mobile robot system-based order processing solution for finishing the order processing of a picking and storage automation system by conveying any goods needing to be picked to any picking operator at any time. The main characteristics are that: goods to be selected are transported to the goods picking worker by a plurality of robots, the goods are picked manually, the labor intensity of workers is reduced, but the goods are automatically conveyed and manually picked, the efficiency is not high, and the KIVA robot moves the whole goods shelf every time, so that the energy consumption is high. The whole system has high price and large investment.
The small sorting robot system is also a robot sorting system, and a plurality of small sorting robots shuttle in a warehouse in order to convey an express package to a designated position and unload and sort.
It is thus clear that current letter sorting system either relies on the manual work, or relies on the letter sorting platform to carry out work, and artifical inefficiency and easily make mistakes sets up the letter sorting platform with high costs expansibility poor, consequently, needs a sort demand that can arrange different quantity, the intelligent letter sorting system of different grade type in a flexible way in order to adapt to the letter sorting demand that changes.
Disclosure of Invention
The embodiment of the invention provides a light and small workpiece high-speed sorting control method, a light and small workpiece high-speed sorting control system and a light and small workpiece high-speed sorting control device, which are used for eliminating or improving one or more defects in the prior art and solving the problems that a sorting system in the prior art depends on manual work or sorting table work, is limited by site and hardware scale, and has poor expansibility and flexibility.
The technical scheme of the invention is as follows:
in one aspect, the invention provides a light and small piece high-speed sorting control method, which is used for running on a controller, wherein the controller wirelessly controls a plurality of sorting and carrying robots to sort goods to turnover bins, and the controller also wirelessly controls a plurality of bin carrying robots to transfer the turnover bins reaching a set load capacity to a packing area, and the method comprises the following steps:
acquiring a sorting task issued by a warehousing management system, wherein the sorting task records the cargo type, the cargo quantity and the sorting task requirement; wherein the sorting task requirements include at least fastest completion of a task, minimum number of robots, and/or minimum cost;
carrying out simulation optimization according to the sorting task, calculating the number of the required sorting carrying robots and the required material box carrying robots based on a preset rule, generating a layout of a field and a turnover material box, and generating a sorting task execution model;
selecting control modes according to the models of the sorting and carrying robot and the bin carrying robot, wherein the control modes at least comprise a white box control mode for directly controlling the actions of the sorting and carrying robot and the bin carrying robot based on a bottom layer instruction, a black box control mode for providing only task contents and independently executing by the sorting and carrying robot and the bin carrying robot, and a gray box mode for issuing tasks through a task assignment interface and independently executing by the sorting and carrying robot and the bin carrying robot;
sending instructions to the sorting and carrying robot and the bin carrying robot according to the control mode and the sorting task execution model;
and receiving task completion results fed back by each sorting and carrying robot and each material box carrying robot, and sending the task completion results to the warehousing management system.
In some embodiments, performing simulation optimization according to the sorting task, calculating the number of required sorting transfer robots and required bin transfer robots based on preset rules, generating a yard and turnaround bin layout, and generating a sorting task execution model, includes:
establishing an electronic map according to an actual working environment;
establishing a mathematical model according to the electronic map, the constraint conditions and the targets in the sorting task;
and solving and verifying the mathematical model, and outputting the required sorting carrying robots, the number of the required bin carrying robots, the layout of the field and the turnover bins and a sorting task execution model.
In some embodiments, after issuing commands to the sorting handling robot and the bin handling robot according to the control manner and the sorting task execution model, the method further includes:
and acquiring the working state information of the parts of each sorting and carrying robot and each material box carrying robot to perform equipment operation analysis, and performing fault alarm and analysis if the working state information of the parts is abnormal.
In some embodiments, the method further comprises:
and acquiring task completion results fed back by each sorting and carrying robot and each material box carrying robot, counting sorting businesses and generating business analysis reports.
