CN207238510U

CN207238510U - A kind of packages platform

Info

Publication number: CN207238510U
Application number: CN201721099746.8U
Authority: CN
Inventors: 缪松华; 全晓臣; 利剑; 利剑一
Original assignee: Hangzhou Hikvision Digital Technology Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2017-08-30
Filing date: 2017-08-30
Publication date: 2018-04-17
Anticipated expiration: 2027-08-30

Abstract

The embodiment of the present application provides a kind of packages platform, which is equipped with multiple mouths of unloading goods, and packages platform includes a plurality of spaced middle of the road line, and is respectively arranged at two road confluences at middle of the road line both ends；In all middles of the road line, any bar middle of the road line is connected by a road confluence with remaining any bar middle of the road line, and is connected by another road confluence with remaining any bar middle of the road line.During concrete application, during by packages platform application in baggage systems, sorting machine people for delivery of packages can run on the middle of the road line and road confluence, can enter other middles of the road line from a middle of the road line is selectable by road confluence sorting machine people.Due to being provided separately the middle of the road line and road confluence, it is thus possible to improve the average speed of the sorting machine people of operation thereon, so that packages efficiency can be improved.

Description

A kind of packages platform

Technical field

This application involves packages technical field, more particularly to a kind of packages platform.

Background technology

Packages refer to the difference according to parcel class indication, and parcel is distributed to different mouths of unloading goods, final to realize It is wrapped in same mouth of unloading goods by same type of and collects.For example, in delivery industry, it is necessary to according to the destination of parcel will wrap up into Row classification, the class indication of parcel can be the destinations of parcel.

System for packages would generally include packages platform, and it is real that sorting machine people runs packages platform Show package delivering to classify.Bonding pad between the road of robot operation is distributed in whole platform, causes sorting machine people's Average running speed is relatively low, so as to cause packages less efficient.

Utility model content

The purpose of the embodiment of the present application is to provide a kind of packages platform, to improve packages efficiency.Specific skill Art scheme is as follows：

The embodiment of the present application provides a kind of packages platform, and the packages platform is equipped with multiple mouths of unloading goods, institute Stating packages platform includes a plurality of spaced middle of the road line, and is respectively arranged at two of the middle of the road line both ends Road confluence；

In all middles of the road line, the middle of the road line described in any bar is any with remaining by a road confluence The middle of the road line described in bar connects, and is connected by road confluence another described with the middle of the road line described in remaining any bar.

Optionally, each mouth of unloading goods corresponds to the middle of the road line and sets, every centre for being equipped with the mouth of unloading goods The corresponding length direction for unloading goods opening's edge this middle of the road line of road is set gradually, and positioned at the side of this middle of the road line.

Optionally, every middle of the road line is correspondingly provided with the mouth of unloading goods, the corresponding institute of every middle of the road line There are the both sides that mouth of unloading goods is distributed in this middle of the road line.

Optionally, all middles of the road line are divided at least one set, the middle of the road line described in every group include it is a plurality of it is adjacent in Between road；

In the middle of the road line described in every group, the corresponding equal concentrated setting of mouth of unloading goods of every middle of the road line is in this interim orbit The both sides of the section of unloading goods on road；

In the middle of the road line described in every group, along the orientation of the middle of the road line, the section of unloading goods of all middles of the road line Integrated distribution；

In the middle of the road line described in every group, along the length direction of the middle of the road line, the section of unloading goods of all middles of the road line It is sequentially arranged at intervals.

Optionally, all middles of the road line are divided at least one set, and the middle of the road line described in every group includes two articles adjacent the One middle of the road line and second middle of the road line；

In the same direction, first middle of the road line and second middle of the road line comprising the first segment being sequentially communicated, Second segment and the 3rd section, wherein, the second segment is bending segment；

Along the orientation of the middle of the road line, the first segment of first middle of the road line and second middle of the road line 3rd section of distance is less than the distance of the 3rd section of first segment away from second middle of the road line of first middle of the road line；

The both sides of corresponding all first segments of mouthful concentrated setting in itself of unloading goods of first middle of the road line, described second The corresponding all mouthful concentrated settings of unloading goods of the middle of the road line are in the 3rd section of the both sides of itself.

Optionally, each road confluence be respectively provided with middle part extension to the packages platform and from both sides by The extension gradually inwardly narrowed；

All bonding pads of all middles of the road line and each road confluence are along the receipts of the road confluence Narrow side is distributed.

Optionally, along the orientation of the middle of the road line, from first article of middle of the road line to default quantity article among Road is one way access in the first direction, is along the from the default quantity article middle of the road line to the last item middle of the road line The one way access in two directions, wherein, the first direction and the second direction are opposite direction.

Optionally, along from the one way access of outermost first direction to the direction of the most one way access of inner side first direction, And the second direction, the outlet of all one way access of the first direction are gradual with the bonding pad of the road confluence It is inwardly close；

Along from the one way access of outermost second direction to the direction of the most one way access of inner side second direction, and it is described First direction, the bonding pad of the outlet and the road confluence of all one way access of the second direction are gradually inwardly leaned on Closely.

Optionally, the packages platform is used and is centrosymmetrically arranged.

Optionally, the packages platform further includes multiple parking areas, each parking area at least with described in one Road confluence connects.

Optionally, the packages platform is positioned at the top of parcel collecting layer.

A kind of packages platform provided by the embodiments of the present application, packages platform are equipped with multiple mouths of unloading goods, parcel point Picking platform includes a plurality of spaced middle of the road line, and is respectively arranged at two road confluences at middle of the road line both ends； In all middles of the road line, any bar middle of the road line is connected by a road confluence with remaining any bar middle of the road line, and logical Another road confluence is crossed to connect with remaining any bar middle of the road line.During concrete application, by packages platform application in bag When wrapping up in system, the sorting machine people for delivery of packages can run on the middle of the road line and road confluence, be handed over by road The differentiation that converges, which picks robot, to enter other middles of the road line from a middle of the road line is selectable.Due to being provided separately the middle of the road line With road confluence, it is thus possible to improve the average speed of operation sorting machine people thereon, so that parcel can be improved Sorting efficiency.

Brief description of the drawings

In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, below will be to embodiment or existing There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of application, for those of ordinary skill in the art, without creative efforts, can be with Other attached drawings are obtained according to these attached drawings.

Fig. 1 is a kind of structure diagram of packages platform provided by the embodiments of the present application

Fig. 2 is a kind of structure diagram of packages system provided by the embodiments of the present application；

Fig. 3 is the A portions enlarged drawing in Fig. 1；

Fig. 4 is a kind of partial longitudinal sectional view of packages system provided by the embodiments of the present application；

Fig. 5 is a kind of flow diagram of robot dispatching method provided by the embodiments of the present application；

Fig. 6 is the flow diagram of path planning provided by the embodiments of the present application；

Fig. 7 is a kind of structure diagram of robot dispatching device provided by the embodiments of the present application；

Fig. 8 is the structure diagram of planning module provided by the embodiments of the present application.

Embodiment

Below in conjunction with the attached drawing in the embodiment of the present application, the technical solution in the embodiment of the present application is carried out clear, complete Site preparation describes, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on Embodiment in the application, those of ordinary skill in the art are obtained every other without making creative work Embodiment, shall fall in the protection scope of this application.

In the packages platform of the packages system of the prior art, the connection between the road of robot operation is distinguished Whole platform is distributed in, causes the average running speed of sorting machine people relatively low, so as to cause packages less efficient.In order to carry High packages efficiency, the embodiment of the present application provide a kind of packages platform, packages system, robot dispatching method And device.

