CN115924377A

CN115924377A - Distribution trolley, control method, cargo distribution device and controller

Info

Publication number: CN115924377A
Application number: CN202310027876.4A
Authority: CN
Inventors: 王国鹏
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2023-01-09
Filing date: 2023-01-09
Publication date: 2023-04-07

Abstract

The embodiment of the disclosure discloses a distribution trolley, a control method, a cargo distribution device and a controller. One specific implementation mode of the distribution trolley comprises the following steps: a vehicle body; the moving mechanism is arranged on the vehicle body, is used for driving the vehicle body to move along a first direction, and comprises a moving driving component and moving wheels, and the moving wheels are arranged on two sides of the vehicle body; the separate sowing mechanism is used for realizing separate sowing of goods in the second direction, and comprises a separate sowing driving assembly and a belt, wherein the belt is installed on the upper surface of the vehicle body, two ends of the upper surface of the belt are respectively provided with a raised flange, and the two ends of the vehicle body in the first direction are higher than the upper surface of the belt. This embodiment is related to storage logistics technology, can form on the upper surface of belt through flange and the automobile body that exceeds and enclose the fender to avoid or reduce the condition that the goods rolls when the dolly operation of broadcasting and drop and take place. Thereby improving the stability of the goods transportation of the separate sowing trolley.

Description

Distribution trolley, control method, cargo distribution device and controller

Technical Field

The embodiment of the disclosure relates to the technical field of warehouse logistics, in particular to a distribution trolley, a control method, a cargo distribution device and a controller.

Background

In the related goods distribution technology, goods are generally conveyed to a distribution vehicle by a supply station. And then the goods are carried to the corresponding cell by the separate sowing vehicle, thereby completing the separate sowing of the goods.

However, the inventors have found that the belts used in existing drop-off carts are typically flat belts. During the moving process of the separate sowing vehicle, goods on the separate sowing vehicle easily roll off the belt. Not only can influence holistic minute efficiency, can cause the goods to damage moreover.

The above information disclosed in this background section is only for enhancement of understanding of the background of the inventive concept and, therefore, it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art in this country.

Disclosure of Invention

This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. Some embodiments of the present disclosure propose a distribution cart, a control method, a cargo distribution device, a controller, a computer-readable medium, and a computer program product to solve one or more of the technical problems mentioned in the background section above.

In a first aspect, some embodiments of the present disclosure provide a cart for distribution, comprising: a vehicle body; the moving mechanism is arranged on the vehicle body, is used for driving the vehicle body to move along a first direction, and comprises a moving driving component and moving wheels, and the moving wheels are arranged on two sides of the vehicle body; the separate sowing mechanism is used for realizing separate sowing of goods in the second direction, and comprises a separate sowing driving assembly and a belt, wherein the belt is installed on the upper surface of the vehicle body, two ends of the upper surface of the belt are respectively provided with a raised flange, and the two ends of the vehicle body in the first direction are higher than the upper surface of the belt.

In some embodiments, the separating and sowing cart is also provided with a position detection assembly for detecting the position of the flange on the belt.

In some embodiments, the belt is provided with a detection through hole on the lower surface; and the position detection assembly comprises a first detection part and a second detection part, the first detection part is positioned between the upper surface and the lower surface of the belt, and the lower surface of the belt is positioned between the first detection part and the second detection part.

In some embodiments, the distribution trolley is provided with a set of position detection components; when the flanges are positioned at two ends of the upper surface of the belt, the detection through hole passes through a detection path of the position detection assembly.

In some embodiments, two sets of position detection assemblies are mounted on the distribution trolley, including a first position detection assembly and a second position detection assembly, which are respectively located at two ends of the belt; when the flanges are positioned at two ends of the upper surface of the belt, the detection through hole passes through a detection path of the first position detection assembly; when the detection through hole passes through the detection path of the second position detection assembly, one flange is positioned on the upper surface of the belt and close to the inlet end of the distribution mechanism, and the other flange is positioned on the lower surface of the belt.

In some embodiments, the position detection assembly includes a specular reflection sensor, the first detection component includes a signal transceiver, and the second detection component includes a mirror.

In some embodiments, the distribution trolley is further provided with a cargo detection assembly, and the cargo detection assembly is arranged at least one of the two ends of the distribution mechanism.