In another aspect, the present invention further provides a light small piece high-speed sorting system, including:
the sorting and carrying robot comprises a moving mechanism and a carrying platform arranged on the moving mechanism, and two belt groups arranged in parallel are arranged on the carrying platform;
the bin carrying robot is used for transferring the turnover bins;
the operation platform is of a two-dimensional plane structure and at least comprises a goods loading area, a sorting area, a box loading area and a charging area; the goods loading area is provided with a goods loading platform for loading goods for the sorting and carrying robot; the sorting area is provided with a plurality of turnover bins for receiving the goods sorted and unloaded by the sorting and carrying robot, and the turnover bins are transferred to the boxing area by the bin carrying robot for boxing after reaching a set loading capacity; the charging area is provided with a plurality of charging stations for charging the sorting and carrying robot and the bin carrying robot;
the controller is used for wirelessly connecting the sorting and carrying robot and the bin carrying robot and executing the light and small workpiece high-speed sorting control method, the controller is loaded with one or more sorting task execution models and controls the sorting and carrying robot and the bin carrying robot to sort the goods according to the sorting task execution models, the sorting task execution models plan aiming at the sorting task requirements, and the sorting task execution models at least comprise: a fastest task completion model, a minimum number robot model, and a minimum cost model.
In some embodiments, the main body of the bin handling robot is U-shaped, and the inside of the main body is provided with a retractable cargo pallet for carrying or unloading the turnover bin.
In some embodiments, the high-speed light and small piece sorting system is further provided with a secure access control subsystem for encrypting communications of the sorting handling robot, the bin handling robot and the controller.
In some embodiments, the light and small piece high-speed sorting system is further provided with a database subsystem for storing interaction data between the sorting and handling robot, the bin handling robot and the controller.
In some embodiments, the controller comprises:
the monitoring control module is connected with the warehousing management system through the warehousing management system interface to receive and manage sorting tasks, and controls each sorting and carrying robot and each material box carrying robot to execute the sorting tasks based on the sorting task execution model;
the model management module is used for modifying, adding or deleting the existing sorting task execution model after the controller carries out simulation optimization according to the sorting task to obtain the sorting task execution model;
the statistical analysis module is used for acquiring the reserve quantity of the parts and carrying out part early warning when the reserve quantity of the parts is less than a set value; acquiring task completion results fed back by each sorting and carrying robot and each material box carrying robot and carrying out sorting business statistics; and acquiring the working state information of the parts of each sorting and carrying robot and each material box carrying robot, and performing fault alarm and analysis in an abnormal state.
In another aspect, the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the steps of the method are implemented.
The invention has the beneficial effects that at least:
according to the method, the system and the device for controlling the high-speed sorting of the light and small pieces, the goods are directly received and sorted by the sorting and carrying robot, a special sorting platform is not required to be built, and the light and small pieces can be expanded at any time according to the quantity of the goods. Aiming at a specific sorting task, the method and the device can perform simulation optimization, self-adapt to the size of the order sorting task, provide reasonable robot number, sorting field and turnover bin layout, adapt to fields with different forms and structures, and generate corresponding sorting task execution models according to different sorting task requirements. Furthermore, the sorting and conveying robot system works in a white box control mode, a black box control mode or a gray box control mode according to requirements, the sorting and conveying robots and the bin conveying robots of different manufacturers and different models can be coordinately controlled in the same scene, and the expandable level and flexibility of the system are improved.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
It will be appreciated by those skilled in the art that the objects and advantages that can be achieved with the present invention are not limited to the specific details set forth above, and that these and other objects that can be achieved with the present invention will be more clearly understood from the detailed description that follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic flow chart of a light and small workpiece high-speed sorting control method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating a process of generating a sorting task execution model in the light and small workpiece high-speed sorting control method according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a material box handling robot in the high-speed light small workpiece sorting system according to an embodiment of the invention;
FIG. 4 is a block diagram of a work bin loading turnaround bin of the bin handling robot of FIG. 3;
fig. 5 is a layout diagram of an operation platform in the light and small workpiece high-speed sorting system according to an embodiment of the present invention;
fig. 6 is a structural diagram of a controller in a high-speed sorting system for light and small workpieces according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the following embodiments and the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the drawings, and other details not so relevant to the present invention are omitted.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components.
It is also noted that, unless otherwise specified, the term "coupled" is used herein to refer not only to a direct connection, but also to an indirect connection with an intermediate.
