KR20220165304A - Singulator and method for singulating - Google Patents

Abstract

A singulator is disclosed. According to one embodiment, as the singulator receives and transports supplied cargoes, the location of the cargoes is detected, and as the singulator controls and returns the overlapping cargoes that are not aligned in one line through a redirection device, the efficiency of the singulator's alignment of cargoes is increased.

Description

Singulator and method for singulating cargo {Singulator and method for singulating}

The present invention relates to logistics handling technology, and more particularly, to cargo transport technology through a conveyor and a direction changing device.

Demand for high-speed cargo handling is increasing due to the growth of the parcel delivery market and the establishment of hub-type logistics centers. Cargo handling in distribution centers is evolving from partial automation to full automation. Accordingly, the demand for a singulator that automatically sorts cargo is increasing.

Even if a parcel sorter is used, if there is no singulator, the cargo must be dropped at regular intervals and placed on the conveyor belt one by one. Since all of these operations are performed manually, a considerable amount of manpower and time are required even in the distribution center. In order to reduce manual work and go to full automation, an automation system is needed that can sort cargo one by one and put it into the separator even if it is roughly poured. For this complete automation, instead of manually placing the cargo in a row, a method of randomly loading the pallet, using a tipper to pour the entire pallet, arranging the cargo in a row, and then sending it to the separator is required for processing.

According to an embodiment, a singulator capable of increasing the efficiency of arranging cargo in a row is proposed.

The singulator according to an embodiment includes a first cargo supply unit for supplying cargoes, a cargo arranging unit for arranging cargoes supplied from the first cargo supply unit, and when cargoes being sorted through the cargo arranging unit enter the cargo detection area, each A cargo detection unit for detecting the position of the cargo, and determining whether the cargoes are aligned in one line based on the cargo position detected through the cargo detection unit, and converting at least one overlapping cargo that is not aligned in one line with at least one direction It includes a cargo branching unit that diverges and diverges through the device, a first cargo discharge unit that discharges cargoes aligned in one line through the cargo sorting unit, and a cargo return unit that returns overlapping cargo diverged through the cargo diverting unit.

The cargo aligning unit may move the cargoes to the first cargo discharge unit position through the slanted skew roller.

The cargo sensing area of the cargo sensing unit may include a combination of at least one of a slanted skew roller, a linear roller, and a belt conveyor.

Each direction changing device may be at least one of a wheel sorter, a belt sorter, and a belt wheel sorter.

Each direction change device may include at least one small belt for transporting cargo, and a rotating body for changing the moving direction of the cargo passing through the small belt by rotating the position of the small belt by rotation on a plane.

If overlapping cargo exists in one row, the cargo branch unit determines that it is not aligned in one line, passes a predetermined cargo among the overlapping cargo, provides it to the first cargo discharge unit, and changes the traveling route of the remaining cargo excluding the predetermined cargo. and can be provided to the cargo return section.

The cargo diverting unit may group predetermined direction changing devices among a plurality of direction changing devices and simultaneously change the direction of the grouped direction changing devices to change the traveling path of the cargo passing thereon and provide the cargo returning unit.

The cargo sensor further detects the size of the cargo, and the cargo branch unit determines whether or not the cargo is aligned in a line based on the location and size of the cargo detected through the cargo sensor, and the direction to change direction in proportion to the size of the cargo A shifting device group is determined, and a direction shifting device belonging to the determined direction changing device group is changed to change a moving path of cargo passing thereon.

The cargo return unit may include a second cargo discharge unit that discharges the diverged overlapping cargo, a cargo circulation unit that circulates the discharged overlapping cargo, and a second cargo supply unit that supplies the circulated overlapping cargo to the cargo sorting unit. .

A cargo sorting method using a singulator according to another embodiment includes the steps of supplying cargoes by the singulator, arranging the supplied cargoes, and detecting the position of each cargo when the cargoes being sorted enter the cargo detection area. and determining whether the cargoes whose positions have been detected are aligned in one line, and if they are not aligned in one line, returning the corresponding cargo through control of a direction changing device.

According to one embodiment, when arranging cargo using a singulator, by adding a vision camera capable of detecting and tracking cargo location and a direction changing device capable of branching by line, circulating overlapping cargo supplied in one or more lines, cargo alignment It can improve the machine's performance.