The application is described in detail below in conjunction with specific embodiment.

With reference to Fig. 1, the packages platform shown in Fig. 1 is equipped with multiple mouths 104 of unloading goods, which includes more The spaced middle of the road line 101 of bar, and it is respectively arranged at two road confluences 102 at 101 both ends of the middle of the road line；Its In, mouth 104 of unloading goods can be arranged at the side and/or road confluence 102 of the middle of the road line 101.Specifically, packages platform Can be one flat plate, mouth 104 of unloading goods can be the opening being opened on the tablet, and certain the embodiment of the present application, which does not do this, to be had Body limits.

In all middles of the road line 101, any bar middle of the road line 101 passes through a road confluence 102 and remaining any bar The middle of the road line 101 connects, and is connected by another road confluence 102 with remaining any bar middle of the road line 101.

Specifically, the middle of the road line 101 can be belt road, the longitudinally spaced arrangement of belt road, road confluence 102 can To be formed by the extension of a plurality of belt road and transversely arranged a plurality of longitudinal intersection, the length of every longitudinal road can With unequal, sorting machine people can transversely road and its extension operation, can also be run along longitudinal road, can be with Turn round in belt road extension and the crosspoint of longitudinal road, so that in both belt road extension and longitudinal road Middle switchover operation.Certainly, in other embodiments, the length of each bar longitudinal direction road can also be equal.

In other embodiments, road confluence 102 can be a complete section for not being divided into each bar road in advance Domain, but apply after packages system, the road k-path partition of road confluence 102 is carried out according to specific needs.

When specifically used, previously according to the actual classification demand of parcel, mouth 104 of unloading goods is corresponded into the inhomogeneity in classification Not, the parcel carried is carried to the corresponding mouth 104 of unloading goods of the parcel and is delivered to realize bag by the sorting machine people of load The classification wrapped up in.Wherein, the corresponding mouth 104 of unloading goods of a parcel refers to the mouth of unloading goods of the parcel for delivering the parcel generic 104, that is, mouth 104 of unloading goods corresponding with the parcel generic.

Specifically, the corresponding mouth 104 of unloading goods of a parcel can determine in the following way：

The correspondence of the mark of the class indication of parcel and mouth 104 of unloading goods is pre-set, by the classification of parcel to be sorted Identify and matched with the mark for mouth 104 of unloading goods, judge whether to match according to this correspondence.Meet if matched Correspondence, then it is the corresponding mouth 104 of unloading goods of the parcel that can determine the mouth 104 of unloading goods.Wherein, the class indication of parcel refers to For wrapping up the mark of classification, classify for example, it is desired to will be wrapped up according to the destination of parcel, that destination each wrapped up can Using the class indication as parcel.The mark of mouth 104 of unloading goods is unloaded goods mouth 104 for uniquely tagged, for example, can be with unloading goods The position of mouth 104 is identified as it.

It should be noted that the above-mentioned definite mode for wrapping up corresponding mouth 104 of unloading goods, can be that sorting machine people itself holds Capable, it is of course also possible in addition set dispatching device for packages system, dispatching device performs this determination process and accuses Know its corresponding mouth 104 of unloading goods of parcel for being carried of sorting machine people.

It is understood that a parcel to be sorted can correspond to multiple mouths 104 of unloading goods, it can also only correspond to one and unload goods Mouth 104.Each mouth 104 of unloading goods is specifically used for delivering which kind of parcel can be configured according to actual needs, for example, it is desired to press Classify according to destination, be destined for five different destinations if all of parcel, corresponding destination is respectively：A、B、 C, D, E, then all mouths 104 of unloading goods can correspond to this five destinations respectively.Other five are destined for if all of parcel not With destination, corresponding destination is respectively：F, G, H, I, J, then all mouths 104 of unloading goods can correspond to this five purposes respectively Ground.

Using embodiment illustrated in fig. 1, during by packages platform application in packages system, for delivery of packages Sorting machine people can run on the middle of the road line 101 and road confluence 102, and by road confluence, 102 sorting machine people can To enter other middles of the road line 101 from a middle of the road line 101 is selectable.Due to being provided separately the middle of the road line 101 and road Confluence 102, it is thus possible to improve the average speed of the sorting machine people of operation thereon, so that parcel point can be improved Pick efficiency.

With reference to Fig. 1, mouth 104 of each unloading goods corresponds to the middle of the road line 101 and sets, every interim orbit for being equipped with mouth 104 of unloading goods The corresponding mouth 104 of unloading goods in road 101 is set gradually along the length direction of this middle of the road line 101, and is located at this middle of the road line 101 Side.So set and make it that sorting machine people can only be delivered during the middle of the road line 101 is run on, delivery service area It is completely separable with road confluence 102 so that the process that sorting machine people crosses is not interfere with each other with the process delivered, so as to Improve packages efficiency.

Further, every middle of the road line 101 is correspondingly provided with mouth 104 of unloading goods, and every middle of the road line 101 is corresponding all Mouth 104 of unloading goods is distributed in the both sides of this middle of the road line 101.The setting quantity for mouth 104 of unloading goods can be improved by so setting, also Packages efficiency can be improved.Similarly, same amount of mouth 104 of unloading goods is set, also allows for saving the length of the middle of the road line 101 Degree, can improve the operational efficiency of sorting machine people, can also improve packages efficiency.

During concrete application, during the sorting machine people of load runs on every middle of the road line 101, selectively to Any one of 101 side of this middle of the road line is unloaded goods 104 delivery of packages of mouth, or any to 101 opposite side of this middle of the road line A 104 delivery of packages of mouth of unloading goods.That is, during the sorting machine people of load runs on every middle of the road line 101, If there is the carried corresponding mouth 104 of unloading goods of parcel in the side of the middle of the road line 101, sorting machine people can be real Now by the package delivering carried to the corresponding mouth 104 of unloading goods in this side；If in the opposite side of the middle of the road line 101, there are institute The corresponding mouth 104 of unloading goods of the parcel of carrying, sorting machine people can also realize the package delivering that will be carried to opposite side pair The mouth 104 of unloading goods answered.

Certainly, in other embodiments, the corresponding all mouths 104 of unloading goods of every middle of the road line 101 are distributed in this Between road 101 side it is also possible.So sorting machine people is in the process of running, it is only necessary to the mouth 104 of unloading goods of side Carrying out delivery of packages can.

, can be by the package delivering carried to the bag when the sorting machine people of load is running in the middle of the road line 101 Wrap up in corresponding mouth 104 of unloading goods.It will be appreciated by persons skilled in the art that in the same middle of the road line 101, all mouths of unloading goods 104 can correspond to different classification, naturally it is also possible to corresponding same classification；In the different middles of the road line 101, mouth of unloading goods 104 middle of the road line, 101 corresponding classification may be the same or different.But need to ensure that all mouths 104 of unloading goods can cover All classification, can complete all classification.Preferably, it can be directed to that same to be sorted in the different middles of the road line 101 equal Corresponding mouth 104 of unloading goods is set, the shunting of sorting machine people can be so realized, can also improve packages efficiency.Such as Fruit which kind of package quantity it is more, corresponding with such parcel mouth of unloading goods can be all set in every middle of the road line 101 104, it can also so improve packages efficiency.