The large-scale commodity circulation letter sorting system or the commodity circulation letter sorting system that small-size degree of automation is high that use at present, either the equipment is the expense area big, or just need artifical supplementary and efficiency not high. This presents problems for the logistics center of the enterprise: the logistics sorting system adopted at the present stage is a large logistics sorting system with high cost and large occupied area, or a small logistics sorting system with low cost and efficiency and labor cost burden, and the selection is not compromised or flexible. The sorting system depending on a large sorting platform or a manual sorting system cannot dynamically adjust the size, the occupied area scale and the like of the logistics sorting system according to the current order quantity, cannot dynamically adapt to sorting requirements in different seasons, and causes insufficient resources when the object flow is large and waste of resources when the object flow is small. And the scale of the equipment of the existing logistics sorting system is fixed, the equipment scale cannot be automatically changed according to the change of the size of the service demand, the energy consumption is large, and the requirements of carbon neutralization policies cannot be met.
Therefore, the invention provides a light and small piece high-speed sorting control method, system and device, a sorting area is directly established under the actual ground scene by means of a sorting and carrying robot, a large-scale sorting mechanism or a manual sorting platform in the prior art is omitted, the sorting area can be expanded or reduced according to the actual freight volume, the cost and the energy efficiency are greatly saved, and the flexibility is improved. Meanwhile, according to the task cooperative control model provided by the system, the sizes of order sorting tasks are self-adapted, reasonable robot number, sorting site and turnover bin layout are provided, and different robot task cooperative control models are freely expanded.
Specifically, the embodiment provides a light and small piece high-speed sorting control method, which is used for operating on a controller, the controller wirelessly controls a plurality of sorting and carrying robots to sort goods to turnover bins, and the controller further wirelessly controls a plurality of bin carrying robots to transfer the turnover bins reaching a set load capacity to a packing area. As shown in fig. 1, the method includes steps S101 to S105:
step S101: acquiring a sorting task issued by a warehousing management system, wherein the sorting task records the cargo type, the cargo quantity and the sorting task requirement; wherein the sorting task requirements include at least fastest completion of the task, minimum number of robots, and/or minimum cost.
Step S102: and carrying out simulation optimization according to the sorting tasks, calculating the number of the required sorting carrying robots and the required material box carrying robots based on a preset rule, generating a layout of a field and a turnover material box, and generating a sorting task execution model.
Step S103: and selecting control modes according to the models of the sorting and carrying robot and the bin carrying robot, wherein the control modes at least comprise a white box control mode for directly controlling the actions of the sorting and carrying robot and the bin carrying robot based on the bottom layer instruction, a black box control mode for providing only task contents and independently executing by the sorting and carrying robot and the bin carrying robot, and a gray box mode for issuing tasks through a task assignment interface and independently executing by the sorting and carrying robot and the bin carrying robot.
Step S104: and issuing instructions to the sorting carrying robot and the bin carrying robot according to the control mode and the sorting task execution model.
Step S105: and receiving task completion results fed back by each sorting and carrying robot and each material box carrying robot, and sending the task completion results to the warehousing management system.
In step S101, the Warehouse Management System (WMS) is a real-time computer software system that can manage information, resources, activities, inventory and distribution operations more perfectly according to the operational business rules and algorithms, improving efficiency. The warehouse management system is used for managing the goods information and generating corresponding sorting tasks. The warehouse management system can be directly connected to the controller in the embodiment, and can also be loaded on a cloud to be controlled through remote access.
Furthermore, the goods types recorded in the sorting task can be classified according to the volume size or the weight size of the goods, and can also be classified according to the specific contents of the goods. The goods type can generally record the type of a certain batch of goods, and can also be classified separately for each piece of goods, and the goods type is used for guiding the sorting work. The sorting requirement has at least three selectable items, at least comprising the fastest task completion, the minimum number of robots and/or the minimum cost, and different task requirements are used as planning conditions and can guide the formation of different sorting task execution models so as to guide the work of the sorting carrying robot and the work of the bin carrying robot. For example, when the task is required to be completed most quickly, the number of robots is increased within a proper range; when a minimum number of robots are required, sorting time can be prolonged appropriately; when the required cost is minimum, the time cost and the hardware energy consumption cost are comprehensively considered, and the sorting time and the number of robots are arranged in a lump. Of course, a more detailed sorting task execution model can be planned by loading more control parameters, which, in addition to the sorting time and the number of robots, can include: robot operating speed, individual robot operating range limits and/or charging time limits, etc.
The controller can access the warehousing management system and acquire sorting tasks through web services (network service, through network call), http/https + json (http/https protocol access is used and a work order is established in json format), socket (socket, an agreed mode for communication between computers) and direct function call.