By detecting the position of the cargo through the cargo sensor, and controlling the direction change device to return the outer cargo when more than one cargo is not aligned and passing at the same time, so that only one cargo is aligned as a result. can Accordingly, it is possible to minimize the error of the singulator by rejecting overlapping cargoes.

1 is a plan view of a singulator according to an embodiment of the present invention;
2 and 3 are plane views of a singulator according to another embodiment of the present invention;
4 is a view showing an example of a singulator operating according to a cargo size according to an embodiment of the present invention;
5 is a diagram showing a simplified configuration of a singulator according to an embodiment of the present invention;
6 is a diagram illustrating the flow of a cargo sorting method according to an embodiment of the present invention.

Advantages and features of the present invention, and methods for achieving them, will become clear with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the present embodiments make the disclosure of the present invention complete, and common knowledge in the art to which the present invention belongs It is provided to fully inform the holder of the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numbers designate like elements throughout the specification.

In describing the embodiments of the present invention, if it is determined that a detailed description of a known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted, and the terms described later will be used in the embodiments of the present invention. These terms are defined in consideration of the functions of and may vary depending on the user's or operator's intention or custom. Therefore, the definition should be made based on the contents throughout this specification.

Combinations of each block of the accompanying block diagram and each step of the flowchart may be executed by computer program instructions (execution engine), and these computer program instructions are executed by a processor of a general-purpose computer, special-purpose computer, or other programmable data processing equipment. Since it can be mounted, the instructions executed through the processor of a computer or other programmable data processing equipment create means for performing the functions described in each block of the block diagram or each step of the flowchart.

These computer program instructions may also be stored in a computer usable or computer readable memory that can be directed to a computer or other programmable data processing equipment to implement functionality in a particular way, such that the computer usable or computer readable memory The instructions stored in are also capable of producing an article of manufacture containing instruction means for performing the functions described in each block of the block diagram or each step of the flow chart.

And since the computer program instructions can also be loaded on a computer or other programmable data processing equipment, a series of operating steps are performed on the computer or other programmable data processing equipment to create a computer-executed process to create a computer or other programmable data processing equipment. It is also possible that the instructions performing the data processing equipment provide steps for executing the functions described in each block of the block diagram and each step of the flow chart.

Further, each block or each step may represent a module, segment or portion of code that includes one or more executable instructions for executing specified logical functions, and in some alternative embodiments may refer to blocks or steps. It should be noted that it is also possible for functions to occur out of order. For example, two blocks or steps shown in succession may in fact be performed substantially concurrently, or the blocks or steps may be performed in the reverse order of their corresponding functions, if necessary.

The present invention relates to a singulator, which is a device for arranging cargo inputted in a courier distribution center, a cargo storage warehouse, a packaging/distribution center, and the like in a row. As each component is connected to or includes a control device, it performs a singulation function under the control of the control device. The control device may execute those instructions executed through a processor of a computer or other programmable data processing equipment. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the embodiments of the present invention exemplified below may be modified in many different forms, and the scope of the present invention is not limited to the embodiments described below. The embodiments of the present invention are provided to more completely explain the present invention to those skilled in the art.

1 is a plan view of a singulator according to an embodiment of the present invention.

Referring to FIG. 1 , the singulator 1 includes a cargo sorting unit 11, a cargo discharge unit 12, a cargo branching unit 13, a cargo circulation unit 14, and a cargo resupply unit 15.

The singulator method of FIG. 1 is a method of mechanically aligning cargo. In order to simply configure the singulator 1, a plurality of skew roller conveyors and one centering belt conveyor are stretched on the cargo aligning unit 11 to align naturally while the cargo passes. Let it be. Finally, the width of the cargo discharge unit 12 is narrower than that of the cargo arranging unit 11 so that cargoes are discharged in one line as much as possible. At this time, cargoes that are not aligned in one line (cargoes with two or more lines) are automatically circulated through the cargo circulation unit 14 by diverting the cargo to the outside of the cargo branch 13. The cargo re-supply unit 15 may re-supply the circulated cargoes to the cargo sorting unit 11 so as to return.

For example, as shown in FIG. 1, when the cargo moving direction moves from right to left, unaligned cargoes are sorted to some extent through the cargo arranging unit 11, and the cargo discharging unit 12 By making the outlet small, only one cargo on the right is allowed to exit through the cargo discharge unit 12 by driving the cargo forward and vertical columns to one side (right side) at the end of the cargo aligning unit 11. Then, the left cargo is branched through the cargo branching unit 13, circulated through the cargo circulation unit 14, and then resupplied to the cargo sorting unit 11 through the cargo resupply unit 15.