In some embodiments, the moving mechanism comprises two moving wheels connected by a connecting shaft, wherein the connecting shaft is connected with the moving drive assembly; and the moving mechanism also comprises a plurality of guide wheel sets which are respectively arranged on the periphery of the vehicle body, wherein the guide wheel sets comprise at least two guide wheels with mutually vertical rotating shaft axes.

In a second aspect, some embodiments of the present disclosure provide a control method for the distribution cart described in any implementation manner of the first aspect, including: acquiring the rotating position of a belt in the separate sowing mechanism; in response to determining that the belt is not in a goods receiving waiting state, sending an adjusting signal to a distributing driving assembly in the distributing mechanism so as to enable the belt to be in the goods receiving waiting state, wherein in the goods receiving waiting state, one rib is positioned on the upper surface of the belt and close to the inlet end of the distributing mechanism, and the other rib is positioned on the lower surface of the belt; and responding to the situation that the sub-sowing trolley is positioned at the goods receiving position and the goods reach the inlet end of the sub-sowing mechanism, sending a goods receiving instruction to the sub-sowing driving assembly, so that the two flanges are respectively positioned at the two ends of the upper surface of the belt, and the goods are positioned between the two flanges.

In some embodiments, the method further comprises: in response to the fact that the goods receiving is completed, sending a moving instruction to a moving driving assembly in the moving mechanism to enable the distribution trolley to move to the position corresponding to the target grid; in response to the fact that the split-sowing trolley is located at the split-sowing position, sending a throwing instruction to the split-sowing driving assembly to throw the goods into the target cell; and in response to determining that the goods are not detected at the outlet end of the separating mechanism, determining that the goods are separated, and sending a moving instruction to the moving driving component to execute the next separating task.

In some embodiments, obtaining the rotational position of the belt in the dispensing mechanism comprises: in response to the detection of the change of the detection signal of the position detection assembly, determining that the belt in the distribution mechanism is in a zero reset state, wherein in the zero reset state, the two flanges are respectively positioned at two ends of the upper surface of the belt; and determining that the goods reach the entrance end in response to detecting that the detection signal of the goods detection assembly at the entrance end of the distribution mechanism changes.

In some embodiments, in response to determining that the receiving is complete, sending a movement instruction to a movement drive assembly in the movement mechanism includes: in response to the detection that the detection signal of the position detection assembly changes again, determining that the goods receiving is finished, and sending a moving instruction to the moving driving assembly; and determining that the goods distribution is finished in response to detecting that a detection signal of the goods detection assembly positioned at the outlet end of the distribution mechanism changes.

In a third aspect, some embodiments of the present disclosure provide a cargo spreader comprising: the part supplying platform is used for conveying goods to the sub-sowing trolley; at least one sub-sowing trolley, which adopts the sub-sowing trolley structure described in any one of the implementation manners of the first aspect, is used for transporting received goods to a target grid.

In some embodiments, at least two raised barrier strips are arranged on the conveying belt of the workpiece supply table, and the barrier strips extend along the movement direction of the conveying belt.

In a fourth aspect, some embodiments of the present disclosure provide a controller comprising: one or more processors; a storage device, on which one or more programs are stored, which, when executed by one or more processors, cause the one or more processors to implement the control method described in any of the implementations of the second aspect.

In a fifth aspect, some embodiments of the disclosure provide a computer-readable medium on which a computer program is stored, wherein the computer program, when executed by a processor, implements the control method described in any implementation manner of the second aspect.

In a sixth aspect, some embodiments of the present disclosure provide a computer program product comprising a computer program that, when executed by a processor, implements the control method described in any of the implementations of the second aspect.

The above embodiments of the present disclosure have the following advantages: the distribution trolley of some embodiments of the present disclosure can improve the stability of cargo transportation, especially easy rolling cargo. In particular, the existing distribution trolley generally adopts a flat belt to realize the distribution function of goods. However, for some rollable goods, such as cylindrical, conical or other irregularly shaped goods (or packages of goods). During the operation of the distribution trolley, goods are likely to roll off from the two ends of the flat belt due to bumping and the like. Not only can influence holistic goods efficiency of disseminating like this, drop moreover probably to cause the goods to damage.

