CN116550616A

CN116550616A - Logistics object conveying method, device, sorting system and workpiece supply table

Info

Publication number: CN116550616A
Application number: CN202210103151.4A
Authority: CN
Inventors: 马林; 汪威; 齐嘉晖
Original assignee: Wuzhou Online E Commerce Beijing Co ltd
Current assignee: Wuzhou Online E Commerce Beijing Co ltd
Priority date: 2022-01-27
Filing date: 2022-01-27
Publication date: 2023-08-08

Abstract

The embodiment of the application provides a logistics object conveying method, a logistics object conveying device, a sorting system and a piece supply table. An embodiment of the method comprises: in response to detecting that the logistics object is transferred to the first transfer device in the supply station, selecting a target carrier container for carrying the logistics object in the main transport line; in response to successful selection, the first conveyor is driven to accelerate to a target conveying speed at an unfixed acceleration, so that the logistics objects are conveyed to a target carrying container in the main conveying line according to the target conveying speed by the first conveyor, and the unfixed acceleration is uniformly increased and then uniformly reduced. The embodiment improves the stability of the logistics objects in the conveying process.

Description

Logistics object conveying method, device, sorting system and workpiece supply table

Technical Field

The embodiment of the application relates to the technical field of computers, in particular to a logistics object conveying method, a device, a sorting system and a piece supply table.

Background

In the logistics industry, automated equipment is typically used for sorting and transporting logistics objects. In general, a supply table (also referred to as a packing table, a loading table, or the like) may be used to transfer the logistics objects to the main conveyor line, and sorting of the logistics objects from the main conveyor line may be performed based on information such as a distribution address.

In the prior art, when the logistics objects are conveyed to the main conveying line by utilizing the workpiece supply table, the conveying device in the workpiece supply table is driven by fixed acceleration to convey the logistics objects, and the conditions of sliding, rolling and the like of the logistics objects are easily caused by the mode, so that the stability of conveying the logistics objects is lower.

Disclosure of Invention

The embodiment of the application provides a logistics object conveying method, a device, electronic equipment and a computer readable medium, so as to improve the stability of the logistics object in the conveying process.

In a first aspect, an embodiment of the present application provides a method for conveying a logistic object, where the logistic object is applied to a piece supply platform, and the piece supply platform is adjacent to a main conveying line and includes at least one conveying device, and the method includes: in response to detecting that a logistics object is conveyed to a first conveying device in the workpiece supply table, selecting a target carrying container for carrying the logistics object in the main conveying line; and in response to successful selection, driving the first conveying device to accelerate to a target conveying speed at a non-fixed acceleration, so that the logistics objects are conveyed to the target carrying container in the main conveying line by the first conveying device according to the target conveying speed, wherein the non-fixed acceleration is uniformly increased and then uniformly reduced.

In a second aspect, an embodiment of the present application further provides a logistic object conveying device, which is applied to a piece supply platform, where the piece supply platform is adjacent to the main conveying line and includes at least one conveying device, and the logistic object conveying device includes: a selecting unit, configured to select a target carrier container in the main transport line for carrying the logistic object in response to detecting that the logistic object is transferred to the first transfer device in the supply table; and the driving unit is used for responding to the success of selection, driving the first conveying device to accelerate to a target conveying speed at a non-fixed acceleration, so that the logistics objects are conveyed to the target carrying container in the main conveying line by the first conveying device according to the target conveying speed, and the non-fixed acceleration is uniformly increased and then uniformly reduced.

In a third aspect, embodiments of the present application further provide a sorting system, including: a main conveyor line provided with at least one carrying container; the workpiece feeding table is provided with a control device and at least one conveying device; the conveying device is used for conveying the logistics objects; the control device is used for selecting a target carrying container for carrying the logistics object in the main conveying line when detecting that the logistics object is conveyed to the first conveying device in the workpiece supply platform; and in response to successful selection, driving the first conveying device to accelerate to a target conveying speed at a non-fixed acceleration, so that the logistics objects are conveyed to the target carrying container in the main conveying line by the first conveying device according to the target conveying speed, wherein the non-fixed acceleration is uniformly increased and then uniformly reduced.

In a fourth aspect, an embodiment of the present application further provides a workpiece feeding table, which is characterized in that, adjacent to the main conveying line, the workpiece feeding table includes: at least one conveying device for conveying the logistics objects; at least one driving device for driving the transmission device to transmit; a sensor for detecting whether a logistics object is transferred to a first transfer device in the supply station; the control device is used for selecting a target carrying container for carrying the logistics object in the main conveying line when the sensor detects that the logistics object is conveyed to the first conveying device in the workpiece supply platform; and sending an acceleration instruction to the driving device so as to drive the first conveying device to accelerate to a target conveying speed at a non-fixed acceleration through the driving device, so that the logistics object is conveyed to the target carrying container in the main conveying line by the first conveying device according to the target conveying speed, and the non-fixed acceleration is uniformly increased and then uniformly reduced.

Compared with the prior art, the embodiment of the application has the following advantages:

in the embodiment of the application, when detecting that the logistics object is transferred to the first transfer device in the supply table, selecting a target carrying container for carrying the logistics object in the main conveying line; if the selection is successful, the first conveying device is driven to accelerate to a target conveying speed at a non-fixed acceleration which is uniformly increased and then uniformly reduced, so that the logistics objects are conveyed to a target carrying container in the main conveying line according to the target conveying speed by the first conveying device. Because the acceleration when first conveyer conveys commodity circulation object evenly increases earlier and then evenly reduces, consequently the power that commodity circulation object received changes gradually for commodity circulation object can smooth acceleration, has effectively avoided the circumstances such as slip, the roll that lead to because of commodity circulation object atress suddenly, has promoted the stationarity in the commodity circulation object conveying process.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings, in which:

FIG. 1A is a schematic diagram of an application scenario of a method for delivering a physical distribution object according to the present application;

FIG. 1B is a schematic diagram of yet another application scenario of the logistic object delivery method of the present application;

FIG. 2A is a flow chart of one embodiment of a method of delivering a physical distribution object of the present application;

FIG. 2B is a schematic diagram of an acceleration profile of the logistic object transfer method of the present application;

FIG. 2C is a schematic illustration of a speed profile of the logistic object delivery method of the present application;

FIG. 3 is a flow chart of yet another embodiment of a method of delivering a logistic object of the present application;

FIG. 4 is a schematic diagram of one embodiment of a logistic object delivery device of the present application;

FIG. 5 is a schematic structural view of one embodiment of a sortation system of the present application;

FIG. 6 is a schematic structural view of one embodiment of a feeder floor of the present application;

fig. 7 is a schematic structural diagram of an apparatus according to an embodiment of the present application.