In a kind of embodiment of the embodiment of the present application, all middles of the road line 101 divide at least one set, every group of middle of the road line 101 include a plurality of adjacent middle of the road line 101；In every group of middle of the road line 101, the corresponding mouth 104 of unloading goods of every middle of the road line 101 Equal concentrated setting is in the both sides of the section of unloading goods of this middle of the road line 101.That is, every middle of the road line 101 is corresponding all Unload goods in mouth 104, along its length, the interval of adjacent mouth 104 of unloading goods is not more than the first predetermined threshold value, and the first predetermined threshold value is got over It is small, illustrate that intensity is higher.Wherein, the first predetermined threshold value can be 0 or close to 0 value.Wherein, unload goods section Refer to be used to be correspondingly arranged one section of mouth 104 of unloading goods in the middle of the road line 101, no more than including less than or equal to.

In every group of middle of the road line 101, along the orientation of the middle of the road line 101, the section concentration of unloading goods of all middles of the road line 101 Distribution, that is, the unload goods spacing in the direction of section of any two are got over no more than the second predetermined threshold value, the second predetermined threshold value It is small, illustrate that intensity is higher.In every group of middle of the road line 101, along the length direction of the middle of the road line 101, all middles of the road line 101 Section of unloading goods be sequentially arranged at intervals, be spaced allow to by the second predetermined threshold value set smaller, you can with pre- by second If threshold value be arranged to 0 or close to 0 value.Wherein, for any two middles of the road line 101, the arrangement side of the middle of the road line 101 To can be from first middle of the road line to the direction of second middle of the road line or refer among from second middle of the road line to first The direction of road.

It is above-mentioned so to set so that in the case where reducing occupied space as far as possible, can by the sorting machine people of load and Unloaded sorting machine people is shunted, specifically, be directed to a middle of the road line 101, sorting machine people only can unload goods section into Row is delivered, otherwise the sorting machine people of load is run in each non-section of unloading goods, otherwise the sorting machine people of load is all run, just In the speed of service for improving sorting machine people, so as to improve packages efficiency.

With reference to Fig. 1, all middles of the road line 101 divide for 10 groups, and every group of middle of the road line 101 is included among two adjacent first Road and second middle of the road line；Certainly, in other embodiments, all middles of the road line 101 divide good for 1,2,3,4 or 5 group, That is can more than or equal to 1 group.

In the same direction, first middle of the road line and second middle of the road line comprising be sequentially communicated first segment, second segment and 3rd section, wherein, second segment is bending segment；First middle of the road line and the respective first end of second middle of the road line and the 3rd section pass through Respective second segment smoothly transits, certainly, in other embodiments, do not use smoothly transit it is also possible.

Along the orientation of the middle of the road line 101, the 3rd section of the first segment of first middle of the road line and second middle of the road line Distance is less than the distance of the 3rd section of first segment away from second middle of the road line of first middle of the road line；In this way, allow for first Relative in the 3rd section and second of first middle of the road line between the first segment of the middle of the road line and the 3rd section of second middle of the road line Between road first segment between more concentrate.Specifically, the 3rd section of the first segment of first middle of the road line and second middle of the road line Distance can be 0, or close to 0 value, certainly, in other embodiments, this distance can also be others Default value.

The both sides of corresponding all first segments of 104 concentrated setting of mouth in itself of unloading goods of first middle of the road line, among second Corresponding all 104 concentrated settings of mouth of unloading goods of road are in the 3rd section of the both sides of itself, so also so that this two-part unloads goods Mouth 104 is more concentrated along the orientation of the middle of the road line 101.

By above-mentioned setting, can cause in the case where reducing occupied space as far as possible, by the sorting machine of load People and unloaded sorting machine people are shunted, so as to improve packages efficiency.

Further, with reference to Fig. 1, along the orientation of the middle of the road line 101, in the first segment of first middle of the road line and second Between the 3rd section of road alignment set, the of 104 and second middle of the road line of mouth of unloading goods of the first segment both sides of first middle of the road line Three sections of both sides unload goods mouth 104 alignment set, between the first segment of first middle of the road line and the first segment of second middle of the road line between Away from equal to the width of mouth 104 in the direction of unloading goods；Between the 3rd section and the 3rd section of second middle of the road line of first middle of the road line Spacing be also equal to the width of mouth 104 in the direction of unloading goods.

With continued reference to Fig. 1, each road confluence 102 be respectively provided with to packages platform middle part extension and from both sides by The extension gradually inwardly narrowed；All middles of the road line 101 and all bonding pads of each road confluence 102 are handed over along the road The narrowed side distribution in remittance area 102.So set so that sorting machine people is after the middle of the road line 101 rolls away from, transversely from different positions Put and enter road confluence 102, then enter other middles of the road line 101 from diverse location, so that sorting machine people disperses to run.This Sample can reduce the demand that crosses of sorting machine people, and also can be the speed of service for improving sorting machine people, so as to Improve packages efficiency.Wherein, the direction from a road confluence 102 to another road confluence 102 is laterally referred to.

With reference to Fig. 1, along the orientation of the middle of the road line 101, from first article of middle of the road line 101 into default quantity article Between road 101 be one way access in the first direction, from the default quantity article middle of the road line 101 to the last item middle of the road line 101 be one way access in a second direction, wherein, first direction and second direction are opposite direction.Specifically, present count Amount can be the half of all 101 quantity of the middle of the road line, and certainly, in other embodiments, default quantity can be less than centre Any positive integer of 101 quantity of road.

So set so that 101 integrated distribution of the middle of the road line of first direction is in the side of packages platform, second party To 101 integrated distribution of the middle of the road line packages platform opposite side.When specifically used, if in each bar middle of the road line 101 port of export is got in stocks, and the sorting machine people of load rolls away from from the middle of the road line 101 of first direction, can be to opposite side The middle of the road line 101 of second direction drives into carry out package delivering, equally, the interim orbit of the sorting machine people of load from second direction Road 101 is rolled away from, can drive into carry out package delivering to the middle of the road line 101 of opposite side first direction.Sorting machine people operation one Zhou Jinhang gets in stocks twice, twice delivery of packages, it is thus possible to improve packages efficiency.

Further, edge is from the one way access of outermost first direction to the side of the most one way access of inner side first direction To, and second direction, the outlet of all one way access of first direction gradually inwardly lean on the bonding pad of road confluence 102 Closely；

Edge is from the one way access of outermost second direction to the direction of the most one way access of inner side second direction, and first Direction, the outlet of all one way access of second direction are gradually inwardly close with the bonding pad of road confluence 102.

During concrete application, if setting position of getting in stocks, the sorting machine of load in the outlet port of each bar middle of the road line 101 People rolls away from from the middle of the road line 101 of first direction, can be driven into the middle of the road line 101 of opposite side second direction and carry out parcel throwing Pass, equally, the sorting machine people of load rolls away from from the middle of the road line 101 of second direction, can be into opposite side first direction Between road 101 drive into carry out package delivering.Sorting machine people from each bar middle of the road line 101 of first direction roll away from when, from transverse direction Diverse location drive into road confluence 102, it is close to the middle of the road line 101 of second direction in the same direction before this, then, Need to carry out needing the middle of the road line 101 for driving into corresponding second direction after being crossed, road friendship can be reduced by so setting The demand of remittance so that got in stocks twice realizing that sorting machine people runs one week, twice on the basis of delivery of packages, further Improve packages efficiency.

In other embodiments, the traffic direction of each bar middle of the road line 101 of packages platform is not provided with and can With, user can voluntarily be set according to actual use demand.

In a kind of embodiment of the embodiment of the present application, packages platform can so be made using being centrosymmetrically arranged It is compacter to obtain the various pieces of packages platform, easy to reduce the occupied space of packages platform.