Based on this, the belt of the distribution mechanism of the distribution trolley of some embodiments of the present disclosure is arranged on the upper surface of the trolley body. And both ends of the vehicle body in the first direction are higher than the upper surface of the belt. Meanwhile, the two ends of the upper surface of the belt are respectively provided with a raised rib. Through flange and the automobile body that exceeds (be located the automobile body at first direction both ends) like this, can form the fender that encloses around the goods on the upper surface of belt to can avoid or reduce at the dolly operation in-process of broadcasting, the condition that the goods roll and drop takes place. Thereby helping to improve the overall distribution efficiency and reducing the probability of damage of the goods due to falling.

Drawings

The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements are not necessarily drawn to scale.

Fig. 1 is a schematic structural view of some embodiments of a distribution cart of the present disclosure;

FIG. 2A is a schematic diagram of some embodiments of belts in a dispensing cart;

FIG. 2B is a schematic diagram of a position sensing assembly and some embodiments of a belt;

FIG. 2C is a schematic view of another embodiment of a position sensing assembly and belt;

FIG. 3A is a flow chart of some embodiments of a control method of the present disclosure;

FIG. 3B is a schematic flow chart illustrating operation of some embodiments of a dispensing cart;

fig. 4A is a schematic structural view of some embodiments of the cargo distribution apparatus of the present disclosure;

FIG. 4B is a schematic view of some embodiments of a conveyor belt in a feeder station;

FIG. 5 is a schematic block diagram of a controller suitable for use in implementing some embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.

It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.

It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence of the functions performed by the devices, modules or units.

It is noted that references to "a" or "an" in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will appreciate that references to "one or more" are intended to be exemplary and not limiting unless the context clearly indicates otherwise.

The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.

The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 shows a schematic structural view of some embodiments of the present disclosure of a distribution cart. As shown in fig. 1, the distribution cart may include a cart body 10, a moving mechanism 20, and a distribution mechanism 30.

As can be seen in fig. 1, the vehicle body 10 may constitute a support frame of the sowing cart. The moving mechanism 20 may be mounted on the vehicle body 10 for driving the vehicle body 10 to move in a first direction. Wherein the first direction is generally the moving direction of the separating trolley, as shown by the arrow in fig. 1. Here, the moving mechanism 20 may include a moving drive assembly (not shown in the drawings) and a moving wheel 21. The moving wheels 21 may be installed at both sides of the vehicle body 10. Thus, under the action of the moving driving component, the moving wheel 21 can rotate, so that the distribution trolley is driven to move in the first direction.

Additionally, the distribution mechanism 30 may be used to effect distribution of goods in the second direction. It will be appreciated that the distribution trolley will tend to shuttle across the distribution wall to carry the goods to the corresponding compartments. These cells are typically located on one or both sides of the distribution wall. Thus, the second direction here is generally different from the first direction described above. Typically, the direction of the separation is perpendicular to the direction of movement.

As shown in fig. 1, the distribution mechanism 30 may include a distribution drive assembly and a belt 32. The belt 32 may be mounted on the upper surface of the vehicle body 10. Wherein the upper surface is generally the surface facing away from the ground, opposite the lower surface. As an example, both ends of the vehicle body 10 in the first direction may be provided with fixing members 11 (e.g., fixing plates, brackets, etc.). The belt 32 may be mounted on the fixed member 11 by two rollers 311. One of the rollers 311 may be coupled to a drop drive motor. Here, both ends of the vehicle body 10 in the first direction are higher than the upper surface of the belt 32. The height of the fixing member 11 as shown in fig. 1 is higher than the upper surface of the belt 32. Meanwhile, the belt 32 is provided with raised ribs 33 at both ends of the upper surface, respectively. Here, the rib 33 may be welded to the belt 32. Wherein the upper surface of the belt is generally the working surface for carrying cargo.

As can be seen from fig. 1, the separating and sowing trolley of the present disclosure can form a surrounding barrier around the goods on the upper surface of the belt through the barrier edge and the trolley body higher than the upper surface of the belt, so that the situation that the goods roll and fall off in the operation process of the separating and sowing trolley can be avoided or reduced. Thereby helping to improve the overall distribution efficiency and reducing the probability of damage of the goods due to falling.