Detailed Description

The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

The embodiment of the application can be applied to logistics scenes, such as sorting, conveying and the like of logistics objects. In these cases, an automation device such as a supply station (also referred to as a supply station, a packing station, etc.) may be used to transfer the logistic objects to the main conveyor line, and further sort and split the logistic objects in the main conveyor line based on information such as the distribution address and the size of the logistic objects.

In the embodiment of the application, the logistic object may be various types of packages, which may include, but are not limited to, bag packages, box packages, letters, and the like. A plurality of carrying containers can be arranged in the main conveying line for carrying logistic objects. The carrier container may include, but is not limited to, a container such as a transport vehicle. The supply platform can be adjacent to the main conveying line and used for conveying the logistics objects to the main conveying line. The manner and angle of abutment of the feeder table with the main conveyor line are not particularly limited here. The supply station may comprise at least one conveying means for conveying the logistics objects. When the feeding stage comprises at least two conveying devices, the conveying devices can be arranged in sections and are adjacent to each other in sequence to form a conveying line. Wherein the conveyor may include, but is not limited to, steel belts, rollers, and the like.

When the logistics objects are conveyed to the main conveying line by the workpiece feeding table, if the logistics objects move according to a certain fixed acceleration, the logistics objects can be subjected to suddenly changed force at the initial stage of movement, so that the logistics objects slide and roll, the positions of the logistics objects are uncontrollable, and finally conveying fails. According to the embodiment of the application, the transmission device in the workpiece feeding table is driven by the non-fixed acceleration which is uniformly increased and then uniformly reduced, so that the force applied to the logistics object is gradually changed, the speed of the logistics object is gradually increased, the conditions of sliding, rolling and the like caused by sudden stress of the logistics object are effectively avoided, and the stability of the logistics object in the transmission process can be improved.

Please refer to fig. 1A. Fig. 1A is a schematic diagram of an application scenario of the logistic object delivery method of the present application, where the scenario may be a sorting scenario or a conveying scenario of the logistic objects. In this scenario, the supply station may employ a single stage, i.e., a conveyor (such as a belt as shown in fig. 1A) for conveying the logistics objects. In addition to the conveyor, the feeder table may include, but is not limited to, a sensor (e.g., a grating sensor), a driving device (e.g., a motor), a control device (e.g., a controller), etc. (not shown). The sensor may be used to detect whether a logistics object is transferred to a transfer device in the supply station. The driving device can be used for driving the transmission device to drive (such as acceleration transmission, deceleration transmission, uniform transmission and the like). The control device can be used as an execution main body of the logistics object conveying method and can control the starting, closing, rotating speed, power and the like of the driving device.

In this scenario, when the control device detects that a certain logistics object (such as the logistics object a shown in fig. 1A) is transferred to the transfer device (such as the belt) in the above-mentioned supply station by means of the sensor, a target carrier container for carrying the logistics object a in the main transport line may be selected, and the target carrier container may be an idle carrier container, i.e. a carrier container that has not carried other logistics objects and has not been bound to other logistics objects. When the selection is successful, the logistics object A can be bound with the target carrying container, and an acceleration instruction is sent to the driving device, so that the driving device drives the conveying device to accelerate to the target conveying speed through the non-fixed acceleration which is uniformly increased and then uniformly reduced, and the logistics object A is conveyed to the target carrying container in the main conveying line by the conveying device according to the target conveying speed. Because acceleration when conveyer conveying commodity circulation object A evenly increases earlier and then evenly reduces, consequently commodity circulation object A receives the power gradual change for commodity circulation object can smooth acceleration, has effectively avoided the circumstances such as slip, the roll that lead to because of commodity circulation object atress suddenly, has promoted the stationarity in the commodity circulation object conveying process.

If the selection of the target carrier container fails, the control device can send a deceleration instruction to the driving device, so that the driving device drives the conveying device to decelerate at a reverse acceleration which is uniformly increased and then uniformly reduced. Meanwhile, the control device can periodically execute the step of selecting the target carrier container until the target carrier container is selected successfully. It should be noted that, after the deceleration to zero, if the selection is not successful, the selection may be performed periodically. The number of times of selecting the target carrying container can be increased through decelerating and periodically and repeatedly selecting, so that the success rate of conveying the logistics object A is improved. In addition, as the reverse acceleration is uniformly increased and then uniformly reduced, the force borne by the logistics object A is gradually changed, so that the logistics object A can smoothly decelerate, the conditions of sliding, rolling and the like caused by sudden stress of the logistics object are effectively avoided, and the stability of the logistics object in the conveying process is improved.

Further, in order to improve the accuracy of selecting the target carrier, when selecting the target carrier for carrying the logistic object a in the main transport line, multiple aspects of information such as parameter information (e.g. size, position in the conveying device, etc.) of the logistic object a, parameter information (e.g. length, width, installation angle, maximum acceleration threshold, real-time conveying speed, target conveying speed, etc.) of the conveying device, and parameter information (e.g. conveying speed, position of carrier) of the main transport line may be combined at the same time to perform the selection of the target carrier.

Further, in order to avoid relative sliding of the logistics objects in the process of delivering the conveying device and the target carrying container, the target conveying speed can be set according to the real-time conveying speed of the main conveying line and the angle between the main conveying line and the workpiece feeding table, so that the speed of the target conveying speed in the conveying direction of the main conveying line is coordinated with the speed of the main conveying line, stability of the logistics objects in the delivering process is ensured, and accuracy of the conveying position of the logistics objects and success rate of conveying the logistics objects are improved.

Please refer to fig. 1B. Fig. 1B is a schematic diagram of still another application scenario of the logistic object delivery method of the present application, where the scenario may be a sorting scenario or a conveying scenario of the logistic objects. In this scenario, the supply station may employ three stages, i.e., three conveyors (e.g., a first belt, a second belt, and a third belt as shown in fig. 1B) for conveying the logistics objects. Similar to the application scenario shown in fig. 1A, the workpiece supply platform in the application scenario may include, in addition to the conveying device, a sensor (such as a grating sensor shown in fig. 1B), a driving device, a control device, and the like (not shown in the figure). Wherein the number of driving means may be the same as the number of conveying means to drive different conveying means with different driving means.

In this scenario, a logistic object (logistic object B as shown in fig. 1B) may be sequentially transferred to the main transfer line by three belt sections. A grating sensor can be arranged between the first section belt and the second section belt, and in the process that the logistics object B is conveyed to the second section conveying device from the first section belt, the logistics object B needs to pass through the grating sensor, and at the moment, the grating sensor can acquire shielding signals. The control device can acquire signals acquired by the grating sensor in real time to determine whether the logistics object B reaches the second section of belt. It should be noted that, before the logistics object B reaches the second section of belt, the conveying speeds of the three sections of belts may be synchronized, so as to avoid the logistics object B from generating relative sliding in the process of connecting the first section of belt and the second section of belt, and simultaneously facilitate synchronous acceleration and deceleration of the second section of belt and the third section of belt.

