CN114572666B

CN114572666B - Construction method and device of high-speed sorting system for small and light packages

Info

Publication number: CN114572666B
Application number: CN202210183751.6A
Authority: CN
Inventors: 汪朝林; 苏志远; 程彬; 胡海强; 谭树勇
Original assignee: Bao Kai Shanghai Intelligent Logistics Technology Co ltd
Current assignee: Bao Kai Shanghai Intelligent Logistics Technology Co ltd
Priority date: 2022-02-28
Filing date: 2022-02-28
Publication date: 2022-09-16
Anticipated expiration: 2042-02-28
Also published as: CN114572666A

Abstract

The application provides a method and a device for constructing a high-speed sorting system for small and light packages, wherein the method comprises the following steps: solving a one-time sorting throughput time model of the sorting handling robot according to the number of the loading platforms, the target throughput and the target working time within a preset time period so as to obtain the optimal number of the sorting handling robots of the light and small package high-speed sorting system and the half perimeter of a sorting area; and generating a construction result for correspondingly constructing the high-speed sorting system of the light and small packages in the arrangement field according to the actual size data of the arrangement field, the optimal number of sorting and carrying robots of the high-speed sorting system of the light and small packages and the half perimeter of the sorting area. The method and the device can avoid the influence of human factors, can improve the efficiency and the automation degree of the construction process of the high-speed sorting system for the small and light packages, are closer to a real sorting scene, effectively improve the confidence coefficient of the planning layout process of the high-speed sorting system for the small and light packages, and can effectively ensure the application reliability and the operation efficiency of the constructed high-speed sorting system for the small and light packages.

Description

Construction method and device of high-speed sorting system for small and light packages

Technical Field

The application relates to a logistics equipment control system technology, in particular to a light and small package high-speed sorting system construction method, a light and small package high-speed sorting system construction method and a light and small package high-speed sorting system construction device.

Background

The hardware of the novel high-speed sorting system for the light and small packages comprises: sorting transfer robot, workbin transfer robot and turnover workbin. The sorting and carrying robot is responsible for carrying the light and small pieces to be sorted from the loading platform to the turnover bin; the material box carrying robot is responsible for carrying empty turnover material boxes to the sorting opening, and when the turnover material boxes are full, the turnover material boxes are carried to the packaging table; the turnover workbin is responsible for the light and small pieces that splendid attire letter sorting transfer robot was sorted out. The equipment layout planning of the novel light small package sorting system refers to planning and setting up related operation areas for realizing high-speed sorting operation of light small packages, and the layout planning comprises area size and layout of a functional area and quantity configuration of sorting equipment in the functional area so as to guarantee throughput and operation efficiency of package sorting of a logistics center. Therefore, the accurate sorting system equipment layout planning method has important reference significance for logistics enterprises to carry out sorting center layout planning, and the construction cost of the sorting center is reduced under the condition that the logistics enterprises guarantee the operation efficiency and meet the throughput.

At present, the construction method of the light and small package high-speed sorting system mainly comprises two types: firstly, manual layout is realized, the method mainly depends on manual experience, is greatly influenced by subjective factors of people, and has high layout work difficulty and low accuracy; secondly, layout planning is carried out according to equipment with fixed system size and equipment scale, and the method can not adapt to scenes that the sorting capacity changes along with the change of site size, equipment quantity and the like obviously.

Disclosure of Invention

In view of the above, the embodiments of the present application provide a method and an apparatus for constructing a high-speed sorting system for small and light packages, so as to obviate or mitigate one or more of the disadvantages in the prior art.

One aspect of the application provides a method for constructing a high-speed sorting system for small and light packages, which comprises the following steps:

according to the number of preset loading platforms, target throughput and target working time within a preset time period, solving a preset one-time sorting throughput time model of a sorting handling robot to obtain the optimal number of sorting handling robots and half perimeter of a sorting area of a high-speed sorting system for light and small packages, wherein the one-time sorting throughput time model of the sorting handling robot is used for representing the corresponding relation among the half perimeter of the sorting area, the number of sorting robots and the one-time sorting throughput time of the sorting handling robot of the high-speed sorting system for the light and small packages;

and generating construction result data for correspondingly constructing the light and small package high-speed sorting system in the layout field according to the actual size data of the layout field, the optimal number of sorting and carrying robots of the light and small package high-speed sorting system and the half perimeter of a sorting area.

In some embodiments of the present application, solving a preset one-time sorting throughput time model of sorting handling robots according to a preset number of loading platforms, a preset target throughput in a preset time period, and a preset target operating time to obtain an optimal number of sorting handling robots and a half perimeter of a sorting area of a high-speed sorting system for small and light packages includes:

determining the unit time throughput of the high-speed sorting system for the light and small packages according to the target throughput and the target working time in the preset time period;

determining the target throughput time of a single light small package of the high-speed light small package sorting system based on the preset number of loading platforms, the target throughput in the preset time period and the target working time;

and inputting the unit time throughput and the single light small package target throughput time into a preset one-time sorting throughput time model of a sorting handling robot so as to obtain the optimal number of the sorting handling robots and the half perimeter of a sorting area of the high-speed sorting system for the light small packages.

In some embodiments of the present application, the generating, according to the actual size data of the layout field, the optimal number of sorting handling robots of the high-speed sorting system for the light and small packages, and the half perimeter of the sorting area, the construction result data for correspondingly constructing the high-speed sorting system for the light and small packages in the layout field includes:

determining the length and the width of a sorting area corresponding to the high-speed sorting system of the light and small packages based on actual size data of an arrangement site and the half perimeter of the sorting area;

according to the optimal number of the sorting and carrying robots of the high-speed sorting system for the light and small packages and the length and width of the sorting area, building result data for correspondingly building the high-speed sorting system for the light and small packages in the arrangement field are generated, so that the sorting area is correspondingly divided in the arrangement field based on the building result data, and the high-speed sorting system for the light and small packages is built in the sorting area.

In some embodiments of the present application, before the solving the preset sorting handling robot one-time sorting throughput time model, the method further includes:

dividing the operation flow of a sorting and carrying robot in the high-speed sorting system for the light and small packages into a robot loading system and a robot unloading system;

respectively determining queuing models corresponding to the robot loading system and the robot unloading system;

and constructing a one-time sorting throughput time model of the sorting and carrying robot based on the respective corresponding queuing models of the robot loading system and the robot unloading system.