In some embodiments, to facilitate determining the position of the rib 33 and to facilitate control of the dispensing carriage, a position detection assembly 40 may also be mounted on the dispensing carriage. The position sensing assembly 40 may be used to detect the position of the rib 33 on the belt 32. The detection mode and the installation position of the position detection assembly 40 are not limited herein, and may be set according to actual conditions. As an example, the position sensing assembly may be mounted on the fixed assembly and located at an opposite end of the dispensing mechanism from the entrance end, such as the right side as shown in fig. 1. Thus, when the ribs 33 are located at both ends of the upper surface of the belt, the position detecting unit can detect the rib 33 on the right side, thereby generating a detection signal.

In some embodiments, as shown in fig. 2A, the belt 32 may be provided with a detection through hole K on the lower surface. Wherein the lower surface is generally the surface facing the ground. And the position detecting assembly 40 may include a first detecting member 41 and a second detecting member (not shown in the drawings). Wherein the first sensing member 41 may be located between the upper and lower surfaces of the belt 32, as shown in fig. 2B. And the lower surface of the belt 32 may be located between the first and second sensing members.

As can be seen in fig. 2B, a set of position sensing assemblies 40 may be mounted on the cart. When the detection through hole K passes through the detection path of the position detection assembly 40, i.e. is located right below the first detection part 41, the two ribs 33 are located at two ends of the upper surface of the belt 32. In this case, this corresponds to the zero-point reset state of the distribution mechanism. Wherein the detection path is typically a signal transmission path between the first detection means and the second detection means.

Alternatively, as can be seen from fig. 2C, two sets of position sensing assemblies 40 may be mounted on the cart. The two sets of position sensing assemblies may be a first position sensing assembly 401 and a second position sensing assembly 402, respectively, located at opposite ends of the belt 32. When the detection through hole K passes through the detection path of the first position detection assembly 401, that is, is located at the position of the first position detection assembly 401, the two ribs 33 are located at two ends of the upper surface of the belt. In this case, this corresponds to the zero-point reset state of the distribution mechanism. When the detecting through hole K passes through the detecting path of the second position detecting assembly 402, that is, when the second position detecting assembly 402 is located, one of the ribs 33 may be located on the upper surface of the belt 32 and near the inlet end (left side in the figure) of the separating mechanism; another rib 33 may be located on the lower surface of the belt 32. In this case, the state corresponds to a reception waiting state of the distribution mechanism. This ensures that the goods are located between the two ribs 33 when they are moved onto the distribution trolley.

In some embodiments, the position detection assembly 40 may be an infrared sensor. Wherein the first and second detecting parts may be one of an infrared transmitter and an infrared receiver, respectively. Alternatively, the position detection assembly 40 may also be a specular reflection sensor. In this case, the first detection part may be a signal transceiver and the second detection part may be a mirror.

It can be understood that due to the ribs arranged on the belt, when the distribution trolley receives goods, the belt can not rotate all the time like the traditional distribution trolley. In some embodiments, the distribution trolley may further have a cargo detection assembly 50 mounted thereon, disposed at least one of the two ends of the distribution mechanism. As shown in fig. 1, the cargo detecting assembly 50 may be disposed on the fixed assembly 11 near the entrance end of the distribution mechanism, as shown on the left side of the fixed assembly 11. Thus, when the load is detected by the load detection assembly 50, the belt 32 may begin to rotate, thereby transferring the load to the dispensing cart. Here, the inlet end and the outlet end of the separating mechanism can be set according to actual conditions. For example, the inlet end and the outlet end may be the same end. The cargo detection assembly may be provided only at the entrance end.

It should be noted that the moving mechanism in the distribution trolley of the present disclosure may adopt various common vehicle driving structures. As an example, as shown in fig. 1, the moving mechanism 20 may include two moving wheels 21. The two moving wheels 21 may be connected by a connecting shaft and located at a middle position of the vehicle body 10. Wherein, the connecting shaft can be connected with a mobile driving component (such as a driving motor). Here, the moving wheel 21 may adopt a gear structure. I.e. the moving wheel 21 is a moving gear. At this time, a rack structure matched with the rail can be formed on the rail. Therefore, the effective movement of the separate sowing trolley can be ensured, and the slipping phenomenon of the moving wheel 21 caused by heavier cargos and the like can be avoided or reduced. In addition, the moving mechanism 20 may further include a plurality of guide wheel sets respectively installed around the vehicle body 10. Wherein each guide wheel set may comprise at least two guide wheels 22, and the axes of the rotating shafts of the guide wheels are perpendicular to each other. Therefore, the distribution trolley can be ensured to stably move along the first direction through the mutual matching of the plurality of guide wheel sets.