When the control device determines that the logistics object B reaches the second section of belt, a target carrying container for carrying the logistics object B in the main conveying line can be selected. The target carrier may be a carrier that has not carried and has not been bound to other logistics objects. When the selection is successful, the logistics object B can be bound with the target carrying container, and simultaneously, acceleration instructions are respectively sent to a driving device for driving the second section belt and the third section belt so as to synchronously drive the second section belt and the third section belt to accelerate to the target conveying speed at the same non-fixed acceleration, so that the logistics object B is firstly conveyed from the second section belt to the third section belt according to the target conveying speed, and then conveyed from the third section belt to the target carrying container in the main conveying line. The non-fixed acceleration at the position can be uniformly increased and then uniformly reduced, so that the force applied to the logistics object is gradually changed, the logistics object B can be smoothly accelerated, the conditions of sliding, rolling and the like caused by sudden stress of the logistics object are effectively avoided, and the stability of the logistics object in the conveying process is improved. The speed of the second section belt and the speed of the third section belt can be consistent by synchronously driving the second section belt and the third section belt to accelerate with the same non-fixed acceleration, so that the relative sliding of the logistics object B in the process of connecting the second section belt and the third section belt is avoided, the stability of conveying the logistics object is improved, and the accuracy of the conveying position of the logistics object and the success rate of conveying the logistics object are improved.

When the conveying speeds of the second section of belt and the third section of belt reach the target conveying speed, the control device can simultaneously send uniform speed instructions to the driving devices for driving the second section of belt and the third section of belt respectively so as to synchronously drive the second section of belt and the third section of belt to uniformly drive at the target conveying speed. In addition, when the logistics object B is conveyed to the third section of belt, the second section of belt can be driven to be decelerated, and the third section of belt can be driven to continue to be conveyed at the target conveying speed, so that energy waste can be avoided. Similarly, when the logistics object B is conveyed to the target carrying container of the main conveying line, the third section of belt can be driven to reduce speed, so that energy waste is further avoided.

Further, if the selection of the target carrier container fails, the control device may send a deceleration command to the driving device for driving the second belt section and the third belt section simultaneously, so as to synchronously drive the second belt section and the third belt section to decelerate at the same reverse acceleration. Meanwhile, the control device can periodically execute the step of selecting the target carrying container until the target carrying container is selected successfully, so that the success rate of conveying the logistics objects can be improved, the real-time conveying speed of the second section of belt and the third section of belt is ensured to be the same, and the subsequent synchronous acceleration is facilitated. In addition, the reverse acceleration can be uniformly increased and then uniformly reduced, so that the force applied to the logistics object B is gradually changed, the logistics object B can be smoothly decelerated, the conditions of sliding, rolling and the like caused by sudden stress of the logistics object are effectively avoided, and the stability of the logistics object in the conveying process is improved.

The scenario is similar to that shown in fig. 1A, in order to improve the accuracy of selecting a target carrier, when selecting a target carrier for carrying a logistics object in a main transport line, multiple aspects of information such as parameter information (such as a size, a position in a conveying device, etc.) of the logistics object, parameter information (such as lengths, widths, installation angles, maximum acceleration thresholds, real-time conveying speeds, target conveying speeds, etc.) of the conveying device, and parameter information (such as a conveying speed, a position of a carrier) of the main transport line may be combined simultaneously to perform the selection of the target carrier.

Similarly, in order to avoid relative sliding of the logistics objects in the process of handing over the conveying device and the target carrying container, the target conveying speed can be set according to the real-time conveying speed of the main conveying line and the angle between the main conveying line and the workpiece feeding table, so that the dividing speed of the target conveying speed in the conveying direction of the main conveying line is cooperated with the speed of the main conveying line, the stability of the logistics objects in the process of handing over is ensured, and the accuracy of the conveying position of the logistics objects and the success rate of conveying the logistics objects are improved.

It should be noted that the embodiments of the present application may be applied to a feeding stage having any number of conveying devices, for example, a two-stage feeding stage, a four-stage feeding stage, and a feeding stage including more conveying devices, and are not limited to the above-mentioned application scenarios.

With continued reference to FIG. 2A, a flow chart of one embodiment of a method of delivering a physical distribution object of the present application is shown. The logistic object conveying method can be applied to a piece supply table, wherein the piece supply table is adjacent to the main conveying line and comprises at least one conveying device. The flow of the logistics object conveying method can comprise the following steps:

in step 201, in response to detecting that the logistics object is transferred to the first transfer device in the supply station, a target carrier container in the main transport line for carrying the logistics object is selected.

In this embodiment, the execution body of the logistic object conveyance method (such as the control device in the supply stage) may be provided with the first conveyance device. In some cases, the feeder station includes only one conveyor, and the conveyor may be the first conveyor. In other cases, the feeder station includes multiple conveyors, where a first conveyor may be pre-designated, such as for a three-stage feeder station, and may be configured as a centrally located conveyor, such as the second belt stage of FIG. 1B.

In this embodiment, the execution body may detect in real time whether or not a physical distribution object is transferred to the first transfer device in the supply table. As an example, a sensor, such as a grating sensor, may be provided in the above-described supply stage. The sensor may be disposed at a head end of the first conveyor such that a signal may be acquired when the first flow object is conveyed to the first conveyor in the supply station. The execution body may be communicatively connected to the sensor to receive the signal to determine whether a physical distribution object is being transferred to the first transfer device in the supply station. It should be noted that, the above grating sensor may also calculate the size (such as length and width) of the logistic object and the position of the logistic object on the second section belt according to the time length of the logistic object blocking the light beam when the logistic object passes through the light beam.

In this embodiment, when it is detected that the logistics object is transferred to the first transfer apparatus in the supply station, the execution body may select a target carrier container for carrying the logistics object in the main transport line. The carrier container may be a container for carrying the logistic objects, such as a transport vehicle. The target carrier may be an empty carrier, i.e. a carrier that has not carried and has not been bound to other logistics objects.

In some optional implementations of this example, in order to improve the accuracy of selecting the target carrier, the execution body may simultaneously combine multiple aspects of information such as parameter information of the logistics object (e.g. size, position in the conveying device, etc.), parameter information of the conveying device (e.g. length, width, installation angle, maximum acceleration threshold, real-time conveying speed, target conveying speed, etc.), and parameter information of the main conveying line (e.g. conveying speed, position of the carrier), to perform selecting the target carrier. As an example, it may be performed as follows:

first, determining the acceleration distance of the logistics object based on the position of the logistics object and the parameter information of the workpiece supply table. The parameter information of the workpiece feeding table may include, but is not limited to, a transfer length of a transfer device that has not completed the transfer of the logistic object. The acceleration distance of the logistics object may be a remaining transfer distance between the logistics object and the main transfer line. The remaining conveyance distance may be determined based on the conveyance length of the conveyance device that has not completed conveyance of the logistics object and the position of the logistics object.