In some embodiments of the present application, the queuing model of the robotic loading system comprises: an M/G/1 queuing model; the queuing model of the robot unloading system comprises: G/M/1 queuing model;

correspondingly, the constructing a one-time sorting throughput time model of the sorting and carrying robot based on the respective corresponding queuing models of the robot loading system and the robot unloading system comprises the following steps:

according to the M/G/1 queuing model, constructing expected waiting time EW of the sorting and carrying robot for completing one sorting task in the robot loading system _r The target expression of (1); wherein the EW _r Is used for representing the actual running speed v of the sorting and carrying robot and the arrival rate lambda of the light and small packages entering the high-speed sorting system _r The width W and the length L of the sorting area are in corresponding relation;

and constructing the expected delay time ED of the sorting and carrying robot for transferring the material boxes in the robot unloading system according to the G/M/1 queuing model _p The target expression of (1); wherein the ED _p Is used to represent the square coefficient of the variation of the arrival time of the sorting and handling robot in the robot unloading system

Squared difference of landing arrival times

Service rate mu of service processes in a robotic loading system _R And the arrival rate lambda of the light and small packages entering the high-speed sorting system _r The corresponding relation between the two;

based on a service time of the sorting handling robot in the robot loading system, an expected unloading time in the robot unloading system, the EW _r Target expression of and ED _p The one-time sorting throughput time model tr (r) of the sorting and carrying robot is generated.

In some embodiments of the present application, the expected waiting time EW for the sorting transfer robot to complete a sorting task in the robotic pick-up system is constructed according to the M/G/1 queuing model _r The target expression of (1), comprising:

respectively determining the expected delay time ED of the sorting and carrying robot to complete one sorting task in the robot loading system _r And expected service time ES _r The expression of (1);

based on an expected delay time ED for the sorting handling robot to complete a sorting job in the robotic loading system _r Expression of (2) and expected service time ES _r Determining an expected waiting time EW for said sorting transfer robot to complete a sorting job in said robotic loading system _r The expression of (1);

according to the M/G/1 queuing model, the EW is processed _r Is updated to represent the actual running speed v of the sorting handling robot, the arrival rate lambda of the light and small packages entering the high-speed sorting system _r EW corresponding to the relationship between the width W and the length L of the sorting area _r The target expression of (1).

In some embodiments of the present application, the expected delay time ED for the sortation transfer robot to transfer bins in the robot discharge system is constructed according to the G/M/1 queuing model _p The target expression of (1), comprising:

constructing a system for representing the actual running speed v of a sorting handling robot, the arrival rate lambda of the light and small packages entering the high-speed sorting system _r The square of the variation of the arrival time of the sorting and handling robot in the robot unloading system corresponding to the width W and the length L of the sorting areaCoefficient of performance

According to the G/M/1 queuing model and the square coefficient of the change of the arrival time of the sorting and carrying robot in the robot unloading system

Establishing an expected delay time ED for the sortation transfer robot to transfer bins in the robot discharge system _p The expression of (1);

squared difference based on unloading arrival time of the sorting transfer robot

Will be the ED _p Is updated to a square coefficient representing the change in arrival time of a sorting handling robot in the robot discharge system

Squared difference of landing arrival times

Service rate mu of service processes in a robotic loading system _R And the arrival rate lambda of the light and small package high-speed sorting system _r ED of the correspondence between _p The target expression of (1).

Another aspect of the present application provides a high-speed sorting system construction apparatus for small and light packages, including:

the system comprises a mathematical model solving module, a sorting and handling system and a sorting and handling system, wherein the mathematical model solving module is used for solving a preset one-time sorting and handling time model of a sorting and handling robot according to the number of preset loading platforms, the target handling capacity and the target working time within a preset time period so as to obtain the optimal number of the sorting and handling robots and the half perimeter of a sorting area of the light and small package high-speed sorting system, and the one-time sorting and handling time model of the sorting and handling robot is used for representing the corresponding relation among the half perimeter of the sorting area, the number of the sorting robots and the one-time sorting and handling time of the sorting and handling robot of the light and small package high-speed sorting system;

and the construction result generating module is used for generating construction result data for correspondingly constructing the light and small package high-speed sorting system in the arrangement field according to the actual size data of the arrangement field, the optimal number of the sorting and carrying robots of the light and small package high-speed sorting system and the half perimeter of the sorting area.

Another aspect of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the method for constructing a high-speed sorting system for light and small packages.

Another aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the method for constructing a high-speed sorting system for light small packages.

According to the construction method of the light and small package high-speed sorting system, a preset one-time sorting throughput time model of a sorting handling robot is solved according to the number of preset loading platforms, the target throughput and the target working time within a preset time period, so as to obtain the optimal number of sorting handling robots and the half perimeter of a sorting area of the small package high-speed sorting system, wherein the one-time sorting throughput time model of the sorting handling robot is used for expressing the corresponding relation among the half perimeter of the sorting area, the number of sorting robots and the one-time sorting throughput time of the sorting handling robot of the small package high-speed sorting system; generating construction result data for correspondingly constructing the small package high-speed sorting system in the arrangement field according to the actual size data of the arrangement field, the optimal sorting and carrying robot number of the small package high-speed sorting system and the half perimeter of the sorting area; by adopting the one-time sorting and handling time model of the sorting and handling robot for representing the corresponding relation among the half perimeter of the sorting area, the number of the sorting robots and the one-time sorting and handling time of the sorting and handling robot of the high-speed sorting system for the light and small packages, the relation among the area of the sorting area, the number of the robots and the handling capacity can be accurately analyzed by using a mathematical model, the influence of human factors can be further effectively avoided, the efficiency and the automation degree of the construction process of the high-speed sorting system for the light and small packages can be effectively improved, and the application reliability and the operation efficiency of the constructed high-speed sorting system for the light and small packages can be effectively ensured; through the actual dimensions data according to arranging the place and constructing the letter sorting place, can synthesize the robot kind of considering, the crowded and dynamic letter sorting place of robot, more press close to true letter sorting scene, effectively improve the confidence coefficient of the planning overall arrangement process of the high-speed letter sorting system of light parcel, and then can be before the construction of commodity circulation letter sorting center, realize the accurate efficient planning overall arrangement of the high-speed letter sorting system of light parcel, can improve the utilization ratio of resource, reduce user's such as commodity circulation enterprise construction cost and manufacturing cost etc. to improve user experience such as commodity circulation enterprise.