The embodiment of the disclosure further provides a control method for controlling the distribution trolley described in any implementation manner of the embodiment. Referring further to fig. 3A, a flow 300 of some embodiments of the control method of the present disclosure is shown. The control method may include the steps of:

step 301, obtaining the rotation position of a belt in the distribution mechanism.

In some embodiments, an executing body (e.g., a vehicle controller) of the control method may acquire a rotational position of a belt in a dispensing mechanism on a dispensing cart. As an example, the executive body may determine its current position based on historical rotation of the belt. The rotational position of the belt can be determined, for example, based on the count of an encoder in the drop feed drive assembly.

Optionally, in response to detecting that the detection signal of the position detection assembly changes, it is determined that the belt in the distribution mechanism is in the zero-point reset state. Wherein, under the zero reset state, two flanges are respectively located the both ends of belt upper surface. That is, when the detection through hole is located on the detection path of the position detection assembly, the detection signal of the position detection assembly may be changed. At this time, the execution body may determine that the belt is in the zero-point reset state.

Step 302, in response to determining that the belt is not in the pick-up wait state, sending an adjustment signal to a dispensing drive assembly in the dispensing mechanism to place the belt in the pick-up wait state.

In some embodiments, if it is determined that the belt is not in the pick-up wait state, the execution body may send an adjustment signal to a dispensing drive assembly in the dispensing mechanism to place the belt in the pick-up wait state. Wherein, under the waiting state of receiving goods, one flange is located the upper surface of belt, and is close to the entry end of separating and sowing mechanism, and another flange is located the lower surface of belt.

As an example, the executive body may send an adjustment signal to the split drive assembly if the belt is in a zero-reset state. Thus, the separating drive assembly can drive the belt to rotate towards the inlet end.

And 303, in response to the fact that the distribution trolley is located at the goods receiving position and the goods reach the inlet end of the distribution mechanism, sending a goods receiving instruction to the distribution driving assembly, so that the two flanges are located at the two ends of the upper surface of the belt respectively and the goods are located between the two flanges.

In some embodiments, if the execution main body determines that the distribution trolley is in the goods receiving position and the goods reach the inlet end of the distribution mechanism, a goods receiving instruction can be sent to the distribution driving assembly, so that the two flanges are respectively located at the two ends of the upper surface of the belt, and the goods are located between the two flanges. The receiving position is generally the position where the distribution trolley receives the goods and is usually located at the outlet end of the supply table.

Here, whether the goods reach the entrance end of the distribution mechanism may be determined in various ways. As an example, in response to detecting that the detection signal of the cargo detection assembly at the entrance end of the distribution mechanism changes, it indicates that the cargo shields the cargo detection assembly. The executive body can thus determine the arrival of the goods at the entrance end. As another example, the cargo detection assembly may be mounted at an exit end of the feeder table. Like this when the goods arrives the exit end of supplying the piece platform, when sheltering from the goods detection subassembly production, supply the piece platform can send the signal to carrying out the main part. The enforcement agent, upon receiving the signal, may determine that the cargo has reached the entry end of the distribution mechanism.

In addition, when receiving a goods receiving instruction, the separate sowing driving assembly can drive the belt to rotate towards the direction far away from the inlet end, so that goods are conveyed to the separate sowing trolley.

Further, the execution main body can send a moving instruction to the moving driving component in the moving mechanism under the condition that the goods receiving is determined to be completed, so that the distribution trolley moves to the position corresponding to the target grid. As an example, the execution body may determine the rotation distance of the belt according to the counting condition of the encoder in the distribution drive assembly. Thereby guarantee that goods and two flanges all are located the upper surface of belt, and the goods is located between two flanges. Alternatively, in response to detecting that the detection signal of the position detection assembly is changed again, that is, the detection through hole is located on the detection path of the position detection assembly again, it may be determined that the receiving is completed.

In some embodiments, in response to determining that the split carriage is in the split position, the execution body may send a launch instruction to the split drive component to launch the good into the target bay. That is to say, when the separate sowing trolley moves to the position corresponding to the target cell, the separate sowing drive assembly can drive the belt to rotate towards the direction of the outlet end of the separate sowing mechanism, so that the goods on the separate sowing trolley are thrown into the target cell.