Here, the position of the logistic object may be determined by the above-mentioned grating sensor, or may be determined by calculating the transferred distance of the first transfer device, which is not particularly limited herein. The above-mentioned transferred distance may refer to a transferred distance from a time point at which the logistic object is detected to be transferred to the first belt to a current time point, and may be determined by counting feedback information of an encoder of the driving device in the supply station. The driving device can be a motor and the like and can be used for driving the first conveying device to drive.

A second step of determining a target conveying speed (may be denoted as v) based on the acceleration distance (may be denoted as D) _f ) As a goal, a real-time transfer speed (may be denoted as v ₀ ) The minimum and maximum time periods for the logistic object to be transferred to the main transportation line are determined. Wherein the real-time conveying speed v ₀ I.e. the current transfer speed, can be used as the initial speed.

Taking the example that the acceleration increases linearly with time and decreases linearly, the acceleration can be expressed according to the following formula:

the change in speed can be found in the following formula:

constraints can be expressed as:

the speed increment target may be expressed as:

wherein t represents time; a (t) represents acceleration at time t; k represents the acceleration change rate and can be preset; t represents the acceleration time period; v (t) represents the speed at time t; dt represents the independent variable of the integrand as t.

In determining the minimum time period, it can be assumed that the first conveying device performs acceleration transmission at the maximum acceleration change rate that can be achieved, and after reaching the target conveying speed, transmits at a constant speed at the target conveying speed. Under the assumption, the time length of the logistics object transmitted to the main conveying line is calculated according to the formula, and the time length is the minimum time length. In determining the maximum duration, it may be assumed that the logistics object is continuously accelerated within the acceleration distance, and just reaches the target conveying speed when conveyed to the acceleration distance. Under the assumption, the time length of the logistics object transmitted to the main conveying line is calculated according to the formula, and the time length is the maximum time length.

And thirdly, determining candidate carrying containers in the main transportation line based on the transportation speed, the minimum time length and the maximum time length of the main transportation line. At this time, the time interval in which the logistics object is transferred to the main transfer line may be determined first based on the minimum time period and the maximum time period. Then, based on the transportation speed of the main transportation line, the carrier container which can reach the target position (such as the junction of the workpiece supply table and the main transportation line) in the time interval can be determined, and the determined carrier container is used as a candidate carrier container.

Fourth, a target carrier container in the candidate carrier containers is selected based on the locations of the candidate carrier containers. Here, any empty candidate carrier may be selected as the target carrier. The candidate carrying container which is idle and reaches the target position (such as the joint of the workpiece supply table and the main conveying line) at first can be used as the target carrying container, so that the conveying efficiency of the logistics objects can be improved.

Step 202, in response to the selection success, driving the first conveying device to accelerate to a target conveying speed at a non-fixed acceleration, so as to convey the logistics object to a target carrying container in the main conveying line according to the target conveying speed by the first conveying device, wherein the non-fixed acceleration is uniformly increased and then uniformly reduced.

In this embodiment, if the target carrier is selected successfully, the executing body may drive the first conveying device to accelerate to the target conveying speed with a non-fixed acceleration, so that the logistic object is conveyed to the target carrier in the main conveying line by the first conveying device according to the target conveying speed. Wherein the executing body can drive the first conveying device to accelerate through the driving device. The driving device can be a motor and the like and can be used for driving the first conveying device to drive. The target conveying speed can be preset, and can also be adapted according to the current speed of the main conveying line. In addition, the execution body may bind the target carrying container with the logistics object, so as to avoid other logistics objects from occupying the target carrying container.

In this embodiment, the non-fixed acceleration may be uniformly increased and then uniformly decreased over time. As an example, fig. 2B is a schematic diagram of an acceleration curve of the logistic object conveyance method of the present application. The acceleration a may be linearly increased and then linearly decreased with time T, and the target conveying speed is reached at time T. It should be noted that the acceleration may also increase non-linearly with time and decrease non-linearly, which is not illustrated here.

It can be understood that, since the non-fixed acceleration which is uniformly increased and then uniformly reduced is adopted to transmit the logistics object, the initial value of the non-fixed acceleration is not required to be set to a larger value, and the speed-increasing target can be still met. The initial value of the non-stationary acceleration may thus be set to zero or a smaller value so that the logistic object is not subjected to abrupt forces in the early stages of transfer.

In addition, since the acceleration increases uniformly with time and then decreases uniformly, the force to which the logistics object is subjected may gradually change, so that the logistics object can accelerate smoothly. As an example, if the addition shown in FIG. 2B is takenThe speed profile drives the first conveyor to accelerate, and the corresponding speed profile can be seen in fig. 2C. As shown in fig. 2C, the initial conveying speed is v ₀ A target conveying speed v _f The speed v may increase in an "S" shape with time T, at which point the target conveying speed is reached. The speed is increased in an S shape, so that the speed can be changed smoothly, and the stability of the logistics objects in the conveying process is improved.

In some alternative implementations of this embodiment, if the selection of the target carrier fails, the executing body may drive the first conveying device to decelerate with a reverse acceleration, for example, send a deceleration command to the driving device to drive the first conveying device to decelerate with a reverse acceleration through the driving device. Here, the reverse acceleration is opposite to the above-mentioned non-fixed acceleration, and the reverse acceleration may be uniformly increased and then uniformly decreased, and the curve may be the same as or different from the above-mentioned non-fixed acceleration. Therefore, the force applied to the logistics object during deceleration can be gradually changed, so that the logistics object can be smoothly decelerated, sliding, rolling and other conditions caused by sudden deceleration of the logistics object are effectively avoided, and stability in the conveying process of the logistics object is improved.

The step of selecting the target carrier container may be periodically performed by the execution body while decelerating until the target carrier container is selected successfully. It should be noted that, after the deceleration to zero, if the selection is not successful, the selection may be performed periodically. The number of times of selecting the target carrying container can be increased through decelerating and periodically and repeatedly selecting, so that the success rate of conveying the logistics objects is improved.

In some alternative implementations of the present embodiment, the target transfer speed may be determined based on the transport speed of the main transport line and the angle of the supply station to the main transport line. For example, the target conveying speed is denoted as v _f The speed of the main transport line is denoted v _m The included angle is marked as theta, v _f ＝v _m Cos θ. Therefore, the speed of the target conveying speed in the conveying direction of the main conveying line is coordinated with the speed of the main conveying line, and the logistic objects are prevented from being connected with the target carrying container in the process of conveying the conveying deviceThe relative sliding occurs, so that the stability of the logistics objects in the handover process is ensured, and the accuracy of the conveying positions of the logistics objects and the success rate of conveying the logistics objects are improved.