Additional advantages, objects, and features of the application 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 application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.

It will be appreciated by those skilled in the art that the objects and advantages that can be achieved with the present application are not limited to what has been particularly described hereinabove, and that the above and other objects that can be achieved with the present application will be more clearly understood from the following detailed description.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application, are incorporated in and constitute a part of this application, and are not intended to limit the application. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the application. For purposes of illustrating and describing certain portions of the present application, the drawings may have been enlarged, i.e., may be larger, relative to other features of the exemplary devices actually made in accordance with the present application. In the drawings:

fig. 1 is a schematic diagram of a novel high-speed sorting system for small and light packages.

Fig. 2 is a physical layout diagram of the novel high-speed sorting system for small light packages.

Fig. 3 is a general flowchart of a method for constructing a high-speed sorting system for light and small packages according to an embodiment of the present application.

Fig. 4 is a schematic flow chart of a method for constructing a high-speed sorting system for small and light packages according to an embodiment of the present application.

Fig. 5 is a schematic structural diagram of a light and small package high-speed sorting system construction device in another embodiment of the present application.

Fig. 6 is a diagram of a framework of a robot queuing system provided in an application example of the application.

Fig. 7 is a flowchart of layout planning steps of a novel high-speed sorting system for small and light packages according to an application example of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present application are provided to explain the present application and not to limit the present application.

Here, it should be further noted that, in order to avoid obscuring the present application with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present application are shown in the drawings, and other details not so relevant to the present application 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 herein that the term "coupled," if not specifically stated, may refer herein to not only a direct connection, but also an indirect connection in which an intermediate is present.

Hereinafter, embodiments of the present application will be described with reference to the drawings. In the drawings, the same reference numerals denote the same or similar parts, or the same or similar steps.

The light and small package high-speed sorting system that this application is directed against is different from traditional parcel sorting system, need not build dedicated letter sorting operation platform, but can be according to the actual spatial layout condition in storehouse, and nimble different quantity of collocation, different kind of intelligent body adapt to the place of equidimension not, and the use of regulation and control system that the enterprise can come the flexibility according to current order quantity, and light and small package high-speed sorting system refers to figure 1.

The light and small packages can also be called small packages, specifically packages which can be picked up, carried and unloaded by a sorting and carrying robot (also called a sorting robot), and the volume and the weight of the light and small packages can be specifically set according to the model of the selected sorting and carrying robot and the like.

The hardware of the novel high-speed sorting system for the light and small packages comprises: sorting transfer robot, workbin transfer robot and turnover workbin. The sorting and carrying robot is responsible for carrying the light and small pieces to be sorted from the loading platform to the turnover bin; the material box carrying robot is responsible for carrying empty turnover material boxes to the sorting opening, and when the turnover material boxes are full, the turnover material boxes are carried to the packaging table; the turnover workbin is responsible for the light and small pieces that splendid attire letter sorting transfer robot was sorted out.

The physical layout of the novel light and small package high-speed sorting system is shown in figure 2. The whole sorting system mainly comprises a loading area, a robot charging area (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 sorting carrying robot and material box packaging equipment. The functions of the regions are specifically described as follows:

(1) a goods loading area: the goods are supplied through a goods loading platform or other methods, and the sorting and carrying robot carries the goods.

(2) Robot charging area: the robot charges itself in this area.

(3) A sorting area: the main working area of the sorting and conveying robot is used for loading goods from the loading platform and then conveying the packages to the designated bins. The task assignment algorithm and the path planning algorithm of the sorting and carrying robots are involved, and the sorting tasks are completed by the plurality of sorting and carrying robots cooperatively.

(3) A boxing area: the bin transfer robot transfers the bins from there to the sorting area, and then transfers the sorted bins from the sorting area back to the bin packing operation.

Based on the physical layout of the novel high-speed sorting system for the small and light packages, the specific sorting process for a sorting order A is as follows:

1) the bin carrying robot carries the bin in charge of the order A to a designated position of a sorting area;

2) the sorting and carrying robot carries the packages of the order A to a bin which is responsible for the order A from the loading platform;

3) when all the packages of the order A are sorted, the bin carrying robot carries the bins to a bin loading area for packing.

Obviously, the novel light and small piece high-speed sorting system has the characteristic that the sorting efficiency and the work throughput of the novel light and small piece high-speed sorting system are obviously changed along with the change of the number of the sorting and carrying robots and the size of a work area.

The equipment layout planning of the novel light small package sorting system refers to planning and setting up related operation areas for realizing high-speed sorting operation of light small packages, and the layout planning comprises area size and layout of a functional area and quantity configuration of sorting equipment in the functional area so as to guarantee throughput and operation efficiency of package sorting of a logistics center. Therefore, the accurate sorting system equipment layout planning method has important reference significance for logistics enterprises to carry out sorting center layout planning, and the construction cost of the sorting center is reduced under the condition that the logistics enterprises guarantee the operation efficiency and meet the throughput.

For the sorting system, the following methods are mainly used for planning the layout of the equipment in the current logistics sorting center, but obviously, the methods are not suitable for the novel application scenario.

(1) Method of laying out a pattern

Before a system design method is proposed, people mostly adopt an empirical design method to solve a device layout problem, and design the same type or similar industrial layout by taking experience, data and data accumulated in the design and construction processes for years as reference, wherein a model of the device layout is mainly derived from the experience accumulation of people in the design process. The sample arrangement method is the earliest empirical layout method, and according to the principle of two-dimensional plane scale simulation, all components in a facility system are made into samples according to a certain proportion, then correlation analysis is carried out on the samples, and a better layout scheme is obtained by adjusting the positions of the samples in a plane diagram with the same proportion for many times. Because the layout method adopts manual layout, the construction is convenient and fast, the cost is low, but the subjective factors of people have great influence, and the standard popularization is difficult to form. Therefore, the method is only suitable for simpler layout design, and when the system is more complex, the layout result is not very accurate and the layout process is time-consuming.