And then, in response to the fact that the outlet end of the distribution mechanism does not detect the goods, determining that the goods distribution is completed, and sending a moving instruction to the moving driving assembly to execute the next distribution task. As an example, if a change in the detection signal of the cargo detection assembly at the exit end of the distribution mechanism is detected, the execution main body may determine that the cargo distribution is completed. It will be appreciated that when the load is at the exit end of the distribution mechanism, it will cause a blockage to the load detection assembly. When the goods leave the outlet end and fall into the target grid opening, the goods do not shield the goods detection assembly any more. No cargo is detected at this time.

By way of example, fig. 3B illustrates a schematic operational flow diagram of some embodiments of a cart for distribution. As can be seen from fig. 3B, first, in response to receiving the detection signal of the position detecting assembly, the belt is in the state shown as a in fig. 3B, which illustrates that the separating mechanism of the separating carriage is in the zero-point reset state. In this case, the vehicle controller may send an adjustment command to the drop drive assembly to rotate the belt a fixed length in the direction of the entrance end of the drop mechanism. So that one flange is positioned on the upper surface of the belt and close to the inlet end of the separate sowing mechanism; and the other rib is located on the lower surface of the belt. The fixed length here may be determined according to the setting position of the rib. The belt may be rotated counterclockwise through a fixed length as shown at B in fig. 3B. The length value may be measured by a drive motor encoder.

Then, in response to determining that the adjustment signal execution is complete, i.e., the belt is in the state shown as B in fig. 3B, and the cart is moved to the pick-up position, at which time it may be determined that the cart enters the pick-up waiting state. In this case, the delivery table can deliver goods to the distribution trolley.

Thereafter, in response to detecting a change in the detection signal of the cargo detection assembly, as shown at c in fig. 3B, the arrival of cargo at the entrance end of the distribution mechanism is illustrated. At this point, the vehicle controller may send a pick-up command to the drop drive assembly to rotate the belt away from the entrance end. The belt may rotate clockwise as shown at d in fig. 3B. Until the detection signal of the position detection assembly is received again.

Here, in response to receiving the detection signal of the position detection assembly again, it is indicated that the cargo is already located on the distribution trolley and between the two flanges. I.e. the belt is in the condition shown as e in figure 3B. At this time, the vehicle controller may send a pick-up stop command to the distribution drive assembly. And sending a moving instruction to the moving driving component so as to enable the distribution trolley to move to the target cell.

Then, in response to determining that the target bay is reached, the vehicle controller may send a launch command to the split drive assembly to rotate the belt in a direction toward the exit end to launch the cargo into the target bay, as shown at f in fig. 3B on the same side of the exit end as the entrance end. It should be noted that, in the process of releasing the goods, the goods may pass through the goods detection assembly to shield the goods.

And then, in response to the fact that the cargo release is determined to be finished, namely that the change of the detection signal of the cargo detection component is detected, indicating that the cargo distribution is finished. At this point, the vehicle controller may send a movement command to the movement drive assembly to return the dispensing cart to the pick-up position for the next dispensing task. It can be understood that the belt can continue to rotate during the movement of the distribution trolley until the detection signal of the position detection component is received. As shown in g of fig. 3B, the separating mechanism of the separating carriage returns to the zero reset state. That is to say, the separate sowing trolley can be adjusted before reaching the workpiece supply table in the running process of the separate sowing trolley for distributing the last goods to the workpiece supply table, so as to receive the next goods. This may help to improve overall cargo distribution efficiency.

It should be noted that, if the supply table detects that the goods are abnormal, such as failure or error in scanning the identification of the goods, an abnormal signal may be sent to the distribution trolley. At this time, the executing body can control the belt to rotate continuously when receiving the abnormal signal, so that the goods can be thrown out from the outlet end (such as the end opposite to the inlet end) of the distribution mechanism.

The embodiment of the disclosure also provides a goods distributing device. As shown in fig. 4A, the cargo distribution device may include a supply table 100 and at least one distribution cart 200. Here, the feeder table 100 may be used to transport goods to the distribution cart 200. The distribution trolley 200 can adopt the distribution trolley structure described in any implementation manner of the above embodiments. The distribution cart 200 may be used to transport received cargo to a destination bay.