Packages platform further includes multiple parking areas 103, each parking area 103 at least with a road confluence 102 Connection.When specifically used, it if sorting machine people gets congestion in some positions, can rest in part sorting machine people Parking area 103, to alleviate congestion, ensures the continuation of packages process.

Specifically, with continued reference to Fig. 1, robot operation platform includes two parking areas 103, and parking area 103 is handed over road The one-to-one corresponding of area 102 that converges connects.Parking area 103 can be disposed adjacent with road confluence 102, and each parking area 103 is respectively provided with In corresponding side of the road confluence 102 away from the middle of the road line 101.Certainly, in other modes, set using other modes It is also possible, as long as ensureing that a parking area 103 can be connected with a road confluence 102.

In addition, packages platform, positioned at the top of parcel collecting layer, being so delivered to the parcel for mouth 104 of unloading goods can fall Enter to wrap up collecting layer, to be collected parcel.

With reference to Fig. 2 and Fig. 3, the embodiment of the present application additionally provides a kind of packages system, which includes：Packages Platform 1, positioned at the parcel collecting layer of the lower section of packages platform 1, and positioned at packages platform 1 and parcel collecting layer it Between, and the multiple bin devices 4 being correspondingly arranged with multiple mouths 104 of unloading goods of packages platform 1；Wherein, bin device 4 can be with Completely the same with the prior art, those skilled in the art can realize the structure of bin device 4 based on the prior art completely, herein Do not repeat.

In addition, with reference to Fig. 4, parcel collecting layer can include multiple collection bag apparatus 5, and collection bag apparatus 5 and bin device 4 are one by one It is correspondingly arranged, collection bag apparatus 5 is located at corresponding bin device 4 into bag mouth and goes out to wrap the underface of mouth.It should be noted that collection Bag apparatus 5 can be identical with the prior art, and those skilled in the art are based on the prior art, can realize collection bag apparatus completely 5 structure, this will not be repeated here.Go out to wrap being delivered to down into Bao Kou, parcel for mouth sum aggregate bag apparatus 5 by bin device 4 After goods mouth 104, collection bag apparatus 5 is imported into by bin device 4, collection bag apparatus 5 can will collect full parcel and carry out at packing Reason.

Further, which can also include multiple packet receiving conveyer belts 6；Each packet receiving conveyer belt 6 is positioned at extremely Few collection bag apparatus 5 goes out to wrap the underface of mouth.After collection bag apparatus 5 will collect full parcel packing, corresponding receipts are delivered to On bag conveyer belt 6, packet receiving conveyer belt 6 again outwards exports parcel from packages system.In other embodiments, collection packaging Put 5 and do not pack full parcel is collected, be directly delivered to also possible on packet receiving conveyer belt 6.

With reference to Fig. 1, packages platform 1 includes a plurality of spaced middle of the road line 101, and is respectively arranged at centre Two road confluences 102 at 101 both ends of road；

Using embodiment illustrated in fig. 2, the sorting machine people for delivery of packages can run on the middle of the road line 101 and road Confluence 102, can be entered in other by 102 sorting machine people of road confluence from a middle of the road line 101 is selectable Between road 101.Due to being provided separately the middle of the road line 101 and road confluence 102, it is thus possible to improve point of operation thereon The average speed of robot is picked, so that packages efficiency can be improved.

With reference to Fig. 1, mouth 104 of each unloading goods corresponds to the middle of the road line 101 and sets, every interim orbit for being equipped with mouth 104 of unloading goods The corresponding mouth 104 of unloading goods in road 101 is set gradually along the length direction of this middle of the road line 101, and is located at this middle of the road line 101 Side.Such setting is also used in the embodiment of above-mentioned packages platform, the beneficial effect of two parts is identical, tool The analysis of body may be referred to above-mentioned corresponding part, and which is not described herein again.

Further, every middle of the road line 101 is correspondingly provided with mouth 104 of unloading goods, and every middle of the road line 101 is corresponding all Mouth 104 of unloading goods is distributed in the both sides of this middle of the road line 101.Also used in the embodiment of above-mentioned packages platform such Set, the beneficial effect and specifically used process of two parts are identical, may be referred to above-mentioned corresponding part, no longer superfluous here State.

Further, parcel collecting layer includes packet receiving conveyer belt 6, specifically, right with reference to Fig. 4, every middle of the road line 101 Two packet receiving conveyer belts 6 are answered, the two packet receiving conveyer belts 6, one corresponds to positioned at 101 side bin device 4 of this middle of the road line All collection bag apparatus 5 go out to wrap the underface of mouth, the bin device 4 that another is located at 101 opposite side of this middle of the road line is right All collection bag apparatus 5 answered go out to wrap the underface of mouth.

In a kind of embodiment of the embodiment of the present application, all middles of the road line 101 divide at least one set, every group of middle of the road line 101 include a plurality of adjacent middle of the road line 101；In every group of middle of the road line 101, the corresponding mouth 104 of unloading goods of every middle of the road line 101 Equal concentrated setting is in the both sides of the section of unloading goods of this middle of the road line 101.In every group of middle of the road line 101, along the row of the middle of the road line 101 Column direction, a section integrated distribution of unloading goods for all middles of the road line 101.In every group of middle of the road line 101, along the length of the middle of the road line 101 Direction, the section of unloading goods of all middles of the road line 101 are sequentially arranged at intervals.This is also used in the embodiment of above-mentioned packages platform The setting of sample, the beneficial effect of two parts is identical, and specific set can also be identical, refer to above-mentioned corresponding part, Which is not described herein again.

With reference to Fig. 1, all middles of the road line 101 divide includes two adjacent first at least one set, every group of middle of the road line 101 The middle of the road line and second middle of the road line；In the same direction, first middle of the road line and second middle of the road line include what is be sequentially communicated First segment, second segment and the 3rd section, wherein, second segment is bending segment；Along the orientation of the middle of the road line 101, the first interim orbit 3rd section of distance of the first segment on road and second middle of the road line is less than the 3rd section of first middle of the road line away from second middle of the road line First segment distance；The both sides of corresponding all first segments of 104 concentrated setting of mouth in itself of unloading goods of first middle of the road line, the Corresponding all 104 concentrated settings of mouth of unloading goods of two middles of the road line are in the 3rd section of the both sides of itself.Above-mentioned packages platform Such setting is also used in embodiment, the beneficial effect of two parts is identical, and specific set can also be identical, please join It is admitted to and states corresponding part, which is not described herein again.

In addition, the corresponding bin device 4 of corresponding 4 and second middle of the road line of bin device of the first segment of first middle of the road line In, it is less than the 3rd section of first middle of the road line away from the along the ultimate range of the orientation of the middle of the road line 101 between bin device 4 The distance of the first segment of two middles of the road line, is so set so that the structure of packages system is compacter, so as to reduce occupancy Space, saves cost.

It is in addition, corresponding with reference to Fig. 2, corresponding 4 and second middle of the road line of bin device of first segment of first middle of the road line Bin device 4 also aligns setting.So set and make it that the structure of packages system is compacter, so that occupied space is reduced, Save cost.

With continued reference to Fig. 2, each road confluence 102 is respectively provided with the middle part extension to packages platform 1 and from both sides The extension gradually inwardly narrowed；All bonding pads of all middles of the road line 101 and each road confluence 102 are along the road The narrowed side distribution of confluence 102.Also use such setting in the embodiment of above-mentioned packages platform, two parts Beneficial effect is identical, and specific analysis, may be referred to above-mentioned corresponding part, which is not described herein again.