In step S102, after the controller obtains the sorting task by accessing the warehouse management system, first, simulation optimization is performed, and a sorting task execution model is generated according to a specific scene and a task requirement.
In some embodiments, step S102 is a simulation optimization according to a sorting task, calculates the number of required sorting transfer robots and required bin transfer robots based on preset rules, generates a layout of yard and turnaround bins, and generates a sorting task execution model, as shown in fig. 2, including steps S1021 to S1023:
step S1021: and establishing an electronic map according to the actual working environment.
Step S1022: and establishing a mathematical model according to the electronic map, the constraint conditions in the sorting task and the target.
Step S1023: and solving and verifying the mathematical model, and outputting the required sorting carrying robots, the number of the required bin carrying robots, the layout of the field and the turnover bins and a sorting task execution model.
In this embodiment, the sorting system does not have a fixed sorting platform, but performs the sorting operation by means of a sorting and carrying robot. Because the sorting and carrying robot moves completely and freely, the layout of the sorting area is not required, and correspondingly, the sorting and carrying robot can adapt to different fields to carry out the re-planning of the sorting area. In steps S1021 to S1023, an electronic map is built according to a working area which can be provided by an actual application scene, a mathematical model of a problem is built according to the requirement of a sorting task, the mathematical model is solved, verification is carried out through an example, the number of the required sorting carrying robots and the required material box carrying robots are finally obtained, the layout of a field and a turnover material box is generated, and a sorting task execution model is generated.
The layout problem of the working environment of the robot can be divided into one-dimensional layout, two-dimensional layout and three-dimensional layout from the aspect of dimension, and the layout problem researched by the embodiment is the two-dimensional layout problem. The traditional working environment equipment layout process is generally divided into several steps of determining an equipment layout form, solving a relative position by a block layout method (without considering the appearance and the size of the equipment), determining a specific placement position and an angle of the equipment by detailed layout (with considering the appearance and the size of the equipment), simulating the equipment layout and comprehensively evaluating the equipment layout. If the device is divided according to different types of the logistics path of the working environment, the common device layout types are linear layout (single row and double rows), U-shaped layout and ring-shaped layout. If the equipment is divided according to the position relationship among the equipment, the common equipment layout form can be divided into process principle arrangement, product principle arrangement, fixed station arrangement and grouping principle arrangement.
In step S103, in this embodiment, the sorting work and the transfer are implemented based on robots, and in order to ensure that the system can be expanded and cut at any time, the size of the system is flexibly adjusted, and a control manner is selected according to the models of the sorting and carrying robot and the bin carrying robot, so that robots of different manufacturers and different models can be coordinated to complete the sorting task together. Making flexibility and mobility greater.
In steps S104 and S105, the controller controls the sorting and conveying robots and the bin conveying robot to complete the sorting tasks according to the selected control mode and the optimized sorting task execution model, and feeds back task completion results.
In some embodiments, after issuing the command to the sorting handling robot and the bin handling robot according to the control mode and the sorting task execution model, the method further includes: and acquiring the working state information of the parts of each sorting and carrying robot and each material box carrying robot to perform equipment operation analysis, and performing fault alarm and analysis if the working state information of the parts is abnormal.
In some embodiments, the method further comprises: and acquiring task completion results fed back by each sorting and carrying robot and each material box carrying robot, counting sorting businesses and generating business analysis reports.
In another aspect, the invention further provides a light and small piece high-speed sorting system which comprises at least one sorting and carrying robot, at least one bin carrying robot, a working platform and a controller.
The sorting and carrying robot comprises a moving mechanism and a carrying platform arranged on the moving mechanism, and two belt groups arranged in parallel are arranged on the carrying platform.
Workbin transfer robot is used for transporting the turnover workbin. In some embodiments, as shown in fig. 3 and 4, the body of the bin handling robot is U-shaped with cargo pallets inside the body to hold the transfer bins.
As shown in fig. 5, the operation platform is a two-dimensional plane structure, and at least includes a loading area, a sorting area, a boxing area and a charging area; the goods loading area is provided with a goods loading platform for loading goods for the sorting and carrying robot; the sorting area is provided with a plurality of turnover bins for receiving the goods sorted and unloaded by the sorting and carrying robot, and the turnover bins are transferred to the bin loading area by the bin carrying robot for loading after the set loading capacity is reached; the charging area is provided with a plurality of charging stations for charging the sorting and carrying robot and the material box carrying robot.