According to the method provided by the embodiment of the application, when the logistics object is detected to be transmitted to the first transmission device in the piece supply table, a target carrying container for carrying the logistics object in the main transportation line is selected; if the selection is successful, the first conveying device is driven to accelerate to a target conveying speed at a non-fixed acceleration which is uniformly increased and then uniformly reduced, so that the logistics objects are conveyed to a target carrying container in the main conveying line according to the target conveying speed by the first conveying device. Because the acceleration when first conveyer conveys commodity circulation object evenly increases earlier and then evenly reduces, consequently the power that commodity circulation object received changes gradually for commodity circulation object can smooth acceleration, has effectively avoided the circumstances such as slip, the roll that lead to because of commodity circulation object atress suddenly, has promoted the stationarity in the commodity circulation object conveying process.

With further reference to fig. 3, a flow chart of yet another embodiment of a method of delivering a physical distribution object is shown. The logistic object conveying method can be applied to a piece supply table, wherein the piece supply table is adjacent to the main conveying line and at least comprises a first conveying device and a second conveying device. The second conveying device is arranged between the main conveying line and the first conveying device. The flow of the logistics object conveying method comprises the following steps:

in step 301, in response to detecting that the logistics object is transferred to the first transfer apparatus in the supply station, a target carrier container in the main transport line for carrying the logistics object is selected.

Step 301 of this embodiment can be referred to step 201 in the above embodiment, and will not be described herein.

It should be noted that, in this embodiment, the workpiece supply table may include at least two conveying devices. The first conveying means and the second conveying means may be preset. For example, for a three-stage feeder table, the intermediate conveyor may be used as the first conveyor, such as the second belt in FIG. 1B. The conveyor between the first conveyor and the main conveyor line may be a second conveyor, such as the third belt in fig. 1B. Other conveying means, such as the first belt in fig. 1B, the number of which is not particularly limited, may be included before the first conveyance.

It should be noted that the conveying speeds of the first conveying device and the second conveying device may be synchronized before the logistic object reaches the first conveying device, so as to ensure that the logistic object has the same real-time speed, and facilitate the acceleration.

In some optional implementations of this embodiment, the executing body may select the target carrier container for carrying the logistic object in the main transportation line according to the following steps: first, an acceleration distance of a logistics object is determined based on a position of the logistics object and parameter information of a supply table. Then, a minimum time period and a maximum time period for the logistics object to be transferred to the main transportation line are determined based on the real-time transfer speed of the first transfer device with the acceleration distance as a constraint condition and the target transfer speed as a target. Thereafter, candidate carriers in the main transport line are determined based on the transport speed, the minimum duration, and the maximum duration of the main transport line. Finally, a target carrier container of the candidate carrier containers is selected based on the locations of the candidate carrier containers.

In response to the selection success, the first conveyor and the second conveyor are synchronously driven to accelerate to the target conveying speed at the same non-fixed acceleration, so that the logistics object is conveyed to the target carrying container in the main conveying line sequentially via the first conveyor and the second conveyor according to the target conveying speed.

In this embodiment, if the target carrier is selected successfully, the executing body may synchronously drive the first conveying device and the second conveying device to accelerate to the target conveying speed with the same non-fixed acceleration. Specifically, an acceleration command may be simultaneously sent to the driving devices for driving the first and second conveying devices, respectively, to synchronously drive the first and second conveying devices to accelerate to the target conveying speed with the same non-fixed acceleration, so that the logistics objects are conveyed from the second section belt to the third section belt according to the target conveying speed, and then conveyed from the third section belt to the target carrying container in the main conveying line. Wherein, above-mentioned unsteady acceleration can evenly increase the back evenly reduce, and the power that can commodity circulation object received changes gradually, and commodity circulation object can smooth acceleration, has effectively avoided the circumstances such as slip, the roll that lead to because of commodity circulation object atress suddenly, has promoted the stationarity in the commodity circulation object conveying process. In addition, the execution body may bind the target carrying container with the logistics object, so as to avoid other logistics objects from occupying the target carrying container.

The first conveying device and the second conveying device are synchronously driven to accelerate at the same non-fixed acceleration, so that the speeds of the first conveying device and the second conveying device are consistent, the relative sliding of the logistics objects in the process of connecting the first conveying device and the second conveying device is avoided, and the stability of package conveying is improved.

In some alternative implementations of the present embodiment, in response to the failure of selecting the target conveying speed, the executing body may synchronously drive the first conveying device and the second conveying device to decelerate at the same reverse acceleration, for example, send a deceleration command to the driving devices for driving the first conveying device and the second conveying device simultaneously, so as to drive the first conveying device and the second conveying device to decelerate at the reverse acceleration through the respective driving devices. Here, the reverse acceleration is opposite to the above-mentioned non-fixed acceleration, and the reverse acceleration may be uniformly increased and then uniformly decreased, and the curve may be the same as or different from the above-mentioned non-fixed acceleration. Therefore, the force applied to the logistics object during deceleration can be gradually changed, so that the logistics object can be smoothly decelerated, sliding, rolling and other conditions caused by sudden deceleration of the logistics object are effectively avoided, and stability in the conveying process of the logistics object is improved.

In some optional implementations of this embodiment, when the first conveying device and the second conveying device reach the target conveying speed, the executing body may also send a uniform speed command to the driving devices for driving the first conveying device and the second conveying device, respectively, so as to synchronously drive the first conveying device and the second conveying device to perform uniform speed transmission at the target conveying speed. In addition, when the logistics object is transferred to the second transfer device, the execution body can drive the first transfer device and drive the second transfer device to continue to transfer at the target transfer speed, so that energy waste can be avoided. Similarly, when the logistics objects are conveyed to the target carrying container of the main conveying line, the second conveying device can be driven to be decelerated, so that energy waste is further avoided.

In some optional implementation manners of this embodiment, the target conveying speed may be determined based on the conveying speed of the main conveying line and the included angle between the workpiece feeding table and the main conveying line, so that the speed of the target conveying speed in the conveying direction of the main conveying line is coordinated with the speed of the main conveying line, and the relative sliding of the logistics object in the process of handing over between the conveying device and the target carrying container is avoided, so that the stability of the logistics object in the process of handing over is ensured, and the accuracy of the conveying position of the logistics object and the success rate of conveying the logistics object are improved.