In a kind of embodiment of the embodiment of the present application, which can also include piece supplying device 2, piece supplying dress 2 tops for being arranged at the middle of the road line 101 are put, and positioned at the corresponding middle of the road line 101 close to the one of a road confluence 102 End.Automatic goods loading can be realized by so setting, and can not only be improved packages efficiency, can also be saved manpower.Meanwhile in Between one end of road 101 get in stocks, can be to avoid the interference to delivery process, so as to further improve packages effect Rate.Certainly, in other embodiments, it is also possible using manually getting in stocks.

Further, every middle of the road line 101 is equipped with piece supplying device 2, can so improve the setting number of piece supplying device 2 Amount is to improve efficiency of getting in stocks, so as to improve packages efficiency.

In above-mentioned all piece supplying devices 2, a part of piece supplying device 2 can be located at corresponding middle of the road line 101 Close to one end of a road confluence 102, the piece supplying device 2 of remainder can be located at corresponding middle of the road line 101 Close to one end of another road confluence 102.The middle of the road line can be set according to the position of piece supplying device 2 by so setting 101 traffic direction, so that piece supplying device 2 is located at the port of export of the corresponding middle of the road line 101, consequently facilitating realizing sorting machine People is got in stocks twice when running one week, is delivered twice, to improve packages efficiency.

Referring to Figures 1 and 2, along the orientation of the middle of the road line 101, from first article of middle of the road line 101 to present count The amount bar middle of the road line 101 is one way access in the first direction, from the default quantity article middle of the road line 101 into the last item Between road 101 be one way access in a second direction, wherein, first direction and second direction are opposite direction.Above-mentioned bag Wrap up in the embodiment of sorting platform and also use such setting, the beneficial effect of two parts is identical, specific analysis, can be with With reference to above-mentioned corresponding part, which is not described herein again.

Further, edge is from the one way access of outermost first direction to the side of the most one way access of inner side first direction To, and second direction, the outlet of all one way access of first direction gradually inwardly lean on the bonding pad of road confluence 102 Closely；Along from the one way access of outermost second direction to the direction of the most one way access of inner side second direction, and first direction, The outlet of all one way access of second direction is gradually inwardly close with the bonding pad of road confluence 102.Above-mentioned packages Such setting is also used in the embodiment of platform, the beneficial effect of two parts is identical, and specific analysis, may be referred to Corresponding part is stated, which is not described herein again.

Further, which can also include multiple piece supplying devices 2, multiple piece supplying devices 2 with it is multiple The middle of the road line 101 is set correspondingly, and each piece supplying device 2 is respectively positioned on the upper of the port of export of the corresponding middle of the road line 101 Side, automatic goods loading can be carried out in the outlet of the middle of the road line 101 by so setting, so that packages efficiency can be not only improved, Manpower can also be saved.Certainly, in other embodiments, it is also possible using manually getting in stocks.

Further, which further includes supply of material conveyer belt 7, and supply of material conveyer belt 7 is filled along all piece supplyings Put 2 settings.Wherein, conveyer belt 7 of supplying is S-type, can specifically include：

The first segment that the piece supplying device 2 of 101 port of export of all middles of the road line in the first direction is set, in a second direction The second segment that the piece supplying device 2 of all 101 ports of export of the middle of the road line is set, and extend along the middle of the road line 101 and be located at phase The 3rd section between two articles of adjacent middles of the road line 101, wherein, a centre for first direction in two middles of the road line 101 Road 101, another middle of the road line 101 for second direction.

Referring to Figures 1 and 2, packages platform 1 further includes multiple parking areas 103, each parking area 103 at least with one Road confluence 102 connects.Also use such setting in the embodiment of above-mentioned packages platform, two parts it is beneficial Effect is identical, and specific set can also be identical, and specific analysis may be referred to above-mentioned corresponding part, no longer superfluous here State.

The application is in a kind of embodiment of embodiment, and packages platform 1 is used and is centrosymmetrically arranged.Above-mentioned parcel Sort in the embodiment of platform and also use such setting, the beneficial effect of two parts is identical, and specific analysis can be joined It is admitted to and states corresponding part, which is not described herein again.Packages platform 1 is used and is centrosymmetrically arranged it is also possible that piece supplying device 2 can be centrosymmetric arrangement.

The application is in a kind of embodiment of embodiment, which further includes multiple sorting machine people 3, point Pick robot 3 and run on the middle of the road line 101 and road confluence 102.Sorting machine people 3 is for the operation of carrying parcel and downwards 104 delivery of packages of goods mouth.

The application implements to additionally provide a kind of robot dispatching method, applied to being run in any of the above-described packages system Sorting machine people scheduling；It should be noted that the executive agent of this method embodiment can be dispatching device but be not limited to This.

With reference to Fig. 5, which can include：

S101, when any one sorting machine people receives parcel to be sorted a position of getting in stocks, for the sorting machine People plans a path for reaching the corresponding mouth of unloading goods of the parcel, wherein, the corresponding mouth of unloading goods of a parcel refers to the parcel institute Belong to the correspondence of the corresponding mouth of unloading goods of classification, all categories of parcel to be sorted and multiple mouths of unloading goods, each bar middle of the road line Direction, and position of getting in stocks all are pre-set, and in all middles of the road line, the direction of a part of middle of the road line is first party To the direction of the middle of the road line of remainder is second direction；

It should be noted that if packages system used includes piece supplying device, the corresponding position of piece supplying device Exactly get in stocks position, piece supplying device can be in corresponding position of getting in stocks automatically to sorting machine people's delivery of packages.It is if used Packages system in do not include piece supplying device, then can be set according to being actually needed in the corresponding position of packages platform Get in stocks position, get in stocks position by the way of manually getting in stocks by package delivering to sorting machine people, for example, it is desired in each bar Between the port of export of road get in stocks, then the port of export for the position correspondence middle of the road line of getting in stocks can be set.

After the direction setting of each bar middle of the road line, sorting machine people can only be according in this in the corresponding middle of the road line Between road direction operation.If each middle of the road line of packages system has respective traffic direction, can be direct Using existing traffic direction, if not provided, can be configured according to actual needs, for example, by the middle of the road line of half Direction is arranged to first direction, and the direction of the other half the middle of the road line is arranged to second direction.Those skilled in the art can manage Solution when, after defining direction for the middle of the road line, the Route Routes planned can only be along the direction of the middle of the road line.

Since the classification for the parcel for needing to classify every time may be different, unload goods when specifically used, it is necessary to pre-set Mouthful and the classification of parcel to be sorted correspondence, so that sorting machine people can be by same type of package delivering to identical Mouth unload goods to realize classification.For example, sharing 20 mouths of unloading goods, parcel to be sorted has five classifications, then can be directed to each class She Zhi not 4 mouths of unloading goods.

S102, instruct sorting machine people to be run according to the path planned；According to the path planned, parcel is carried Sorting machine people is that the sorting machine people loaded can be run to the position of the corresponding mouth of unloading goods of the parcel from the position for receiving parcel Put.According to the path planned, sorting machine people can run on the middle of the road line and road confluence.

S103, when the sorting machine people of load reaches that carried parcel is corresponding to unload goods mouthful, to sorting machine people Delivery instruction is issued, so that the sorting machine people package delivering that is carried it is to corresponding mouth of unloading goods；

The sorting machine people of load run mouth of unloading goods corresponding to the parcel according to the position for instructing to wrap up from reception Position, then, receive and deliver instruction, according to delivering instruction by the package delivering of carrying to corresponding mouth of unloading goods.Subsequently, wrap Wrap up in from the corresponding bin device of mouth of unloading goods and enter parcel collecting layer, realize the sorting and collection to parcel.