Referring to FIG. 1, there is an advantage in that the mechanical type singulator 1 described above can be configured simply. On the other hand, there is a disadvantage in that the failure rate of single-line alignment is relatively high when the difference in size of cargo is large. For example, small-sized cargoes are sometimes discharged two by two, so the rate of failure to align them in one line is relatively high. The second disadvantage is that the distance between cargoes cannot be controlled, so the cargoes are bound to stick together and be discharged. The second drawback can be overcome to some extent by increasing the conveyor speed after discharge to secure a gap between cargoes. However, the method of increasing the speed works relatively well for long cargoes, but it is not easy to solve with a small speed difference because the gap is small for short cargoes. In order to secure a gap for short cargoes, the difference in speed before and after discharge must be large, but if so, it is difficult to match the throughput. Therefore, there is a limit to increasing the throughput.

2 and 3 are plane views of a singulator according to another embodiment of the present invention.

2 and 3, the singulator 2 includes a first cargo supply unit 21, a cargo sorting unit 22, a cargo detection unit 23, a cargo branching unit 24, and a first cargo discharge unit ( 25) and a cargo return section. The cargo return unit may include a second cargo discharge unit 26 , a cargo circulation unit 27 and a second cargo supply unit 28 .

This method is a method for increasing the success rate of sorting in one line by supplementing the disadvantages of the mechanical singulator of FIG. 1 using minimum cargo position recognition technology and direction control technology.

The operating method of the singulator 2 will be described. As shown in FIG. 2, when cargoes are supplied from the right side and move to the left side, the first cargo supply unit 21 supplies cargoes multi-line or randomly, and the cargo sorting unit 22 mechanically transfers the supplied cargoes. sort as much as possible Then, the cargo detector 23 detects the position of the moving cargo, and the cargo branch 24 detects the location of two or more cargoes in a row perpendicular to the cargo moving direction, a predetermined cargo among overlapping cargo ( For example, one cargo on the right side) is discharged through the first cargo discharge unit 25 and passed as it is, and the remaining cargo (for example, cargo on the left side) is diverted and filtered. Subsequently, the second cargo discharge unit 26 discharges the overlapping cargo filtered through the cargo branching unit 24, and the cargo circulation unit 27 circulates the overlapping cargo discharged through the second cargo discharge unit 26. After that, the second cargo supply unit 28 supplies the overlapping cargo to the cargo sorting unit 22 again.

Hereinafter, each component of the singulator 2 will be described in more detail.

The first cargo supply unit 21 supplies cargoes to the transfer path. At this time, cargoes can be supplied randomly, and cargoes can be supplied in multiple rows. The transfer path is composed of a number of conveyors.

The cargo arranging unit 22 aligns the cargo supplied through the first cargo supply unit 21 in a line. As shown in FIG. 2 , the cargo arranging unit 22 may move the cargo to the position of the first cargo discharge unit 25 while arranging the cargo in a row through a plurality of slanted skew rollers.

The cargo detection unit 23 detects the position of each cargo when the cargo being sorted through the cargo sorting unit 22 enters a predetermined cargo detection area. As shown in FIG. 2 , the cargo sensing area of the cargo sensing unit 23 may be positioned over the cargo sorting unit 22 , the cargo branching unit 24 and the second cargo discharge unit 26 . The cargo sensing area of the cargo sensing unit 23 may be composed of a combination of at least one of a diagonal skew roller, a straight roller, and a belt conveyor. For example, as shown in FIG. 2 , the cargo detecting unit 23 located on the cargo arranging unit 22 may be composed of slanted skew rollers. As another example, as shown in FIG. 3, the front of the cargo branch 24 may be composed of straight rollers 29.

The cargo detector 23 may detect and track the 2D/3D location of the cargo being transported using a vision camera. The vision camera detects cargoes by analyzing the obtained image data, and recognizes the movement time and appearance (including at least one of shape and outline) of each detected cargo to track the 2D/3D location of the cargo. At this time, artificial neural networks or intelligence information generated through machine learning based on artificial neural networks can be used for image analysis. The vision camera may be located above the cargo sensing area to take a cargo image.

The cargo sensor 23 may detect the size of the cargo as well as the 2D/3D location of the cargo. For example, the size of the cargo may be detected by recognizing the exterior (including at least one of shape and outline) of the cargo. By knowing the 2D/3D position and size of the cargo, it can detect whether the cargo is aligned in a line or not.