The method provided by the embodiment of the application can be suitable for at least two-section type workpiece feeding machines, and can enable the speeds of two adjacent conveying devices to be consistent by synchronously driving the two adjacent conveying devices to accelerate to the target conveying speed at the same non-fixed acceleration, so that the relative sliding of a logistics object in the process of handing over the two adjacent conveying devices is avoided, and the stability of package conveying is improved.

It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are all preferred embodiments and that the acts referred to are not necessarily required by the embodiments of the present application.

With further reference to fig. 4, on the basis of the above embodiment, the present application provides an embodiment of a logistic object conveying device, which can be applied to various types of supply tables in particular. Wherein, the supply platform can be adjacent to the main conveying line and can comprise at least one conveying device.

As shown in fig. 4, the logistic object conveyance device 400 of the present embodiment includes: a selecting unit 401, configured to select a target carrier container for carrying the logistic object in the main transport line in response to detecting that the logistic object is transferred to the first transferring device in the supply table; and a driving unit 402, configured to drive the first conveying device to accelerate to a target conveying speed with a non-fixed acceleration in response to a successful selection, so as to convey the logistics object from the first conveying device to the target carrier container in the main conveying line at the target conveying speed, where the non-fixed acceleration is uniformly increased and then uniformly decreased.

In some optional implementations of this embodiment, the driving unit 402 is further configured to drive the first conveying device to decelerate with a reverse acceleration in response to a selection failure, and periodically perform the step of selecting the target carrier container, where the reverse acceleration is uniformly increased and then uniformly decreased.

In some optional implementations of this embodiment, the supply stand further includes a second conveying device, where the second conveying device is disposed between the main conveying line and the first conveying device; the driving unit 402 is further configured to synchronously drive the first conveyor and the second conveyor to accelerate at the same non-fixed acceleration to the target conveying speed, so as to convey the logistics object to the target carrier container in the main transport line via the first conveyor and the second conveyor in sequence according to the target conveying speed.

In some optional implementations of this embodiment, the driving unit 402 is further configured to, in response to a selection failure, synchronously drive the first conveying device and the second conveying device to decelerate at the same reverse acceleration, and periodically perform the step of selecting the target carrier container, where the reverse acceleration increases uniformly and then decreases uniformly.

In some optional implementations of this embodiment, the driving unit 402 is further configured to drive the first conveying device and the second conveying device to perform constant-speed transmission at the target conveying speed when the conveying speeds of the first conveying device and the second conveying device reach the target conveying speed; when the logistics object is conveyed to the second conveying device, driving the first conveying device to decelerate and driving the second conveying device to continue conveying at the target conveying speed; when the logistics object is transferred to the target carrying container, the second transfer device is driven to decelerate.

In some optional implementations of this embodiment, the target conveying speed is determined by: acquiring the transport speed of the main transport line and the included angle between the workpiece supply table and the main transport line; and determining the target conveying speed of the logistics object based on the conveying speed and the included angle.

In some optional implementations of this embodiment, the selecting unit 401 is further configured to: determining an acceleration distance of the logistics object based on the position of the logistics object and the parameter information of the workpiece supply table; determining a minimum time period and a maximum time period for the logistics object to be transferred to the main transportation line based on the real-time transfer speed of the first transfer device with the acceleration distance as a constraint condition and the target transfer speed as a target; determining candidate carrying containers in the main transportation line based on the transportation speed of the main transportation line, the minimum time period and the maximum time period; and selecting a target carrier container in the candidate carrier containers based on the positions of the candidate carrier containers.

The device provided by the embodiment of the application selects the target carrying container for carrying the logistics object in the main transportation line when detecting that the logistics object is transferred to the first transfer device in the supply platform; if the selection is successful, the first conveying device is driven to accelerate to a target conveying speed at a non-fixed acceleration which is uniformly increased and then uniformly reduced, so that the logistics objects are conveyed to a target carrying container in the main conveying line according to the target conveying speed by the first conveying device. Because the acceleration when first conveyer conveys commodity circulation object evenly increases earlier and then evenly reduces, consequently the power that commodity circulation object received changes gradually for commodity circulation object can smooth acceleration, has effectively avoided the circumstances such as slip, the roll that lead to because of commodity circulation object atress suddenly, has promoted the stationarity in the commodity circulation object conveying process.

With further reference to fig. 5, a schematic structural diagram of one embodiment of a sorting system is shown. As shown in fig. 5, the sortation system 500 may include a main conveyor line 501 and a feeder station 502. Wherein the main conveyor line 501 may be provided with at least one carrying container 5011. The feeder station 502 may include at least one conveyor 5021 and a control 5022.

In this embodiment, the conveying device 5021 may be used to convey a logistics object. The control device 5022 may be configured to select a target carrier container for carrying the logistic object in the main transport line when detecting that the logistic object is transferred to the first transfer device in the supply table; in response to successful selection, the first conveyor is driven to accelerate to a target conveying speed at a non-fixed acceleration, so that the logistics objects are conveyed to the target carrying containers in the main conveying line by the first conveyor according to the target conveying speed, and the non-fixed acceleration is uniformly increased and then uniformly reduced.

In some optional implementations of this embodiment, the control device 5022 may be further configured to drive the first conveying device to decelerate with a reverse acceleration in response to the selection failure, and periodically perform the step of selecting the target carrier container, where the reverse acceleration is uniformly increased and then uniformly decreased.

In some optional implementations of this embodiment, the supply stand further includes a second conveying device, where the second conveying device is disposed between the main conveying line and the first conveying device; the control device may be further configured to drive the first conveyor and the second conveyor synchronously with the same non-fixed acceleration to accelerate to the target conveying speed, so as to convey the logistics object to the target carrier container in the main transport line via the first conveyor and the second conveyor in sequence at the target conveying speed.

In some alternative implementations of the present embodiment, the control device 5022 may be further configured to, in response to a selection failure, synchronously drive the first conveying device and the second conveying device to decelerate at the same reverse acceleration, and periodically perform the step of selecting the target carrier container, where the reverse acceleration increases uniformly and then decreases uniformly.

In some optional implementations of this embodiment, the control device 5022 may be further configured to drive the first conveying device and the second conveying device to perform constant-speed transmission at the target conveying speed when the conveying speeds of the first conveying device and the second conveying device reach the target conveying speed; when the logistics object is conveyed to the second conveying device, driving the first conveying device to decelerate and driving the second conveying device to continue conveying at the target conveying speed; when the logistics object is transferred to the target carrying container, the second transfer device is driven to decelerate.

In some optional implementations of this embodiment, the control device 5022 may be further configured to determine an acceleration distance of the logistic object based on a position of the logistic object and parameter information of the workpiece supply platform; determining a minimum time period and a maximum time period for the logistics object to be transferred to the main transportation line based on the real-time transfer speed of the first transfer device with the acceleration distance as a constraint condition and the target transfer speed as a target; determining candidate carrying containers in the main transportation line based on the transportation speed of the main transportation line, the minimum time period and the maximum time period; and selecting a target carrier container in the candidate carrier containers based on the positions of the candidate carrier containers.