S104, sorting machine people complete deliver after, sorting machine people is dispatched to up to next position of getting in stocks etc. Parcel to be received.Each sorting machine people is continuous cycle operation, can be by corresponding unloaded sorting after once delivering Robot is dispatched to the parcels to be received such as next position of getting in stocks, and after parcel to be sorted is received, that is, has been enter into and throws next time Pass the process of parcel.

Using the embodiment of the robot dispatching method, since sorting machine people is operate in above-mentioned packages system Packages platform on, therefore, possess the beneficial effect of above-mentioned packages system, concrete analysis is referred to corresponding Part.Meanwhile by the robot dispatching method the multiple sorting machine people run in packages system are carried out with unification Scheduling, easy to improve the operational efficiency of sorting machine people, so that packages efficiency can also be improved.

With reference to Fig. 6, wherein, S101 can be specifically included：

S201, when target sorting machine people receives in target piece supplying position target parcel, determine point of target parcel Class identifies, wherein, artificial any one in all sorting machine people of target sorting machine, target piece supplying position is all piece supplying positions Any one in putting, the parcel that target parcel receives for target sorting machine people in target piece supplying position；

This step can obtain the class indication that target is wrapped up by scanning device, and scanning device can combine in sorting machine On people, it can also combine on piece supplying device.If for example, being provided with piece supplying device, the target piece supplying of target piece supplying position fills Put after target parcel is taken, the label that can be wrapped up target is scanned, to obtain the class indication of target parcel, so Afterwards, target parcel class indication is sent to dispatching device.Dispatching device can be according to the running orbit of each sorting machine people Know the mark of the sorting machine people of each position, can also know the mark of target sorting machine people.When target sorter After device people receives target parcel, class indication and the mark of target sorting machine people that dispatching device can wrap up target are tied up It is fixed, easy to regulation goal sorting machine people.Wherein, the mark of sorting machine people is for uniquely tagged sorting machine people, example Such as, can be the numbering of sorting machine people.

S202, the class indication wrapped up according to target, determine that all targets corresponding with target parcel are unloaded goods mouth, and determine Each target is unloaded goods target location of the mouth in path planning map；Determine target sorting machine people in path planning map Current location；Wherein, path planning map is established according to the packages platform after rasterizing；

It is pre-set which mouth of unloading goods each class indication, which corresponds to, for example, can be identified with pre-production record sort With the relation table of the correspondence for mouth of unloading goods.The class indication wrapped up according to target, and the relation table, it may be determined that go out target Corresponding all targets are wrapped up to unload goods mouth.

The middle of the road line is belt road, and the longitudinally spaced arrangement of belt road, road confluence is prolonged by a plurality of belt road Long section is formed with transversely arranged a plurality of longitudinal intersection.Rasterizing packages platform, specifically can along belt road, The extension of belt road, and longitudinal road carry out grid division.

Certainly, in other embodiments, it is also possible using other modes progress grid processing, for example, road is handed over Converge area be unallocated road bulk portion, when specifically used, split road again, can be carried out along the road after segmentation Grid.

S203, according to current location and each target location, one is cooked up in path planning map from current location Reach the optimal path of target location.

Specifically, can be according to current location and each target location, and Dijkstra's algorithm, in path planning An optimal path that target location is reached from current location is cooked up in figure, this process can carry out in the following way：

Using each grid in path planning map as a path point, each path point is pre-set to each next The path cost of path point, wherein, path cost is used to represent sorting machine people from the path point to each next path point Congestion level, path cost can be specifically configured according to practical experience.Since the current location of target sorting machine people Extension, until expanding to each target location, calculates the total path cost in every path extended.For example, path is from road Footpath point A is to path point B, then to path point C, then the total path cost of this paths is exactly road of the path cost with B to C of A to B The sum of footpath cost.In a plurality of path from current location to target location obtained, the path of total path Least-cost is Optimal path.

After optimal path is obtained, target sorting machine people can be instructed to be run according to optimal path.

The optimal path cooked up through the above way, it is ensured that on packages platform, sorting machine people disperses Operation, can be to avoid getting congestion, so as to improve packages efficiency.

In a kind of embodiment of the embodiment of the present application, target sorting machine people is instructed to be run according to optimal path, can be with Carry out in the following way：

(1), optimal path is segmented, obtains either path segmentation no more than preset length, and in optimal path Each point that turns round is the endpoint of path segments；

During specific division, it can be divided paragraph by paragraph according to direction of the optimal path from current location to target location, can also Divided according to opposite direction.Since current division points, if reaching next length for turning round point is more than preset length, One section can be marked off according to preset length., can be by currently if reaching next length for turning round point is less than preset length Division points reach next turn round point one section and are divided into a path segments, so both can guarantee that the length of path segments as far as possible Close to preset length, it can also be ensured that the point that turns round is the endpoint of path segments.

Certainly, in other embodiments, can also be divided using other modes, for example, to two among path The mode at end.

(2), the application on path segments that target sorting machine people sends is received, wherein, target sorting machine people is Along optimal path, apply for path segments paragraph by paragraph；

Specifically, when target sorting machine people will run on next path segments, can be sent out to dispatching device The application on next section of path segments is sent, to apply for the right to use of next section of path segments.

(3), present application path segments not by the people's use of other sorting machines in the case of, to target sorting machine People issues operating instruction, so that target sorting machine people runs along the path segments of present application.

By the above-mentioned means, can ensure in certain time, a path segments are only used for a sorting machine people, this Sample can reduce the generation of congestion and collision, so as to improve packages efficiency.

In a kind of embodiment of the embodiment of the present application, every middle of the road line is correspondingly provided with mouth of unloading goods, every interim orbit The port of export on road is equipped with position of getting in stocks；

The class indication wrapped up according to target, determines that all targets corresponding with target parcel are unloaded goods mouth, can include：

The direction for the position place middle of the road line of being got in stocks according to the class indication and target that target is wrapped up, from the institute of other direction Have in the corresponding mouth of unloading goods of the middle of the road line, determine that all targets corresponding with target parcel are unloaded goods mouth；Wherein, other direction refers to The different direction in direction for the middle of the road line where position of getting in stocks from target, the direction of the middle of the road line where position if target is got in stocks For first direction, then other direction is second direction；If target is got in stocks, the direction of the middle of the road line is second direction where position, Then other direction is first direction.

According to current location and each target location, one is cooked up in path planning map and reaches mesh from current location The optimal path of cursor position, can include：

According to current location and each target location, one is cooked up in path planning map from the centre in a direction Road enters the middle of the road line in another direction by road confluence, and the optimal road of target location is reached from current location Footpath；

After sorting machine people completes to deliver, sorting machine people is dispatched to be received up to next position of getting in stocks etc. Parcel, including：

After target sorting machine people completes to deliver, target sorting machine people is dispatched to the current middle of the road line port of export Get in stocks the parcel to be received such as position.The middle of the road line where when the current middle of the road line refers to target sorting machine people's delivery of packages.