(2) Graphical method

The graphical method is generated in the middle of the twentieth century, and has the advantage that a mathematical model can be combined with a sample placement method, but the sample placement method is still greatly limited in practical application because the sample placement method mainly depends on the design experience of the personnel participating in the layout, and lacks of overall assurance and systematic analysis.

(3) Computer simulation

With the advent and widespread use of electronic computer technology, powerful support and assistance is provided for the study of facility layout problems. The normal operation of the sorting center can be simulated through simulation software, the corresponding sorting capacity under different functional area layouts and equipment resource configurations of the sorting center can be confirmed in an auxiliary mode, and reference is provided for the construction layout planning of the sorting center. In the national research of the Simulation problem of the logistics center, software such as Auto Mod, eM-Plant, Plant Simulation, and Any logic is mostly adopted for Simulation verification. But the method is not strong in pertinence to the layout problem of the logistics sorting center, so that the simulation result may have deviation.

(4) SLP theory

SLP theory (System Layout Planning) is used for evaluating the correlation degree of each functional area of the sorting center by analyzing the correlation and comprehensive closeness degree of logistic and non-logistic factors among each operation unit. The primary work of SLP is to analyze the interrelationships between the various units of work, including quantitative logistic interrelationships and qualitative non-logistic interrelationships. The qualitative mutual relationship affinity degree is represented by A, E, I, O, U, X and corresponding 4, 3, 2, 1, 0 and-1 scores from high to low respectively, the mutual relationship between material flow and non-material flow is integrated to obtain the comprehensive relationship affinity degree of each functional area and other functional areas, and the total relationship affinity degree of each functional area is respectively calculated. And (5) integrating the comprehensive closeness degrees of all the functional areas to obtain a comprehensive functional area relation table. Then, according to the mutual relationship degree of the functional zones in the mutual relationship table, the distance between the functional zones is determined, and then the position of each functional zone is arranged according to the comprehensive degree of the functional zones in the functional zone comprehensive relationship table. And arranging the functional area with the highest score at the central position, then arranging the functional area with the correlation with the functional area being A-level, then arranging all the functional areas in sequence, and finally obtaining a functional area position correlation diagram. And combining the floor area of each functional area with the functional area position correlation diagram to form a functional area correlation diagram, and correcting and adjusting the functional area correlation diagram to obtain a plurality of feasible arrangement schemes. And finally, evaluating and selecting the alternative schemes by adopting a professional evaluation method, quantifying each evaluation factor, and determining the layout scheme with the most scores as the optimal layout scheme.

The SLP theory can effectively solve the problem of layout planning of the sorting center with known sorting area and equipment resource number, such as: after the system is built, the sorting area and equipment resources are fixed, and the sorting throughput is determined. However, for the sorting area and sorting handling robot extensible sorting system of the high speed sorting system to be solved by the present application, the throughput will no longer be a fixed value, but will be closely related to the number of sorting handling robots, the area and layout of the sorting area.

The novel high-speed sorting system for the light and small workpieces has the characteristic that the sorting efficiency and the operation throughput of the novel high-speed sorting system are obviously changed along with the change of the number of the sorting and carrying robots and the size of an operation area. The method is mainly designed aiming at the dynamic operation efficiency and the dynamic throughput of various robots in a novel light and small package high-speed sorting system, can effectively solve the problem of planning layout before the construction of a sorting center, and particularly accurately analyzes the relation between the area of a sorting area, the number of the robots and the throughput by using a mathematical model; and the types of the robots, the crowdedness of the robots and the dynamic sorting field are comprehensively considered, so that the method is closer to a real sorting scene.

Based on this, an embodiment of the present application provides a method for constructing a high-speed sorting system for light and small packages, and referring to fig. 3, the method for constructing a high-speed sorting system for light and small packages specifically includes the following contents:

step 100: according to the preset number of the loading platforms, the target throughput and the target working time within the preset time period, solving a preset one-time sorting throughput time model of the sorting handling robot to obtain the optimal number of the sorting handling robots and the half perimeter of the sorting area of the light and small package high-speed sorting system, wherein the one-time sorting throughput time model of the sorting handling robot is used for representing the corresponding relation among the half perimeter of the sorting area, the number of the sorting robots and the one-time sorting throughput time of the sorting handling robot of the light and small package high-speed sorting system.

Step 200: and generating construction result data for correspondingly constructing the light and small package high-speed sorting system in the layout field according to the actual size data of the layout field, the optimal number of sorting and carrying robots of the light and small package high-speed sorting system and the half perimeter of a sorting area.

From the above description, according to the construction method of the high-speed sorting system for the small and light packages provided by the embodiment of the application, by adopting the sorting handling robot one-time sorting throughput time model for representing the corresponding relation among the half perimeter of the sorting area, the number of the sorting robots and the one-time sorting throughput time of the sorting handling robot of the high-speed sorting system for the small and light packages, the relation among the half perimeter of the sorting area, the number of the sorting robots and the one-time sorting throughput time of the sorting handling robot can be accurately analyzed by using a mathematical model, so that the influence of human factors can be effectively avoided, the efficiency and the automation degree of the construction process of the high-speed sorting system for the small and light packages can be effectively improved, and the application reliability and the operation efficiency of the constructed high-speed sorting system for the small and light packages can be effectively ensured; through the actual dimensions data according to arranging the place and constructing the letter sorting place, can synthesize the robot kind of considering, the crowded and dynamic letter sorting place of robot, more press close to true letter sorting scene, effectively improve the confidence coefficient of the planning overall arrangement process of the high-speed letter sorting system of light parcel, and then can be before the construction of commodity circulation letter sorting center, realize the accurate efficient planning overall arrangement of the high-speed letter sorting system of light parcel, can improve the utilization ratio of resource, reduce user's such as commodity circulation enterprise construction cost and manufacturing cost etc. to improve user experience such as commodity circulation enterprise.