As shown in fig. 6, the controller wirelessly connects the sorting and carrying robot and the bin carrying robot, and executes the light and small piece high-speed sorting control method of the steps S101 to S105, the controller loads one or more sorting task execution models, and controls the sorting and carrying robot and the bin carrying robot to sort the goods according to the sorting task execution models, the sorting task execution models plan the sorting task requirements, and the sorting task execution models at least include: a task fastest completion model, a minimum number robot model, and a cost minimum model.
In the embodiment, the sorting and carrying robot is directly butted with the goods loading area and completes the sorting work of each turnover bin from the goods loading area to the sorting area. The light and small piece high-speed sorting system in the embodiment is not provided with a fixed piece mechanism any more, sorting work is completed by a sorting and carrying robot in a sorting area, a turnover material box is flexibly arranged in the sorting area, and the turnover material box is specifically arranged according to the layout of a field and the turnover material box generated by the controller in the step S1023.
Wherein, letter sorting transfer robot includes the moving mechanism of bottom and sets up the cargo platform on moving mechanism, and moving mechanism can set up a plurality of drive wheels to by motor drive. Cargo platform has the conveyer belt of two parallels, can syntropy or the incorgruous operation, and letter sorting transfer robot passes through cargo platform bearing goods to by the conveyer belt adjusting position direction of two parallels and transport to the turnover workbin that corresponds.
The main part of workbin transfer robot is the U-shaped, and the U-shaped main part can directly be pitched and hold in the both sides of turnover workbin, and the workbin is had enough to meet the need to the goods layer board of inside through the centre gripping that opens and shuts, can transport to the vanning district with reaching the workbin that sets for the volume of carrying cargo, transports the empty bin back again.
The operation platform of this embodiment is two-dimensional structure, and its area shape sets up according to the condition in concrete place, and the overall arrangement of turnover workbin can change in a flexible way according to the change of letter sorting task. Furthermore, the operation platform of the embodiment is not provided with a fixed multilayer three-dimensional sorting mechanism, but is completely used for transferring goods based on a turnover material box, and the arrangement place and the number can be flexibly changed. The operation platform is provided with a plurality of subareas according to the sorting requirement, and comprises a goods loading area, a sorting area, a packing area and a charging area, wherein the goods loading area, the sorting area and the packing area are sequentially arranged, the charging area is independently arranged,
in some embodiments, the work platform is further provided with a manual passage for manual troubleshooting, supervision, or auxiliary work.
The controller executes the light and small piece high-speed sorting control method of the steps S101 to S105, and controls the sorting and carrying robot and the bin carrying robot to carry out sorting operation.
In some embodiments, the control is further provided with a warehouse management system interface for remote access.
In some embodiments, the high-speed light and small piece sorting system is further provided with a secure access control subsystem for encrypting communications for the sorting and handling robots, the bin handling robot and the controller.
In some embodiments, the high-speed light and small piece sorting system is further provided with a database subsystem for storing interaction data between the sorting and handling robots, the bin handling robot and the controller.
In some embodiments, as shown in fig. 6, the controller comprises: the device comprises a monitoring control module, a model management module and a statistical analysis module.
The monitoring control module is connected with the warehousing management system through the warehousing management system interface to receive and manage sorting tasks, and controls the sorting carrying robots and the material box carrying robots to execute the sorting tasks based on the sorting task execution model.
And the model management module is used for modifying, adding or deleting the existing sorting task execution model after the controller carries out simulation optimization according to the sorting task to obtain the sorting task execution model.
The statistical analysis module is used for acquiring the spare part reserve quantity and carrying out spare part early warning when the spare part reserve quantity is smaller than a set value; acquiring task completion results fed back by each sorting and carrying robot and each material box carrying robot and carrying out sorting business statistics; and acquiring the working state information of the parts of each sorting and carrying robot and each material box carrying robot, and performing fault alarm and analysis in an abnormal state.
In another aspect, the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the steps of the method are implemented.
The invention is illustrated below with reference to a specific example:
the robot sorting system of the embodiment can sort on the ground without building a special sorting platform; the system can self-adapt to the size of the order sorting task according to the task cooperative control model provided by the system, and provide reasonable robot number and sorting field layout; different robot task cooperative control models can be freely expanded.