The cargo branching unit 24 determines whether the cargoes are aligned in one line based on the location of the cargoes sensed through the cargo sensing unit 23 . At this time, at least one overlapping cargo that is not aligned in one line is diverted by changing the direction through at least one direction changing device. Each direction changing device is a small cell, and may be at least one of a wheel sorter, a belt sorter, and a belt wheel sorter. For example, as shown in FIG. 2, each direction shifting device changes the moving direction of at least one small belt for transporting cargo and the cargo passing through the small belt by rotating the position of the small belt by rotation on a plane. It can be composed of a rotating body.

Cargo branching unit 24 determines that if there are overlapping cargoes in one row, they are not aligned in one line, and provides a predetermined cargo among the overlapping cargoes to the first cargo discharge unit 25 to pass through as it is, and proceeds the remaining cargo is changed and provided to the second cargo discharge unit 26 to return. For example, as shown in FIG. 2, if there are overlapping cargoes in one row, the rightmost one cargo is provided to the first cargo discharge unit 25, and the left cargo is provided to the second cargo discharge unit 26. provided to

Each direction changing device of the cargo diverter 24 can rotate left and right on a plane by a direction changing motor to change the moving direction of the cargo. Cargo branch 24 can control each direction change device individually or as a group. For example, the cargo diverting unit 24 groups predetermined direction changing devices among a plurality of direction changing devices and simultaneously changes the direction of the grouped direction changing devices to change the traveling path of the cargo passing over the second cargo. It can be provided to the discharge part (26).

The first cargo discharge unit 25 discharges cargoes aligned in one line through the cargo arranging unit 22 . In the example shown in FIG. 2 , the rightmost cargo is discharged through the first cargo discharge unit 25 .

The second cargo discharge unit 26 discharges the diverted overlapping cargo through the cargo branching unit 24 . The cargo circulation unit 27 circulates the overlapping cargo discharged through the second cargo discharge unit 26 . The second cargo supply unit 28 provides the overlapping cargo circulated through the cargo circulation unit 27 to the cargo sorting unit 22 .

Structures for returning (the second cargo discharge unit 26, the cargo circulation unit 27, and the second cargo supply unit 28) can be configured on either the left or right side of the transfer route, or can be configured symmetrically. . For example, as shown in FIGS. 2 and 3, it may include one branching direction on the left side, but may also include two or more branching directions on the left and right.

4 is a diagram illustrating an example of a singulator operating according to a cargo size according to an embodiment of the present invention.

More specifically, (a) shows an example of returning a small overlapping cargo, and (b) shows an example of returning a medium-sized overlapping cargo.

Referring to FIG. 4 , the cargo branching unit 24 may separate and control direction change devices in a cargo moving direction and a vertical direction. For example, if the cargo movement direction is from right to left, the directions of the direction change devices under the cargo on the right are left as they are, based on the column located in the vertical direction with the cargo movement direction, and the direction under the overlapping cargo on the left. The direction of the diverting devices is reversed so that the cargo is filtered toward the second cargo outlet (26).

To this end, the cargo sensor 23 detects the size of the cargo, and the cargo branching unit 24 determines a direction change device group to be changed in proportion to the size of the cargo, and a direction change device belonging to the determined direction change device group. By changing the direction of them, it is possible to change the travel path of the cargo passing thereon and provide it to the second cargo discharge unit 26 . The larger the size of the cargo, the larger the number of direction changing devices to be changed in the group.

For example, as shown in (a), when a small cargo 41 is put next to a large cargo, in order to return only the small cargo 41, among the direction change devices in the cargo traveling direction and the vertical direction, the most Only the direction changing devices located on the left side are turned to return the small cargo 41 passing over it to the second cargo discharge unit 26.

As another example, as shown in (b), when the medium-sized cargo 42 is inserted next to the small cargo, the small cargo located on the right side among the direction shifters in the cargo traveling direction and the vertical direction is arranged in a row. and return the medium-sized cargo 42 to the second cargo discharge unit 26 by rotating the directions of the direction changing devices of the three rows on the left in order to return the medium-sized cargo 42 located on the left side.

5 is a diagram showing a simplified configuration of a singulator according to an embodiment of the present invention.