In order to further improve the efficiency of solving the one-time sorting throughput time model of the sorting and carrying robot, in a method for constructing a high-speed sorting system for small and light packages provided by the embodiment of the present application, referring to fig. 4, step 100 in the method for constructing a high-speed sorting system for small and light packages specifically includes the following contents:

step 110: and determining the unit time throughput of the high-speed sorting system for the light and small packages according to the target throughput and the target working time in the preset time period.

Step 120: and determining the target throughput time of the single light small package of the high-speed light small package sorting system based on the preset number of loading platforms, the target throughput in the preset time period and the target working time.

Step 130: and inputting the unit time throughput and the single light small package target throughput time into a preset one-time sorting throughput time model of a sorting handling robot so as to obtain the optimal number of the sorting handling robots and the half perimeter of a sorting area of the high-speed sorting system for the light small packages.

As can be seen from the above description, according to the construction method of the high-speed sorting system for small and light packages provided in the embodiment of the present application, the throughput per unit time and the target throughput time of a single small and light package are input into the preset one-time sorting throughput time model of the sorting handling robot, so as to obtain the optimal number and half perimeter of the sorting handling robots of the high-speed sorting system for small and light packages, thereby effectively avoiding the influence of human factors, effectively improving the efficiency of solving the one-time sorting throughput time model of the sorting handling robot, ensuring the reliability and validity of the solution result, and further improving the efficiency, automation degree and validity of the construction process of the high-speed sorting system for small and light packages.

In order to further improve the confidence of the planning and layout process of the high-speed sorting system for the small and light packages, in a method for constructing the high-speed sorting system for the small and light packages provided by the embodiment of the present application, referring to fig. 4, step 200 in the method for constructing the high-speed sorting system for the small and light packages specifically includes the following contents:

step 210: and determining the length and the width of a sorting area corresponding to the high-speed sorting system of the light and small packages based on the actual size data of the layout field and the half perimeter of the sorting area.

Step 220: according to the optimal number of the sorting and carrying robots of the high-speed sorting system for the light and small packages and the length and width of the sorting area, building result data for correspondingly building the high-speed sorting system for the light and small packages in the arrangement field are generated, so that the sorting area is correspondingly divided in the arrangement field based on the building result data, and the high-speed sorting system for the light and small packages is built in the sorting area.

As can be seen from the above description, in the method for constructing a high-speed sorting system for small and light packages provided in the embodiment of the present application, the length and width of the high-speed sorting system for small and light packages are determined based on the actual size data of the layout field and the half perimeter, so that the reliability and effectiveness of the corresponding construction of the high-speed sorting system for small and light packages in the layout field can be effectively improved, and the confidence of the planning and layout process of the high-speed sorting system for small and light packages is further improved.

In order to effectively improve the reliability and effectiveness of the application of the one-time sorting throughput time model of the sorting and carrying robot, in the method for constructing a high-speed sorting system for small and light packages provided by the embodiment of the present application, referring to fig. 4, before step 100 in the method for constructing a high-speed sorting system for small and light packages, the following contents are further included:

step 010: and dividing the operation flow of the sorting and carrying robot in the high-speed sorting system for the light and small packages into a robot loading system and a robot unloading system.

Step 020: and respectively determining queuing models corresponding to the robot loading system and the robot unloading system.

Step 030: and constructing a one-time sorting throughput time model of the sorting and carrying robot based on the respective corresponding queuing models of the robot loading system and the robot unloading system.

As can be seen from the above description, according to the method for constructing a high-speed sorting system for small and light packages provided in the embodiment of the present application, a one-time sorting throughput time model of a sorting and handling robot is constructed in advance based on respective queuing models corresponding to the robot loading system and the robot unloading system, so that the reliability and effectiveness of the one-time sorting throughput time model of the sorting and handling robot can be effectively improved, and the reliability and effectiveness of constructing the high-speed sorting system for small and light packages can be further improved.

In the method for constructing a high-speed sorting system for small and light packages, a queuing model of a robot loading system includes: an M/G/1 queuing model; the queuing model of the robot unloading system comprises: G/M/1 queuing model;

correspondingly, the step 030 in the method for constructing the high-speed sorting system for small and light packages further includes the following steps:

step 031: according to the M/G/1 queuing model, constructing expected waiting time EW of the sorting and carrying robot for completing one sorting task in the robot loading system _r The target expression of (1); wherein the EW _r Is used for representing the actual running speed v of the sorting and carrying robot and the arrival rate lambda of the light and small packages entering the high-speed sorting system _r The width W and the length L of the sorting area are in corresponding relation;

step 032: constructing an expected delay time ED of the sorting and carrying robot for transferring the material boxes in the robot unloading system according to the G/M/1 queuing model _p Target expression ofFormula (I); wherein the ED _p Is used to represent the square coefficient of the variation of the arrival time of the sorting and handling robot in the robot unloading system

Squared difference of landing arrival times

Service rate mu of service processes in a robotic loading system _R And the arrival rate lambda of the light and small package high-speed sorting system _r The corresponding relation between them.

Step 033: based on a service time of the sorting handling robot in the robot loading system, an expected unloading time in the robot unloading system, the EW _r Target expression of and ED _p The one-time sorting throughput time model tr (r) of the sorting and carrying robot is generated.

As can be seen from the above description, according to the construction method of the high-speed sorting system for the small and light packages provided in the embodiment of the present application, the one-time sorting throughput time model of the sorting and carrying robot is constructed based on the M/G/1 queuing model corresponding to the robot loading system and the G/M/1 queuing model corresponding to the robot unloading system, so that the one-time sorting throughput time model of the sorting and carrying robot can be effectively used for representing the corresponding relationship among the area (or half perimeter) of the sorting area, the number of the sorting and carrying robots, and the throughput of the high-speed sorting system for the small and light packages, and further the application reliability and effectiveness of the one-time sorting throughput time model of the sorting and carrying robot can be further improved.