The embodiment provides a high-speed letter sorting system of light smallclothes, and the hardware is constituteed mainly by letter sorting transfer robot, and auxiliary assembly such as workbin transfer robot, robot charging station, turnover workbin and charging device constitutes.
To letter sorting transfer robot, mainly be responsible for the quick transport and the letter sorting of the light smallclothes of waiting to sort, in last department, the light smallclothes of waiting to sort is delivered to this type of robot's cargo platform on, this cargo platform comprises the belt group that can the side-to-side motion, can unload corresponding turnover workbin with waiting to sort article.
Workbin transfer robot mainly is responsible for having enough to meet the need the quick transport of workbin. In the system of the invention, the robot can quickly adapt to the width of the bin and is mainly responsible for: empty bins are placed in the system at the appropriate locations and full bins are transported to the appropriate next station.
Turnover workbin, the material that splendid attire letter sorting transfer robot sorted out, corresponding bar code should all be pasted to its 4 sides, and the workbin transfer robot of being convenient for and letter sorting robot discern and recheck. In the system of the embodiment, the size of the bin can be different according to different sorting tasks.
The physical layout of the system, in this embodiment, is shown in fig. 5. The whole sorting system mainly comprises a loading area, an AGV charging area, a sorting area, a boxing area and a manual passage. The logistics equipment comprises a goods loading platform, a robot charging pile, a material box carrying robot, a package sorting robot, a turnover material box and the like.
The pick area is supplied by a pick table or other means where the sorting robot carries the items.
A plurality of charging ports are arranged in a robot charging area, and the robot carries out self-service charging in the area.
The sorting area is the main work area of the sorting transfer robot and the bin transfer robot, the sorting transfer robot carries goods from the goods loading platform and then transfers the packages to the appointed turnover bins, and when the turnover bins reach the set goods loading amount, the bin transfer robot.
In the packing area, the material box carrying robot carries the turnover material boxes filled with mail or packages back to the area for packing operation, and then carries the empty turnover material boxes to the sorting area.
And after the sorting and carrying robot transports the objects to the corresponding turnover bins, the objects are unloaded into the corresponding bins. When the articles in the material box are full, the material box carrying robot carries the turnover material box to the goods receiving platform. Whether full can be assessed by the system setting weight, number or volume. The position of the discharge opening in the system, namely the position of the turnover bin, is dynamic and is controlled by a sorting scheduling algorithm in real time, and the system can be dynamically planned according to different targets of sorting operation, wherein the specific targets comprise the shortest total route, the shortest total sorting cost, the shortest total sorting time and the like of the sorting robot.
The system completes the sorting task planning of the whole system and the task control of the sorting robot and the carrying robot, and the controller part mainly comprises a WMS interface, a sorting model management module, a sorting model simulation and selection module, a monitoring control module, a statistical analysis module, a safety access control subsystem and a database subsystem.
And the WMS interface is mainly used for receiving the order sorting task from the warehousing management system, sending the sorting result to the warehousing management system after the system finishes the sorting task, and transmitting the data required by other WMS systems in real time. The WMS interface includes: a web service; http/https + json; socket and direct function call, etc.
And the sorting model management module is mainly responsible for managing a sorting task execution model (such as a task fastest completion model/a minimum number robot model/a minimum cost model), and comprises management functions of parameter setting, model addition, modification, deletion and the like. The whole structure of the software system adopts a layered design, the layers are independent, and the layers can only interact through a data interface, as shown in fig. 6.
And the sorting model simulation and selection module is mainly used for performing simulation analysis on the selected sorting model and selecting a reasonable sorting model to control an actual production task.
The monitoring control module is used for monitoring and controlling the whole sorting task, and provides three different forms of control for the sorting robot and the bin conveying robot: white box control; black box control and gray box control.
White box control: the control mode is that the robot can complete the functions of receiving goods, carrying, unloading goods, avoiding collision and the like through the bottommost control instruction provided by the robot. The robot is controlled most thoroughly by the mode, but the robot in the system must provide a bottom-layer control instruction protocol, and the system is designed to provide an abstract instruction set (such as the control instruction set of the robot: forward, backward, left turn, right turn, pause and the like) of the robot to integrate the integration and cooperation of robots of different manufacturers and different models.