Since alignment in one line is not guaranteed by the mechanical alignment method described above with reference to FIG. 1 , a person has to filter overlaps at the end or have to accept some errors and operate. In contrast, the singulator method of FIG. 5 adds a vision camera capable of detecting and tracking cargo location and a direction changing device (eg, wheel sorter) capable of branching by line to circulate overlapping cargo supplied in one or more lines By doing so, the performance of the singulator can be improved.

To sum up, when the position of cargo is sensed through the cargo sensor 23 and one or more cargoes pass simultaneously without being aligned in a row, the cargo branch 24 changes direction so that the cargo diverges 24 to return the cargo to the outside. Control the device so that only one line of cargo is sorted as a result.

6 is a diagram illustrating the flow of a cargo sorting method according to an embodiment of the present invention.

Referring to FIG. 6 , the singulator supplies cargoes (601) and arranges the supplied cargoes in a line (602). Subsequently, when the cargo being sorted enters the cargo sensing area, the singulator detects the location of each cargo through the cargo sensing unit (603). At this time, it is determined whether the cargoes whose positions have been detected are aligned in one line (604), and if they are not aligned in one line, the corresponding cargo is returned through control of the direction shifting device based on the detected information (606). In contrast, cargoes aligned in one line are discharged as they are (605).

So far, the present invention has been looked at mainly by its embodiments. Those skilled in the art to which the present invention pertains will be able to understand that the present invention may be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered from a descriptive point of view rather than a limiting point of view. The scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the equivalent scope will be construed as being included in the present invention.

Claims (10)

a first cargo supply unit supplying cargoes;
a cargo sorting unit arranging the cargoes supplied from the first cargo supplying unit;
a cargo sensing unit for detecting the position of each cargo when the cargo being sorted through the cargo arranging unit enters the cargo sensing area;
A cargo diverter that determines whether or not cargoes are aligned in one line based on the cargo position detected through the cargo detector, and diverts at least one overlapping cargo that is not aligned in one line by changing the direction through at least one redirection device. ;
A first cargo discharge unit discharging cargoes aligned in one line through the cargo arranging unit; and
Cargo return unit for returning the overlapping cargo diverged through the cargo diverging unit;
A singulator comprising a. The method of claim 1, wherein the cargo sorting unit
A singulator characterized in that for moving cargoes to the first cargo discharge unit position through a slanted skew roller. According to claim 1,
The cargo sensing area of the cargo sensing part is
A singulator, characterized in that composed of a combination of at least one of a slanted skew roller, a straight roller, and a belt conveyor. The method of claim 1, wherein each direction changing device
A singulator, characterized in that at least one of a wheel sorter, a belt sorter and a belt wheel sorter. The method of claim 1, wherein each direction changing device
at least one small belt for conveying cargo; and
a rotating body that rotates the position of the small belt by rotation on a plane to change the traveling direction of the cargo passing through the small belt;
A singulator comprising a. The method of claim 1, wherein the cargo branch
If there are overlapping cargoes in one row, it is determined that they are not aligned in one line, and a predetermined cargo among the overlapping cargoes is passed through and provided to the first cargo discharge unit, and the traveling route of the remaining cargoes excluding the predetermined cargo is changed to the cargo return unit. A singulator characterized in that provided to. The method of claim 1, wherein the cargo branch
A singulator characterized in that it groups predetermined direction changing devices among a plurality of direction changing devices and simultaneously changes the direction of the grouped direction changing devices to change the traveling path of cargo passing thereon and provides it to the cargo returning unit. The method of claim 1, wherein the cargo detection unit
more sense the size of the cargo,
cargo branch
Based on the position and size of the cargo detected through the cargo detector, it is determined whether the cargo is aligned in one line,
A singulator characterized in that a direction change device group to be changed in proportion to the size of the cargo is determined, and a direction change device belonging to the determined direction change device group is changed to change the traveling path of the cargo passing thereon. The method of claim 1, wherein the cargo return unit
A second cargo discharge unit for discharging divergent overlapping cargo;
Cargo circulation unit for circulating the discharged overlapping cargo; and
a second cargo supply unit supplying the circulated overlapping cargo to the cargo sorting unit;
A singulator comprising a. In the cargo sorting method using the singulator, the singulator
supplying cargoes;
arranging the supplied cargoes;
detecting the position of each cargo when the cargo being aligned enters the cargo detection area;
Determining whether the cargoes whose positions are sensed are aligned in one line; and
If not aligned in one line, returning the cargo by controlling the direction change device;
Cargo sorting method comprising a.

Images