In the method for constructing a high-speed sorting system for small and light packages provided in the embodiment of the present application, step 031 in the method for constructing a high-speed sorting system for small and light packages further includes the following steps:

step 0311: respectively determining the expected delay time ED of the sorting and carrying robot to complete one sorting task in the robot loading system _r And expected service time ES _r The expression of (1);

step 0312: based on an expected delay time ED for the sorting handling robot to complete a sorting job in the robotic loading system _r Expression of (2) and expected service time ES _r Determining an expected waiting time EW for said sorting transfer robot to complete a sorting job in said robotic loading system _r The expression of (1);

step 0313: according to the M/G/1 queuing model, the EW is processed _r Is updated to represent the actual running speed v of the sorting handling robot, the arrival rate lambda of the light and small packages entering the high-speed sorting system _r EW corresponding to the relationship between the width W and the length L of the sorting area _r The target expression of (1).

In the method for constructing a high-speed sorting system for small and light packages provided in the embodiment of the present application, step 032 in the method for constructing a high-speed sorting system for small and light packages further includes the following steps:

step 0321: constructing a system for representing the actual running speed v of a sorting handling robot, the arrival rate lambda of the light and small packages entering the high-speed sorting system _r The square coefficient of the arrival time change of the sorting and carrying robot in the robot unloading system according to the corresponding relation between the width W and the length L of the sorting area

Step 0322: according to the G/M/1 queuing model and the square coefficient of the change of the arrival time of the sorting and carrying robot in the robot unloading system

step 0323: squared difference based on unloading arrival time of the sorting transfer robot

Coupling the ED with a rotating shaft _p Is updated to a square coefficient representing the change in arrival time of a sorting handling robot in the robot discharge system

Squared difference of landing arrival times

Service rate mu of service processes in a robotic loading system _R And the arrival rate lambda of the light and small packages entering the high-speed sorting system _r ED of the correspondence between _p The target expression of (1).

From a software level, the present application further provides a high-speed sorting system construction device for performing all or part of the high-speed sorting system construction method for light small packages, and referring to fig. 5, the high-speed sorting system construction device for light small packages specifically includes the following contents:

the mathematical model solving module 10 is configured to solve a preset one-time sorting handling time model of the sorting handling robot according to the preset number of loading platforms, the target throughput and the target working time within a preset time period, so as to obtain the optimal number of the sorting handling robots and the half perimeter of the sorting area of the high-speed sorting system for the small and light packages, where the one-time sorting handling time model of the sorting handling robot is used for representing the corresponding relationship among the half perimeter of the sorting area, the number of the sorting robots and the one-time sorting handling time of the sorting handling robot of the high-speed sorting system for the small and light packages.

And the construction result generating module 20 is configured to generate construction result data for correspondingly constructing the high-speed sorting system for the small and light packages in the layout field according to the actual size data of the layout field, the optimal number of the sorting handling robots of the high-speed sorting system for the small and light packages, and the half perimeter of the sorting area.

The embodiment of the device for constructing a high-speed sorting system for small and light packages provided by the present application may be specifically used for executing the processing procedure of the embodiment of the method for constructing a high-speed sorting system for small and light packages in the above embodiment, and the function of the device is not described herein again, and reference may be made to the detailed description of the embodiment of the method for constructing a high-speed sorting system for small and light packages.

The part of the light and small package high-speed sorting system construction device for constructing the light and small package high-speed sorting system can be executed in a server, and in another practical application situation, all the operations can be completed in a client device. The selection may be specifically performed according to the processing capability of the client device, the limitation of the user usage scenario, and the like. This is not a limitation of the present application. If all operations are completed in the client device, the client device may further include a processor for performing specific processing of the construction of the high-speed sorting system for the light and small packages.

The client device may have a communication module (i.e., a communication unit), and may be communicatively connected to a remote server to implement data transmission with the server. The server may include a server on the task scheduling center side, and in other implementation scenarios, the server may also include a server on an intermediate platform, for example, a server on a third-party server platform that is communicatively linked to the task scheduling center server. The server may include a single computer device, or may include a server cluster formed by a plurality of servers, or a server structure of a distributed apparatus.

The server and the client device may communicate using any suitable network protocol, including a network protocol that has not been developed at the filing date of the present application. The network protocol may include, for example, a TCP/IP protocol, a UDP/IP protocol, an HTTP protocol, an HTTPS protocol, or the like. Of course, the network Protocol may also include, for example, an RPC Protocol (Remote Procedure Call Protocol), a REST Protocol (Representational State Transfer Protocol), and the like used above the above Protocol.

As can be seen from the above description, the construction device of the high-speed sorting system for the small and light packages provided by the embodiment of the application adopts the model of the one-time sorting throughput time of the sorting handling robot for representing the corresponding relationship among the half perimeter of the sorting area, the number of the sorting robots and the one-time sorting throughput time of the sorting handling robot of the high-speed sorting system for the small and light packages, so that the mathematical model can be used for accurately analyzing the relationship among the area of the sorting area, the number of the robots and the throughput, further the influence of human factors can be effectively avoided, the efficiency and the automation degree of the construction process of the high-speed sorting system for the small and light packages can be effectively improved, and the application reliability and the operation efficiency of the constructed high-speed sorting system for the small and light packages can be effectively ensured; through the actual dimensions data according to arranging the place and constructing the letter sorting place, can synthesize the robot kind of considering, the crowded and dynamic letter sorting place of robot, more press close to true letter sorting scene, effectively improve the confidence coefficient of the planning overall arrangement process of the high-speed letter sorting system of light parcel, and then can be before the construction of commodity circulation letter sorting center, realize the accurate efficient planning overall arrangement of the high-speed letter sorting system of light parcel, can improve the utilization ratio of resource, reduce user's such as commodity circulation enterprise construction cost and manufacturing cost etc. to improve user experience such as commodity circulation enterprise.

In order to further explain the scheme, the application also provides a specific application example of the pre-construction planning and layout method of the novel light and small piece high-speed sorting system. The concrete description is as follows:

modeling assumptions and parameter settings

In this application we assume that: in the goods loading area, the number of the goods loading points is known, and the goods are supplied during each sorting operation; in the boxing area, the number of the placement points of the workbin is known, and the workbin can be used completely during operation; in the sorting area, the number of the bin placing points is known, and the bin placing points can be used completely during operation; the robot runs at a constant speed, and the speed of the robot is not influenced by no load or load; the electric quantity of the robot meets the requirement of tasks in one batch, and the robot does not need to be charged midway; the robot does not have a fault to block other robots regardless of the collision in the process of the robot moving; the theoretical sorting completion time is the same as the actual sorting completion time, and the time delay is not considered.