Black box control: the monitoring system only needs to send the sorting task to be executed to the monitoring system, and the monitoring system is controlled by the monitoring system to complete the functions of receiving goods, transporting, unloading goods, avoiding collision and the like. The mode has low integration requirement on the system, only a sorting task interface is required to be provided for the system, but the actual completion effect of the system is limited by the capability of a robot system manufacturer.
Controlling an ash box: the monitoring system can distribute sorting or bin conveying tasks to the single robot in the system, the specific execution of the tasks is automatically completed by the independent robot individuals, and the execution result is fed back to the monitoring system. This mode requires the present monitoring module to provide a task assignment interface to the robot.
And the statistical analysis module is mainly used for carrying out classification statistics on the sorting tasks and carrying out use statistical analysis and fault statistical analysis on each hardware device in the system.
The work flow of the system comprises the following steps: 1) acquiring a task to be sorted from a WMS system; 2) performing simulation optimization on the tasks, and calculating the number of required robots and a site layout scheme; 3) the operator confirms the optimization scheme and the control scheme (white box control, black box control and gray box control); 4) the system automatically issues a control instruction and monitors the completion of the task. 5) The task completion result and other information are transmitted back to the WMS system.
The system of this embodiment has adopted workbin transfer robot, letter sorting transfer robot, turnover workbin and the high-speed light smallclothes system of sorting that software control system constitutes, need not set up dedicated letter sorting operation platform, can be according to the actual space overall arrangement condition in storehouse, and nimble arranging has reduced entire system's cost in ground, and deploys in a flexible way. The system of this embodiment can be according to the size of actual letter sorting task, and the position that can the turnover workbin of dynamic adjustment (also the position of letter sorting discharge opening) can be selected to self-adaptation to robot quantity and production place overall arrangement size to promote the productivity ratio of whole letter sorting, reduced manufacturing cost and balancing equipment utilization ratio. The sorting model in the software control system of the present embodiment can be freely expanded according to production practices. The practical application effect of the model can be greatly improved. The software control system of the embodiment adopts different control modes for the robot, and corresponding abstract interfaces are designed, so that the system can be self-adaptive to sorting robots of different manufacturers and different models and can be integrated into the system.
In summary, the light and small piece high-speed sorting control method, system and device provided by the invention can directly receive and sort the goods through the sorting and carrying robot, a special sorting platform is not required to be built, and the extension can be carried out at any time according to the quantity of the goods. Aiming at a specific sorting task, the method and the device can perform simulation optimization, self-adapt to the size of the order sorting task, provide reasonable robot number, sorting field and turnover bin layout, adapt to fields with different forms and structures, and generate corresponding sorting task execution models according to different sorting task requirements. Furthermore, the sorting and conveying robot system works in a white box control mode, a black box control mode or a gray box control mode according to requirements, the sorting and conveying robots and the bin conveying robots of different manufacturers and different models can be coordinately controlled in the same scene, and the expandable level and flexibility of the system are improved.
Those of ordinary skill in the art will appreciate that the various illustrative components, systems, and methods described in connection with the embodiments disclosed herein may be implemented as hardware, software, or combinations of both. Whether this is done in hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
It should also be noted that the exemplary embodiments noted in this patent describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments in the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made to the embodiment of the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A light and small piece high-speed sorting control method, for running on a controller, the controller wirelessly connecting and controlling a plurality of sorting and carrying robots to sort goods to turnover bins, the controller also wirelessly connecting and controlling a plurality of bin carrying robots to transfer the turnover bins reaching a set load capacity to a packing area, the method comprising:
acquiring a sorting task issued by a warehousing management system, wherein the sorting task records the type of goods, the quantity of the goods and the requirement of the sorting task; wherein the sorting task requirements include at least fastest completion of a task, minimum number of robots, and/or minimum cost;
carrying out simulation optimization according to the sorting tasks, calculating the number of the required sorting carrying robots and the required material box carrying robots based on a preset rule, generating a field and turnover material box layout, and generating a sorting task execution model;
selecting control modes according to the models of the sorting and carrying robot and the bin carrying robot, wherein the control modes at least comprise a white box control mode for directly controlling the actions of the sorting and carrying robot and the bin carrying robot based on a bottom layer instruction, a black box control mode for providing only task contents and independently executing by the sorting and carrying robot and the bin carrying robot, and a gray box mode for issuing tasks through a task assignment interface and independently executing by the sorting and carrying robot and the bin carrying robot;
sending instructions to the sorting and carrying robot and the bin carrying robot according to the control mode and the sorting task execution model;
and receiving task completion results fed back by each sorting and carrying robot and each material box carrying robot, and sending the task completion results to the warehousing management system.