The steps of this embodiment are similar to those corresponding to the above embodiments, and specific reference may be made to the description of the above embodiments.

With further reference to fig. 6, a schematic structural view of one embodiment of a workpiece stage is shown. As shown in fig. 6, the feeder station 600 may include at least one conveyor 601, at least one drive 602, a sensor 603, and a control 604.

In this embodiment, the transfer device 601 may be used to transfer a logistic object. The drive 602 may be used to drive a conveyor transmission. The sensor 603 may be used to detect whether a logistics object is transferred to the first transfer device in the aforementioned supply station. The control device 604 may be configured to select a target carrier container in the main transport line for carrying the logistic object when the sensor detects that the logistic object is transferred to the first transfer device in the supply table; an acceleration command is sent to the driving device 602 to drive the first conveying device to accelerate to a target conveying speed with a non-fixed acceleration by the driving device 602, so that the logistics object is conveyed to the target carrying container in the main conveying line by the first conveying device according to the target conveying speed, and the non-fixed acceleration is uniformly increased and then uniformly reduced.

In some alternative implementations of the present embodiment, the control device 604 may be further configured to send a deceleration command to the driving device 602 in response to the selection failure, so as to drive the first conveying device by the driving device 602 to decelerate with a reverse acceleration, and periodically perform the step of selecting the target carrier, where the reverse acceleration increases uniformly and then decreases uniformly.

In some optional implementations of this embodiment, the supply stand further includes a second conveying device, where the second conveying device may be disposed between the main conveying line and the first conveying device; the control device 604 may be further configured to drive the first conveyor and the second conveyor synchronously with the driving device 602 to accelerate at the same non-fixed acceleration to the target conveying speed, so as to convey the logistics object to the target carrier container in the main transport line via the first conveyor and the second conveyor in sequence at the target conveying speed.

In some alternative implementations of the present embodiment, the control device 604 may be further configured to, in response to a selection failure, synchronously drive the first conveying device and the second conveying device by the driving device 602 to decelerate at the same reverse acceleration, and periodically perform the step of selecting the target carrier, where the reverse acceleration increases uniformly and then decreases uniformly.

In some alternative implementations of the present embodiment, the control device 604 may be further configured to drive, by the driving device 602, the first conveying device and the second conveying device to perform constant-speed transmission at the target conveying speed when the conveying speeds of the first conveying device and the second conveying device reach the target conveying speed; when the logistic object is conveyed to the second conveying device, the driving device 602 drives the first conveying device to decelerate and drives the second conveying device to continue conveying at the target conveying speed; when the logistics object is transferred to the target carrier, the second transfer means is driven to decelerate by the driving means 602.

In some optional implementations of this embodiment, the control device 604 may be further configured to determine an acceleration distance of the logistic object based on the position of the logistic object and the parameter information of the workpiece supply platform; determining a minimum time period and a maximum time period for the logistics object to be transferred to the main transportation line based on the real-time transfer speed of the first transfer device with the acceleration distance as a constraint condition and the target transfer speed as a target; determining candidate carrying containers in the main transportation line based on the transportation speed of the main transportation line, the minimum time period and the maximum time period; and selecting a target carrier container in the candidate carrier containers based on the positions of the candidate carrier containers.

The embodiment of the application also provides a non-volatile readable storage medium, where one or more modules (programs) are stored, where the one or more modules are applied to a device, and the device may be caused to execute instructions (instractions) of each method step in the embodiment of the application.

Embodiments of the present application provide one or more machine-readable media having instructions stored thereon that, when executed by one or more processors, cause an electronic device to perform a method as described in one or more of the above embodiments. In this embodiment of the present application, the electronic device includes various types of devices such as a terminal device, a server (a cluster), and the like.

Embodiments of the present disclosure may be implemented as an apparatus for performing a desired configuration using any suitable hardware, firmware, software, or any combination thereof, which may include electronic devices such as terminal devices, servers (clusters), etc. Fig. 7 schematically illustrates an example apparatus 700 that may be used to implement various embodiments described herein.

For one embodiment, fig. 7 illustrates an example apparatus 700 having one or more processors 702, a control module (chipset) 704 coupled to at least one of the processor(s) 702, a memory 706 coupled to the control module 704, a non-volatile memory (NVM)/storage 708 coupled to the control module 704, one or more input/output devices 710 coupled to the control module 704, and a network interface 712 coupled to the control module 704.

The processor 702 may include one or more single-core or multi-core processors, and the processor 702 may include any combination of general-purpose or special-purpose processors (e.g., graphics processors, application processors, baseband processors, etc.). In some embodiments, the apparatus 700 can be used as a terminal device, a server (cluster), or the like in the embodiments of the present application.

In some embodiments, the apparatus 700 can include one or more computer-readable media (e.g., memory 706 or NVM/storage 708) having instructions 714 and one or more processors 702 combined with the one or more computer-readable media configured to execute the instructions 714 to implement the modules to perform the actions described in this disclosure.

For one embodiment, the control module 704 may include any suitable interface controller to provide any suitable interface to at least one of the processor(s) 702 and/or any suitable device or component in communication with the control module 704.

The control module 704 may include a memory controller module to provide an interface to the memory 706. The memory controller modules may be hardware modules, software modules, and/or firmware modules.

Memory 706 may be used to load and store data and/or instructions 714 for device 700, for example. For one embodiment, memory 706 may comprise any suitable volatile memory, such as, for example, a suitable DRAM. In some embodiments, memory 706 may comprise double data rate type four synchronous dynamic random access memory (DDR 4 SDRAM).

For one embodiment, control module 704 may include one or more input/output controllers to provide interfaces to NVM/storage 708 and input/output device(s) 710.

For example, NVM/storage 708 may be used to store data and/or instructions 714. NVM/storage 708 may include any suitable nonvolatile memory (e.g., flash memory) and/or may include any suitable nonvolatile storage device(s) (e.g., one or more Hard Disk Drives (HDDs), one or more Compact Disc (CD) drives, and/or one or more Digital Versatile Disc (DVD) drives).

NVM/storage 708 may include a storage resource that is physically part of the device on which apparatus 700 is installed, or it may be accessible by the device, or it may not be necessary as part of the device. For example, NVM/storage 708 may be accessed over a network via input/output device(s) 710.