Setting parameters:

r: the number of sorting and carrying robots;

n: the number of loading platforms;

v ₀ : the normal running speed of the sorting and carrying robot is achieved;

degree of congestion in the sorting area;

v: the actual running speed of the sorting and carrying robot,

t _p : single unloading time of the sorting and carrying robot;

w: the width of the sorting area;

l: sorting zone length;

tr: the throughput time for completing one-time package sorting;

λ _r : the arrival rate of the sorting and carrying robot entering the sorting system;

μ _R : the service rate of the sorting and carrying robot in the service process of the robot loading system,

t _r : sorting the service time of the carrying robot in the robot loading system;

μ _P : the service rate of the sorting handling robot for the unloading process in the robot unloading system,

t _p : sorting expected unloading times of the transfer robots in the robot unloading system;

the framework of the robot queuing system of the novel high-speed sorting system for the light and small packages is shown in fig. 6, and the arrival process of the packages is a poisson process with the arrival rate of lambda. After a package arrives at a pick-up area in the sortation system, the sortation system may be divided into a robotic pick-up system and a robotic drop-off system, both of which have a queuing process. The robotic loading system may be described in M/G/1 queuing and the robotic unloading system may be described in G/M/1 queuing.

Suppose that the robot needs to carry a package to (X) _r ,Y _r ) Where, then X _r ∈U[0,W],Y _r ∈U[0,L]The expected path of the sorting and carrying robot for completing one sorting task is as follows:

the expected service time of the sorting and carrying robot is as follows:

(II) model construction

(1) Service time of robot

ED _r 、ES _r The expected delay time and the expected service time of the robot, respectively:

the expected wait time is:

because the robot service is an M/G/1 queuing system, there are:

substituting equations (6), (7), and (8) into equation (5):

the square coefficient of the change in departure time of a parcel leaving the robotic loading system is:

in a robotic loading system, the squared difference in robot arrival times

Average coefficient of robot service time variation

Substituting equation (10) together with equations (7) and (8) can obtain: :

(2) unloading service time

The leaving process of the robot loading system is integrated into a process flowing into the turnover bin, so that the leaving process of the robot loading system is the arriving process of the robot unloading system. The arrival rate of the robot unloading system is therefore:

like the robot loading system, the square coefficient of the arrival time variation of the robot unloading system is as follows:

the robot unloading system is a G/M/1 queuing system, and the expected delay time of the turnover bin is as follows:

wherein:

in a robotic discharge system, the squared difference of discharge arrival times

Substituting equation (12) into equation (14) yields:

(3) one package sorting throughput time

Queuing delay time ED for robot to go to loading platform to pick up in robot loading system _r And robot service time

With discharge queue delay time ED in the robotic discharge system _p And expected discharge time

So the time to complete a package sort throughput is the sum of all times and can result in:

in the case of no parcel priority, it is assumed that the arrival rates λ of parcels are equally distributed to R robots, that is:

for the R robot, the throughput time of its one-time parcel sorting is:

in the case of no order priority, Tr (R) is

Is monotonically decreased above, at

Upper is a convex function, let R ^* For sorting the number of handling robots, R, in which the throughput time is shortest ₀ Is at the same time

On the upper part

The values for R are:

(iii) layout planning step, see fig. 7:

the method comprises the following steps: determining sorting system target throughput T _d And daily working hours t _d . Layout planners of the novel high-speed sorting system for the light and small packages firstly need to confirm the daily throughput and the daily working time of the sorting system;

step two: and calculating the package arrival rate lambda. The arrival process of the packages follows poisson distribution, and the arrival rate of the packages represents the arrival times of the packages in unit time, namely the throughput of the sorting system in unit time:

step three: determining the number N of loading platforms of the sorting system, and calculating the target throughput time Tr of the single package of the sorting system. The queuing system framework provided by the application belongs to a multi-loading platform multi-queue queuing system, each loading platform is provided with an independent queuing system, and the loading platforms are mutually connected in parallel and do not interfere with each other. Therefore, the throughput of the system can be regarded as being linear with the number of loading platforms, and the single package target throughput time of the system is as follows:

step four: determining an optimal number R of sorting and handling robots ^* And a half perimeter L + W of the sorting zone. According to the formula (21), the optimal number R of the sorting and carrying robots can be obtained when the system has the shortest throughput time of a single package ^* And the relation with the half perimeter L + W of the sorting area, the lambda and Tr obtained in the second step and the third step are combined and substituted into the formula (20) to obtain the optimal number of the sorting and carrying robots and the half perimeter of the sorting area.

Step five: and determining the length L and the width W of the sorting area according to the actual situation of the system layout field. The half perimeter of the sorting area where the throughput time of a single package of the system is the shortest is obtained in step four. According to the actual situation of the system layout field, the length and the width of the sorting area are determined under the condition that the sum of the length and the width of the sorting area is not changed.

Step six: through the five steps, the length and the width of the optimal sorting area when the throughput time of a single package of the system is shortest and the optimal number of the sorting and carrying robots are obtained, namely the optimal layout planning scheme of the novel high-speed sorting system for the light and small packages is obtained.

In summary, the application example provides a technical scheme for layout planning of a novel light and small package high-speed sorting system, and a mathematical model is used for accurately analyzing the relationship between the length and width of a sorting area, the number of sorting and carrying robots and the throughput of a logistics sorting center, so that the influence of human factors is avoided; the type of the robot, the congestion of the robot and a dynamic sorting field are comprehensively considered, so that the confidence of the planning and layout method is improved; the accurate and efficient planning layout of the light and small wrapping high-speed sorting center can be realized before the construction of the logistics sorting center, the utilization rate of resources is improved, and the construction cost and the production cost of enterprises are reduced.

The present application further provides a computer device (i.e., an electronic device), where the computer device may include a processor, a memory, a receiver, and a transmitter, and the processor is configured to execute the method for constructing a light and small package high-speed sorting system mentioned in the foregoing embodiments, where the processor and the memory may be connected by a bus or in another manner, for example, connected by a bus. The receiver can be connected with the processor and the memory in a wired or wireless mode. The computer equipment is in communication connection with the light small package high-speed sorting system construction device or the light small package high-speed sorting system construction device so as to receive real-time motion data from a sensor in the wireless multimedia sensor network and receive an original video sequence from the video acquisition device.