In some embodiments, as shown in fig. 4B, at least two raised bars T may also be provided on the conveyor belt of the workpiece feeding table 100. The bars T may extend in the direction of movement of the conveyor belt. In this way, when transporting goods, the goods can be placed between at least two stop strips T, so that the goods can be moved along the direction of movement of the conveyor belt of the supply table. The condition that the goods roll and drop in the conveying process can be avoided or reduced, accurate directional supply of the goods can be realized, and the conveying direction of the goods is ensured. The structure improvement mode is simple and effective, the improvement cost is low, and the influence on the original equipment structure is low.

Referring now to fig. 5, a block diagram of a controller (e.g., a vehicle controller of a distribution cart) 500 suitable for use in implementing some embodiments of the present disclosure is shown. The controller shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

As shown in fig. 5, the controller 500 may include a processing device 501 (e.g., a central processing unit, a graphics processor, etc.) that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 502 or a program loaded from a storage device 508 into a Random Access Memory (RAM) 503. In the RAM503, various programs and data necessary for the operation of the controller 500 are also stored. The processing device 501, the ROM 502, and the RAM503 are connected to each other through a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

Generally, the following devices may be connected to the I/O interface 505: input devices 506 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, physical buttons, etc.; output devices 507 including, for example, speakers, vibrators, motors, and the like; storage devices 508 including, for example, hard disks, magnetic disks, and the like; and a communication device 509. The communication means 509 may allow the controller 500 to perform wireless or wired communication with other devices to exchange data. While fig. 5 illustrates a controller 500 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 5 may represent one device or may represent multiple devices as desired.

In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network via the communication device 509, or installed from the storage device 508, or installed from the ROM 502. The computer program, when executed by the processing device 501, performs the above-described functions defined in the methods of some embodiments of the present disclosure.

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

In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.

The computer readable medium may be embodied in the controller; or may be separate and not assembled into the controller. The computer readable medium carries one or more programs which, when executed by the controller, cause the controller to: acquiring the rotating position of a belt in the separate sowing mechanism; in response to determining that the belt is not in a goods receiving waiting state, sending an adjusting signal to a distributing driving assembly in the distributing mechanism so as to enable the belt to be in the goods receiving waiting state, wherein in the goods receiving waiting state, one rib is positioned on the upper surface of the belt and close to the inlet end of the distributing mechanism, and the other rib is positioned on the lower surface of the belt; and responding to the situation that the sub-sowing trolley is positioned at the goods receiving position and the goods reach the inlet end of the sub-sowing mechanism, sending a goods receiving instruction to the sub-sowing driving assembly, so that the two flanges are respectively positioned at the two ends of the upper surface of the belt, and the goods are positioned between the two flanges.

Furthermore, computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

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

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.

Some embodiments of the present disclosure also provide a computer program product comprising a computer program which, when executed by a processor, implements any of the control methods described above.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combinations of the above-mentioned features, and other embodiments in which the above-mentioned features or their equivalents are combined arbitrarily without departing from the spirit of the invention are also encompassed. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.

Claims

1. A dispensing cart, comprising:

a vehicle body;

the moving mechanism is arranged on the vehicle body, is used for driving the vehicle body to move along a first direction, and comprises a moving driving component and moving wheels, and the moving wheels are arranged on two sides of the vehicle body;

the separate sowing mechanism is used for realizing separate sowing of goods in the second direction, and comprises a separate sowing driving assembly and a belt, wherein the belt is installed on the upper surface of the vehicle body, raised flanges are respectively arranged at the two ends of the upper surface of the belt, and the vehicle body is arranged at the two ends of the first direction and is higher than the upper surface of the belt.

2. The distribution trolley according to claim 1, wherein a position detection assembly is further mounted on the distribution trolley for detecting the position of the rib on the belt.

3. The distribution trolley according to claim 2, wherein the belt is provided with a detection through hole on a lower surface; and

the position detection assembly comprises a first detection part and a second detection part, the first detection part is located between the upper surface and the lower surface of the belt, and the lower surface of the belt is located between the first detection part and the second detection part.

4. The distribution trolley according to claim 3, wherein the distribution trolley is provided with a set of the position detection components;

when the flanges are positioned at two ends of the upper surface of the belt, the detection through hole passes through a detection path of the position detection assembly.