By above-mentioned steps set can the middle of the road line of sorting machine people in a first direction the port of export receive Parcel to be sorted, can pass through road confluence into second with the corresponding mouth of unloading goods of the parcel according to the path planned The middle of the road line in direction, parcel throwing is carried out so as to reach the corresponding mouth of unloading goods of the parcel in the middle of the road line of second direction Pass.Then, sorting machine people is scheduled the parcel to be received such as the port of export of the current middle of the road line.After receiving parcel, according to institute The path of planning can pass through the middle of the road line that road confluence enters the first direction with the corresponding mouth of unloading goods of the parcel, from And the corresponding mouth of unloading goods of the parcel in the middle of the road line of first direction can be reached and carry out package delivering, then, then it is scheduled The parcels to be received such as the port of export of the current middle of the road line.Each sorting machine people can constantly repeat the above process, and realize every Operation one week, carries out upper parcel and twice delivery of packages twice, can not only increase the number of delivery of packages, can also reduce and gather around It is stifled, so as to improve packages efficiency.

In addition, in present embodiment, when pre-setting correspondence of the mouth of unloading goods with wrapping up classification, can specifically set： The corresponding all mouths of unloading goods of all middles of the road line of first direction correspond to all categories of all parcels to be sorted, second direction The corresponding all mouths of unloading goods of all middles of the road line correspond to the corresponding all categories of all parcels to be sorted.It can so ensure to treat point Each parcel in class parcel can be smoothly delivered, and can improve packages efficiency.

In a kind of embodiment of the embodiment of the present application, which can also include：Monitoring is all in real time The middle of the road line and all road confluences are with the presence or absence of abnormal sorting machine people, if it does, abnormal prompt will be sent.Specifically , it can be prompted by audible alarm or light alarm, and point out abnormal sorting machine people.Pass through abnormal prompt, work Personnel can know that exception occurs in which sorting machine people, so as to handle abnormal sorting machine people as early as possible.

In a kind of embodiment of the embodiment of the present application, which can also include：When in the middle of the road line When monitoring in the presence of abnormal sorting machine people, control all sorting machine people of this middle of the road line out of service；

For the sorting machine people that will enter this middle of the road line, if there are the sorting machine in other middles of the road line Sorting machine people, then is dispatched to the position of a corresponding mouth of unloading goods by the corresponding mouth of unloading goods of parcel of people's carrying.

Sorting machine people can be made to enter a middle of the road line in other middles of the road line, this middle of the road line is deposited In the corresponding mouth of unloading goods of the parcel that sorting machine people is carried, sorting machine people is run to this and corresponding unload goods The position of mouth.So can be to avoid the middle of the road line and the congestion of road confluence, so as to improve packages efficiency.

Further, packages platform further includes multiple parking areas, each parking area at least with a road confluence Connection；

When being monitored in the middle of the road line in the presence of abnormal sorting machine people, all sortings of this middle of the road line are controlled After robot is out of service, which further includes：

For the sorting machine people that will enter this middle of the road line, if the sorter is not present in other middles of the road line The corresponding mouth of unloading goods of parcel of device people carrying, then be dispatched to parking area by sorting machine people.

By controlling this kind of sorting machine people to rest in parking area, it is possible to reduce the middle of the road line and the congestion of road confluence, So as to improve packages efficiency.

In a kind of embodiment of the embodiment of the present application, which can also include：

Whether monitoring parking area is fully parked with real time, if be fully parked with, controls all sorting machine people and all piece supplying positions to stop Operation.

If parking area has been fully parked with sorting machine people, illustrate occurred occurring more exception in packages system, The sorting efficiency of whole packages system can be greatly affected.Therefore, so set that can to leave staff for more Time handles exception, so as to so that packages system returns to normal operating conditions as early as possible.

When being monitored in road confluence in the presence of abnormal sorting machine people, the area shared by sorting machine people is blocked Domain, the region are sorting machine people in all grids shared by path planning map；

It is understood that the region of block has what much spaces specifically according to shared by sorting machine people determined, example Such as, sorting machine people accounts for a grid, then the region to be blocked is the corresponding grid of sorting machine people.If this point Pick robot and account for two grids, then the region to be blocked is corresponding two grids of sorting machine people.

When any one sorting machine people receives parcel to be sorted a position of getting in stocks, planned for sorting machine people One path for reaching the corresponding mouth of unloading goods of the parcel, including：

When any one sorting machine people receives parcel to be sorted a position of getting in stocks, planned for sorting machine people One reach the corresponding mouth of unloading goods of the parcel and around cordon area path；

After sorting machine people completes to deliver, sorting machine people is dispatched to by a path around cordon area and is reached The parcels to be received such as next piece supplying position.

In path planning, around the path in blocked region, the effective percentage in the path obtained is higher, will not for planning Because the presence of abnormal sorting machine people, and the speed of service of other sorting machines people is reduced, so as to improve parcel point Pick efficiency.

Corresponding to the embodiment of above-mentioned robot dispatching method, the embodiment of the present application provides a kind of robot scheduling dress Put, the scheduling applied to the sorting machine people run in any of the above-described kind of packages system；

With reference to Fig. 7, which includes：Planning module 71, instruct module 72, sending module 73 and first to dispatch Module 74.

Planning module 71, for when any one sorting machine people receives parcel to be sorted a position of getting in stocks, being Sorting machine people plans a path for reaching the corresponding mouth of unloading goods of the parcel, wherein, the corresponding mouth of unloading goods of a parcel is Refer to the corresponding mouth of unloading goods of the parcel generic, the correspondence of all categories of parcel to be sorted and multiple mouths of unloading goods, each bar The direction of the middle of the road line, and position of getting in stocks all are pre-set, wherein, in all middles of the road line, a part of middle of the road line Direction be first direction, the direction of the middle of the road line of remainder is second direction；

Module 72 is instructed, for instructing sorting machine people to be run according to the path planned；

Sending module 73, for when the sorting machine people of load reach carried parcel it is corresponding when unloading goods mouthful, to Sorting machine people issues delivery instruction, so that the sorting machine people package delivering that is carried it is to corresponding mouth of unloading goods；

First scheduler module 74, for after sorting machine people completes to deliver, sorting machine people being dispatched under reaching The parcels to be received such as one position of getting in stocks.

Using the robot dispatching device embodiment, since sorting machine people is operate in above-mentioned packages system On packages platform, therefore, possesses the beneficial effect of above-mentioned packages system, concrete analysis is referred to corresponding portion Point.Meanwhile unified tune is carried out with multiple sorting machine people in packages system to running by the robot dispatching device Degree, easy to improve the operational efficiency of sorting machine people, so that packages efficiency can also be improved.

In a kind of embodiment of the embodiment of the present application, with reference to Fig. 8, planning module 71 can include：First receiving unit 711st, determination unit 712 and planning unit 713；

First receiving unit 711, for when target sorting machine people receives in target piece supplying position target parcel, really Set the goal the class indication of parcel, wherein, artificial any one in all sorting machine people of target sorting machine, target piece supplying position It is set to any one in all piece supplying positions, the bag that target parcel receives for target sorting machine people in target piece supplying position Wrap up in；

Determination unit 712, for the class indication wrapped up according to target, determines under all targets corresponding with target parcel Goods mouth, and determine that each target is unloaded goods target location of the mouth in path planning map；Determine target sorting machine people in path Current location in planning map；Wherein, path planning map is established according to the packages platform after rasterizing；

Planning unit 713, for according to current location and each target location, one to be cooked up in path planning map The optimal path of target location is reached from current location；

Module 72 is instructed to be specifically used for instructing target sorting machine people to run according to optimal path.