The processor may be a Central Processing Unit (CPU). The Processor may also be other general purpose Processor, Digital Signal Processor (DSP), Application Specific Integrated Circuit (ASIC), Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or a combination thereof.

The memory, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the method for constructing a light and small package high-speed sorting system in the embodiments of the present application. The processor executes various functional applications and data processing of the processor by running non-transitory software programs, instructions and modules stored in the memory, namely, the method for constructing the light and small package high-speed sorting system in the above method embodiment is realized.

The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor, and the like. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and such remote memory may be coupled to the processor via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory and, when executed by the processor, perform the light and small parcel high speed sortation system build method of an embodiment.

In some embodiments of the present application, the user equipment may include a processor, a memory, and a transceiver unit, the transceiver unit may include a receiver and a transmitter, the processor, the memory, the receiver, and the transmitter may be connected by a bus system, the memory is configured to store computer instructions, and the processor is configured to execute the computer instructions stored in the memory to control the transceiver unit to transceive signals.

As an implementation manner, the functions of the receiver and the transmitter in the present application may be implemented by a transceiver circuit or a dedicated chip for transceiving, and the processor may be implemented by a dedicated processing chip, a processing circuit or a general-purpose chip.

As another implementation manner, a manner of using a general-purpose computer to implement the server provided in the embodiment of the present application may be considered. That is, program code that implements the functions of the processor, receiver, and transmitter is stored in the memory, and a general-purpose processor implements the functions of the processor, receiver, and transmitter by executing the code in the memory.

The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, is used to implement the steps of the aforementioned method for constructing a high-speed sorting system for light and small packages. The computer readable storage medium may be a tangible storage medium such as Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, floppy disks, hard disks, removable storage disks, CD-ROMs, or any other form of storage medium known in the art.

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 application. 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 present application are the programs or code segments used to perform the required tasks. The program or code segments can 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.

It is to be understood that the present application is not limited to the particular arrangements and instrumentalities described above and shown in the attached drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions or change the order between the steps after comprehending the spirit of the present application.

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.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the embodiment of the present application for those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A construction method of a high-speed sorting system for small and light packages is characterized by comprising the following steps:

according to the preset number of loading platforms, the target throughput and the target working time within a preset time period, solving a preset one-time sorting throughput time model of a sorting handling robot to obtain the optimal number of the sorting handling robots and the half perimeter of a sorting area of the light and small package high-speed sorting system, wherein the one-time sorting throughput time model of the sorting handling robot is used for representing the corresponding relation among the half perimeter of the sorting area, the number of the sorting robots and the one-time sorting throughput time of the sorting handling robot of the light and small package high-speed sorting system;

2. The method for constructing the high-speed sorting system for the light and small packages according to claim 1, wherein the method for solving a one-time sorting throughput time model of a preset sorting handling robot according to the preset number of loading platforms, the target throughput within a preset time period and the target working time so as to obtain the optimal number of sorting handling robots and the half perimeter of a sorting area of the high-speed sorting system for the light and small packages comprises the following steps:

3. The method for constructing the high-speed sorting system for the small and light packages according to claim 1, wherein the generating of the construction result data for correspondingly constructing the high-speed sorting system for the small and light packages in the layout field according to the actual size data of the layout field, the optimal number of the sorting handling robots of the high-speed sorting system for the small and light packages and the half perimeter of the sorting area comprises:

4. The method for constructing a high-speed sorting system for small and light packages according to claim 1, wherein before the solving the preset one-time sorting throughput time model of the sorting handling robot, the method further comprises:

5. The method for constructing a high-speed sorting system for small and light packages according to claim 4, wherein the queuing model of the robotic loading system comprises: an M/G/1 queuing model; the queuing model of the robot unloading system comprises: G/M/1 queuing model;

according to the M/G/1 queuing model, constructing expected waiting time EW of the sorting and carrying robot for completing one sorting task in the robot loading system _r The target expression of (1); wherein the EW _r Is used for expressing the actual running speed v of the sorting and carrying robot and the arrival rate lambda of the light and small packages entering the high-speed sorting system of the light and small packages _r The width W and the length L of the sorting area are in corresponding relation;

Is unloaded toSquared difference in arrival time

based on a service time of the sorting handling robot in the robot loading system, an expected unloading time in the robot unloading system, the EW _r Target expression of and ED _p The one-time sorting throughput time model tr (r) of the sorting and conveying robot is generated.

6. The method for constructing a high-speed sorting system for light and small packages according to claim 5, wherein the expected waiting time EW for the sorting and carrying robot to complete one sorting task in the robot loading system is constructed according to the M/G/1 queuing model _r The target expression of (1), comprising:

respectively determining the expected delay time ED of the sorting and carrying robot to complete one sorting task in the robot loading system _r Expression of (2) and expected service time ES _r The expression of (1);

7. The method of claim 5The method for constructing the high-speed sorting system for the light and small packages is characterized in that the expected delay time ED of the sorting and carrying robot for transferring the material boxes in the robot unloading system is constructed according to the G/M/1 queuing model _p The target expression of (1), comprising:

constructing a system for representing the actual running speed v of a sorting handling robot, the arrival rate lambda of the light and small packages entering the high-speed sorting system _r The square coefficient of the arrival time change of the sorting and carrying robot in the robot unloading system according to the corresponding relation between the width W and the length L of the sorting area

Will be the ED _p Is updated to a square coefficient representing the change in arrival time of a sorting handling robot in the robot unloading system

Squared difference of landing arrival times

Service rate mu of service processes in a robotic loading system _R And the arrival rate lambda of the light and small packages entering the high-speed sorting system _r ED of the correspondence between _p The target expression of (2).

8. The utility model provides a high-speed letter sorting system of light parcel constructs device which characterized in that includes:

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method of constructing a high-speed sortation system for light and small packages as claimed in any of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the method for constructing a high-speed sorting system for light small packages according to any one of claims 1 to 7.