5. The distribution trolley according to claim 3, wherein the distribution trolley is provided with two sets of position detection assemblies, including a first position detection assembly and a second position detection assembly, which are respectively arranged at two ends of the belt;

when the flanges are positioned at two ends of the upper surface of the belt, the detection through hole passes through a detection path of the first position detection assembly;

when the detection through hole passes through the detection path of the second position detection assembly, one flange is positioned on the upper surface of the belt and close to the inlet end of the separating and sowing mechanism, and the other flange is positioned on the lower surface of the belt.

6. The breakout cart of claim 3, wherein the position detection assembly comprises a specular reflection sensor, the first detection component comprises a signal transceiver, and the second detection component comprises a mirror.

7. The distribution trolley according to claim 1, wherein the distribution trolley is further provided with a cargo detection assembly arranged at least one of the two ends of the distribution mechanism.

8. The spreading trolley according to any one of claims 1-7, wherein the moving mechanism comprises two moving wheels connected by a connecting shaft, wherein the connecting shaft is connected to the moving drive assembly; and

the moving mechanism further comprises a plurality of guide wheel sets which are respectively arranged on the periphery of the vehicle body, wherein each guide wheel set comprises at least two guide wheels with mutually vertical rotating shaft axes.

9. A control method for controlling a cart according to any one of claims 1 to 8, comprising:

acquiring the rotating position of a belt in the separate sowing mechanism;

in response to determining that the belt is not in a goods receiving waiting state, sending an adjusting signal to a distribution driving assembly in the distribution mechanism so as to enable the belt to be in a goods receiving waiting state, wherein in the goods receiving waiting state, one rib is located on the upper surface of the belt and close to the inlet end of the distribution mechanism, and the other rib is located on the lower surface of the belt;

and in response to the fact that the sub-sowing trolley is located at the goods receiving position and the goods reach the inlet end of the sub-sowing mechanism, sending a goods receiving instruction to the sub-sowing driving assembly, so that the two flanges are located at two ends of the upper surface of the belt respectively, and the goods are located between the two flanges.

10. The control method of claim 9, wherein the method further comprises:

in response to the fact that the goods receiving is completed, sending a moving instruction to a moving driving assembly in a moving mechanism to enable the distribution trolley to move to a position corresponding to the target grid;

in response to the fact that the split-sowing trolley is located at the split-sowing position, sending a throwing instruction to the split-sowing driving assembly to throw the goods into the target grid;

and in response to determining that the goods are not detected at the outlet end of the distribution mechanism, determining that the distribution of the goods is completed, and sending a moving instruction to the moving driving component to execute the next distribution task.

11. The control method of claim 10, wherein said obtaining a rotational position of a belt in a dispensing mechanism comprises:

in response to the detection that the detection signal of the position detection assembly changes, determining that a belt in the distribution mechanism is in a zero reset state, wherein in the zero reset state, two flanges are respectively positioned at two ends of the upper surface of the belt; and

and determining that the goods reach the entrance end in response to detecting that the detection signal of the goods detection assembly at the entrance end of the distribution mechanism changes.

12. The control method of claim 11, wherein said sending a movement command to a movement drive assembly in a movement mechanism in response to determining that the receiving is complete comprises:

in response to the detection that the detection signal of the position detection assembly changes again, determining that goods receiving is finished, and sending a moving instruction to a moving driving assembly; and

and determining that the goods are distributed in response to detecting that the detection signal of the goods detection assembly positioned at the outlet end of the distributing mechanism changes.

13. A cargo distribution apparatus comprising:

the component supplying platform is used for conveying goods to the separate sowing trolley;

at least one distribution trolley, which adopts the distribution trolley structure as claimed in any one of claims 1 to 8 and is used for transporting the received goods to the destination cell.

14. The cargo spreader according to claim 13, wherein at least two raised bars are provided on the conveyor belt of the feeder table, the bars extending in the direction of movement of the conveyor belt.

15. A controller, comprising:

one or more processors;

a storage device having one or more programs stored thereon,

when executed by the one or more processors, cause the one or more processors to implement the control method of claims 9-12.

16. A computer-readable medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, carries out the control method according to claims 9-12.

17. A computer program product comprising a computer program which, when being executed by a processor, carries out the control method according to claims 9-12.