Determination unit 712 is specifically used for being got in stocks the middle of the road line where position according to the class indication and target that target is wrapped up Direction, from the corresponding mouth of unloading goods of all middles of the road line of other direction, determines that all targets corresponding with target parcel are unloaded goods Mouthful；

Planning unit 713 is specifically used for according to current location and each target location, is cooked up in path planning map One middle of the road line from a direction by road confluence enter another direction the middle of the road line, and from current location to Up to the optimal path of target location；

First scheduler module 74 is specifically used for after target sorting machine people completes to deliver, and target sorting machine people is dispatched The parcels to be received such as the position of getting in stocks to the current middle of the road line port of export.

In a kind of embodiment of the embodiment of the present application, module 72 is instructed to include：Segmenting unit, the second receiving unit and hair Send unit (not shown).

Segmenting unit, for optimal path to be segmented, obtains either path segmentation no more than preset length, and optimal Each point that turns round in path is the endpoint of path segments；

Second receiving unit, for receiving the application on path segments of target sorting machine people transmission, wherein, target Sorting machine people is along optimal path, paragraph by paragraph to dispatching device application path segments；

Transmitting element, in the case of in the path segments of present application not by the people's use of other sorting machines, to mesh Mark sorting machine people issues operating instruction, so that target sorting machine people runs along the path segments of present application.

In a kind of embodiment of the embodiment of the present application, which further includes：First stoppage in transit control module With the second scheduler module (not shown)；

First stoppage in transit control module, for when being monitored in the middle of the road line in the presence of abnormal sorting machine people, control should All sorting machine people of the bar middle of the road line are out of service；

Second scheduler module, for for the sorting machine people that will enter this middle of the road line, if other interim orbits There are the corresponding mouth of unloading goods of parcel of sorting machine people carrying on road, sorting machine people is dispatched to one and is unloaded goods accordingly The position of mouth.

Further, the packages platform in packages system includes multiple parking areas, each parking area at least with One road confluence connection；

The robot dispatching device can also include：

3rd scheduler module (not shown), for being monitored when the first stoppage in transit control module performs to work as in the middle of the road line During in the presence of abnormal sorting machine people, after controlling all sorting machine people of this middle of the road line out of service, for will Into the sorting machine people of this middle of the road line, if there is no the parcel pair of sorting machine people carrying in other middles of the road line The mouth of unloading goods answered, then be dispatched to parking area by sorting machine people.

In a kind of embodiment of the embodiment of the present application, which can also include：Monitoring modular and Two stoppage in transit control module (not shown)s；

Monitoring modular, for monitoring whether parking area is fully parked with sorting machine people in real time；

Second stoppage in transit control module, for when monitoring module monitors result for be fully parked with when, control all sorting machine people and All piece supplying devices are out of service.

Lockout module (not shown), for when being monitored in road confluence in the presence of abnormal sorting machine people, Block the region shared by sorting machine people, the size in region is sorting machine people in all grid shared by path planning map The size of lattice；

Planning module 71, specifically for receiving parcel to be sorted a position of getting in stocks as any one sorting machine people When, for sorting machine people plan one reach the corresponding mouth of unloading goods of the parcel and around cordon area path；

First scheduler module 74, specifically for after sorting machine people completes to deliver, sorting machine people is passed through one It is dispatched to around the path of cordon area up to parcels to be received such as next piece supplying positions.

It should be noted that herein, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those Element, but also including other elements that are not explicitly listed, or further include as this process, method, article or equipment Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that Also there are other identical element in process, method, article or equipment including key element.

Each embodiment in this specification is described using relevant mode, identical similar portion between each embodiment Divide mutually referring to what each embodiment stressed is the difference with other embodiment.It is real especially for system For applying example, since it is substantially similar to embodiment of the method, so description is fairly simple, related part is referring to embodiment of the method Part explanation.

It these are only the preferred embodiment of the application, be not intended to limit the protection domain of the application.It is all in this Shen Any modification, equivalent replacement, improvement and so within spirit and principle please, are all contained in the protection domain of the application.

Claims

1. a kind of packages platform, the packages platform is equipped with multiple mouths of unloading goods, it is characterised in that

The packages platform includes a plurality of spaced middle of the road line, and is respectively arranged at the middle of the road line both ends Two road confluences；

In all middles of the road line, the middle of the road line described in any bar passes through a road confluence and remaining any bar institute Middle of the road line connection is stated, and is connected by road confluence another described with the middle of the road line described in remaining any bar.

2. packages platform according to claim 1, it is characterised in that each mouth of unloading goods corresponds to the centre Road is set, and the length direction of every corresponding opening's edge this middle of the road line of unloading goods of the middle of the road line for being equipped with the mouth of unloading goods is successively Set, and positioned at the side of this middle of the road line.

3. packages platform according to claim 2, it is characterised in that every middle of the road line is correspondingly provided with institute State mouth of unloading goods, the corresponding all mouths of unloading goods of every middle of the road line are distributed in the both sides of this middle of the road line.

4. packages platform according to claim 3, it is characterised in that all middles of the road line are divided at least one Group, the middle of the road line described in every group include a plurality of adjacent middle of the road line；

In the middle of the road line described in every group, the corresponding equal concentrated setting of mouth of unloading goods of every middle of the road line is in this middle of the road line The both sides for section of unloading goods；

In the middle of the road line described in every group, along the orientation of the middle of the road line, the section concentration of unloading goods of all middles of the road line Distribution；

In the middle of the road line described in every group, along the length direction of the middle of the road line, all middles of the road line unload goods section successively It is spaced.

5. packages platform according to claim 3, it is characterised in that all middles of the road line are divided at least one Group, the middle of the road line described in every group include two adjacent first middles of the road line and second middle of the road line；

In the same direction, first middle of the road line and second middle of the road line are comprising the first segment being sequentially communicated, second Section and the 3rd section, wherein, the second segment is bending segment；

Along the orientation of the middle of the road line, the first segment of first middle of the road line and the 3rd of second middle of the road line The distance of section is less than the distance of the 3rd section of first segment away from second middle of the road line of first middle of the road line；

The both sides of corresponding all first segments of mouthful concentrated setting in itself of unloading goods of first middle of the road line, among described second The corresponding all mouthful concentrated settings of unloading goods of road are in the 3rd section of the both sides of itself.

6. according to claim 1-5 any one of them packages platforms, it is characterised in that each road confluence is equal With the extension for extending to the middle part of the packages platform and gradually inwardly being narrowed from both sides；

All bonding pads of all middles of the road line and each road confluence are along the narrowed side of the road confluence Distribution.

7. according to claim 1-5 any one of them packages platforms, it is characterised in that along the row of the middle of the road line Column direction, is one way access in the first direction from first article of middle of the road line to the default quantity article middle of the road line, pre- from the If the quantity bar middle of the road line to the one way access that the last item middle of the road line is in a second direction, wherein, the first direction It is opposite direction with the second direction.

8. packages platform according to claim 7, it is characterised in that along the one way access from outermost first direction To the direction of the most one way access of inner side first direction, and the second direction, all one way access of the first direction Outlet and the bonding pad of the road confluence it is gradually inside close；

Edge is from the one way access of outermost second direction to the direction of the most one way access of inner side second direction, and described first Direction, the outlet of all one way access of the second direction are gradually inwardly close with the bonding pad of the road confluence.

9. according to claim 1-5 any one of them packages platforms, it is characterised in that the packages platform uses It is centrosymmetrically arranged.

10. according to claim 1-5 any one of them packages platforms, it is characterised in that the packages platform is also Including multiple parking areas, each parking area is at least connected with a road confluence.

11. according to claim 1-5 any one of them packages platforms, it is characterised in that the packages platform position In the top of parcel collecting layer.