2. The light and small workpiece high-speed sorting control method according to claim 1, wherein simulation optimization is performed according to the sorting task, the number of required sorting carrying robots and required bin carrying robots is calculated based on preset rules, a site and turnover bin layout is generated, and a sorting task execution model is generated, and the method comprises the following steps:
establishing an electronic map according to an actual working environment;
establishing a mathematical model according to the electronic map, the constraint conditions and the targets in the sorting task;
and solving and verifying the mathematical model, and outputting the required sorting carrying robots, the number of the required bin carrying robots, the layout of the field and the turnover bins and a sorting task execution model.
3. The light and small workpiece high-speed sorting control method according to claim 1, wherein after issuing commands to the sorting and carrying robot and the bin carrying robot according to the control manner and the sorting task execution model, the method further comprises:
and acquiring the working state information of the parts of each sorting and carrying robot and each material box carrying robot to perform equipment operation analysis, and performing fault alarm and analysis if the working state information of the parts is abnormal.
4. The light small piece high-speed sorting control method according to claim 1, further comprising:
and acquiring task completion results fed back by each sorting and carrying robot and each material box carrying robot, counting sorting businesses and generating business analysis reports.
5. A light piece high speed sortation system, comprising:
the sorting and carrying robot comprises a moving mechanism and a carrying platform arranged on the moving mechanism, and two belt groups arranged in parallel are arranged on the carrying platform;
the bin carrying robot is used for transferring the turnover bins;
the operation platform is of a two-dimensional plane structure and at least comprises a goods loading area, a sorting area, a box loading area and a charging area; the goods loading area is provided with a goods loading platform for loading goods for the sorting and carrying robot; the sorting area is provided with a plurality of turnover bins for receiving the goods sorted and unloaded by the sorting and carrying robot, and the turnover bins are transferred to the bin loading area by the bin carrying robot for loading after reaching a set loading capacity; the charging area is provided with a plurality of charging stations for charging the sorting and carrying robot and the bin carrying robot;
a controller wirelessly connecting the sorting and carrying robot and the bin carrying robot and executing the light and small item high-speed sorting control method according to any one of claims 1 to 4, wherein the controller is loaded with one or more sorting task execution models and controls the sorting and carrying robot and the bin carrying robot to sort the goods according to the sorting task execution models, the sorting task execution models are planned according to the sorting task requirements, and the sorting task execution models at least comprise: a task fastest completion model, a minimum number robot model, and a cost minimum model.
6. The light fraction high speed sortation system as claimed in claim 5, wherein the bin handling robot has a U-shaped body with retractable cargo pallets inside to carry or unload turnaround bins.
7. The high-speed light fraction sorting system of claim 5 further including a security access control subsystem for encrypting communications between the sorting handling robot, the bin handling robot and the controller.
8. The high-speed light small-piece sorting system according to claim 5, further comprising a database subsystem for storing interaction data between the sorting and handling robot, the bin handling robot and the controller.
9. The light fraction high speed sortation system as claimed in claim 6, wherein said controller comprises:
the monitoring control module is connected with the warehousing management system through the warehousing management system interface to receive and manage sorting tasks, and controls each sorting and carrying robot and each material box carrying robot to execute the sorting tasks based on the sorting task execution model;
the model management module is used for modifying, adding or deleting the existing sorting task execution model after the controller carries out simulation optimization according to the sorting task to obtain the sorting task execution model;
the statistical analysis module is used for acquiring the reserve quantity of the parts and carrying out part early warning when the reserve quantity of the parts is less than a set value; acquiring task completion results fed back by each sorting and carrying robot and each material box carrying robot and carrying out sorting business statistics; and acquiring the working state information of the parts of each sorting and carrying robot and each material box carrying robot, and performing fault alarm and analysis in an abnormal state.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 4 when executing the program.
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| CN115123723B (en) * | 2022-07-20 | 2023-12-22 | 上海木蚁机器人科技有限公司 | Logistics transportation system and method |
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