Input/output device(s) 710 may provide an interface for apparatus 700 to communicate with any other suitable device, input/output device 710 may include communication components, audio components, sensor components, and the like. Network interface 712 may provide an interface for device 700 to communicate over one or more networks, and device 700 may communicate wirelessly with one or more components of a wireless network according to any of one or more wireless network standards and/or protocols, such as accessing a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G, 5G, etc., or a combination thereof.

For one embodiment, at least one of the processor(s) 702 may be packaged together with logic of one or more controllers (e.g., memory controller modules) of the control module 704. For one embodiment, at least one of the processor(s) 702 may be packaged together with logic of one or more controllers of the control module 704 to form a System In Package (SiP). For one embodiment, at least one of the processor(s) 702 may be integrated on the same die with logic of one or more controllers of the control module 704. For one embodiment, at least one of the processor(s) 702 may be integrated on the same die with logic of one or more controllers of the control module 704 to form a system on chip (SoC).

In various embodiments, the apparatus 700 may be, but is not limited to being: a server, a desktop computing device, or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet, a netbook, etc.), among other terminal devices. In various embodiments, the apparatus 700 may have more or fewer components and/or different architectures. For example, in some embodiments, the apparatus 700 includes one or more cameras, a keyboard, a Liquid Crystal Display (LCD) screen (including a touch screen display), a non-volatile memory port, multiple antennas, a graphics chip, an Application Specific Integrated Circuit (ASIC), and a speaker.

The device can adopt a main control chip as a processor or a control module, sensor data, position information and the like are stored in a memory or an NVM/storage device, a sensor group can be used as an input/output device, and a communication interface can comprise a network interface.

For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present embodiments have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the present application.

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

The above describes the method, apparatus, sorting system and article supply platform for conveying the logistic objects provided in the present application in detail, and specific examples are applied herein to describe the principles and embodiments of the present application, and the description of the above examples is only used to help understand the method and core ideas of the present application; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

1. A method of conveying a physical distribution object, applied to a supply station, the supply station being contiguous with a main conveyor line and comprising at least one conveying device, the method comprising:

in response to detecting that a logistics object is conveyed to a first conveying device in the workpiece supply table, selecting a target carrying container for carrying the logistics object in the main conveying line;

and in response to successful selection, driving the first conveying device to accelerate to a target conveying speed at a non-fixed acceleration, so that the logistics objects are conveyed to the target carrying container in the main conveying line by the first conveying device according to the target conveying speed, wherein the non-fixed acceleration is uniformly increased and then uniformly reduced.

2. The method according to claim 1, wherein the method further comprises:

in response to a selection failure, the first conveyor is driven to decelerate with a reverse acceleration, which is uniformly increased and then uniformly decreased, and the step of selecting the target carrier container is periodically performed.

3. The method of claim 1, wherein the supply station further comprises a second conveyor disposed between the main conveyor line and the first conveyor;

The driving the first conveyor to accelerate to a target conveying speed at a non-fixed acceleration to convey the logistics object by the first conveyor to the target carrier container in the main conveyance line at the target conveying speed, comprising:

the first conveyor and the second conveyor are synchronously driven to accelerate to the target conveying speed with the same non-fixed acceleration so as to convey the logistics objects to the target carrying container in the main transporting line sequentially via the first conveyor and the second conveyor according to the target conveying speed.

4. A method according to claim 3, characterized in that the method further comprises:

in response to a selection failure, the first conveyor and the second conveyor are synchronously driven to decelerate at the same reverse acceleration, and the step of selecting the target carrier container is periodically performed, the reverse acceleration being uniformly increased and then uniformly decreased.

5. The method according to claim 4, wherein the method further comprises:

when the conveying speeds of the first conveying device and the second conveying device reach the target conveying speed, driving the first conveying device and the second conveying device to uniformly drive at the target conveying speed;

Driving the first conveyor to slow down and driving the second conveyor to continue conveying at the target conveying speed while the logistics object is conveyed to the second conveyor;

the second conveyor is driven to decelerate when the logistics objects are conveyed to the target carrier container.

6. The method of claim 1, the target transfer speed being determined by:

acquiring the transportation speed of the main transportation line and an included angle between the workpiece supply table and the main transportation line;

and determining the target conveying speed of the logistics object based on the conveying speed and the included angle.

7. The method of claim 1, wherein selecting a target carrier container for carrying the logistic object in the main transport line comprises:

determining the acceleration distance of the logistics object based on the position of the logistics object and the parameter information of the workpiece supply table;

determining a minimum time length and a maximum time length for the logistics object to be transferred to the main transportation line based on the real-time transfer speed of the first transfer device with the acceleration distance as a constraint condition and the target transfer speed as a target;

Determining candidate carrying containers in the main transport line based on the transport speed of the main transport line, the minimum duration, and the maximum duration;

a target carrier container of the candidate carrier containers is selected based on the locations of the candidate carrier containers.

8. A logistic object conveying device, characterized by being applied to a supply stage, the supply stage being adjacent to a main conveying line and comprising at least one conveying device, the logistic object conveying device comprising:

a selecting unit, configured to select a target carrier container in the main transport line for carrying the logistic object in response to detecting that the logistic object is transferred to the first transfer device in the supply table;

and the driving unit is used for responding to the success of selection, driving the first conveying device to accelerate to a target conveying speed at a non-fixed acceleration, so that the logistics objects are conveyed to the target carrying container in the main conveying line by the first conveying device according to the target conveying speed, and the non-fixed acceleration is uniformly increased and then uniformly reduced.

9. A sorting system, comprising:

a main conveyor line provided with at least one carrying container;

The workpiece feeding table is provided with a control device and at least one conveying device;

the conveying device is used for conveying the logistics objects;

the control device is used for selecting a target carrying container for carrying the logistics object in the main conveying line when detecting that the logistics object is conveyed to the first conveying device in the workpiece supply platform; and in response to successful selection, driving the first conveying device to accelerate to a target conveying speed at a non-fixed acceleration, so that the logistics objects are conveyed to the target carrying container in the main conveying line by the first conveying device according to the target conveying speed, wherein the non-fixed acceleration is uniformly increased and then uniformly reduced.

10. A workpiece feeding table adjacent to a main conveyor line, the workpiece feeding table comprising:

at least one conveying device for conveying the logistics objects;

at least one driving device for driving the transmission device to transmit;

a sensor for detecting whether a logistics object is transferred to a first transfer device in the supply station;

the control device is used for selecting a target carrying container for carrying the logistics object in the main conveying line when the sensor detects that the logistics object is conveyed to the first conveying device in the workpiece supply platform; and sending an acceleration instruction to the driving device so as to drive the first conveying device to accelerate to a target conveying speed at a non-fixed acceleration through the driving device, so that the logistics object is conveyed to the target carrying container in the main conveying line by the first conveying device according to the target conveying speed, and the non-fixed acceleration is uniformly increased and then uniformly reduced.