WO2019062310A1 - 物品自动转运系统及方法 - Google Patents

物品自动转运系统及方法 Download PDF

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Publication number
WO2019062310A1
WO2019062310A1 PCT/CN2018/097059 CN2018097059W WO2019062310A1 WO 2019062310 A1 WO2019062310 A1 WO 2019062310A1 CN 2018097059 W CN2018097059 W CN 2018097059W WO 2019062310 A1 WO2019062310 A1 WO 2019062310A1
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WO
WIPO (PCT)
Prior art keywords
sorting
item
container
falling
chute
Prior art date
Application number
PCT/CN2018/097059
Other languages
English (en)
French (fr)
Inventor
张汉斌
王梦迪
Original Assignee
北京极智嘉科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201710928844.6A external-priority patent/CN107626600B/zh
Priority claimed from CN201810394665.3A external-priority patent/CN108686962B/zh
Application filed by 北京极智嘉科技有限公司 filed Critical 北京极智嘉科技有限公司
Priority to JP2019516153A priority Critical patent/JP2019531887A/ja
Priority to US16/464,215 priority patent/US11286122B2/en
Publication of WO2019062310A1 publication Critical patent/WO2019062310A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G11/00—Chutes
    • B65G11/02—Chutes of straight form
    • B65G11/023—Chutes of straight form for articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/025—Boxes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B65G2203/044—Optical

Definitions

  • This document relates to the field of intelligent logistics and automated warehousing logistics, for example, to automated item transfer systems and methods.
  • the rapid development of e-commerce has brought unprecedented development opportunities to the express delivery industry and also presented severe challenges to express delivery services. How to efficiently, cost-effectively, flexibly and accurately carry out package sorting has always been a difficult problem for this industry.
  • the traditional manual matrix sorting efficiency is low, the error rate is high, the labor intensity is large, the recruitment is difficult, and the management is difficult.
  • the vigorous development of robot technology has brought huge technological changes to the entire logistics industry, and brought new technologies and new design concepts to the sorting industry.
  • the express robot sorting system the operator places the parcel on the robot carrying device at the infeed station, and the robot carries the parcel to the sorting grid position to deliver the parcel to the sorting grid to complete the parcel sorting task.
  • the above-mentioned parcel sorting robot system greatly improves the sorting efficiency compared with the traditional manual sorting method, and has the advantages of low cost and high flexibility compared with the traditional automatic manners such as the cross-belt sorter, and thus has been widely concerned and rapidly popularized in the industry.
  • the general package collection mainly sorts the package to the corresponding road direction through the parcel sorting system, and then the code person puts the package code from the grid to the article container (collection cage or bag, etc.).
  • the cargo handler needs to judge whether the container of the product is fully loaded, and then the transporter transports the container to the corresponding collection temporary storage area for delivery, and needs to supply an empty container to the current road, and the speed of handling and replenishment will be It directly affects the unloading of the sorting system to the road direction, thereby affecting the efficiency of the parcel sorting system.
  • Intelligent robots can perform functions such as handling, sorting or picking in automated warehousing logistics.
  • the parcel sorting system with intelligent robot as the main body of parcel sorting can greatly reduce the comprehensive cost of parcel sorting.
  • the parcel sorting system is based on China's national conditions and geographical factors, and comprehensively considers the balance between the labor cost of labor-intensive industries in China and the cost of sophisticated complex automation equipment.
  • the traditional parcel sorting system is based on the steel platform structure, with the steel platform structure as the parcel sorting platform.
  • the steel platform is provided with a number of sorting grids, and a chute and an item container are arranged under each sorting grid, the intelligent robot Run along the calculated path on the steel platform and place the package into the designated sorting compartment.
  • Figure 4 shows a composition diagram of a common parcel sorting platform.
  • the steel platform is placed in the sorting warehouse, and the parcel is transported to the steel platform via the conveyor line.
  • the parcel is manually removed from the conveyor line and placed on the steel platform.
  • the intelligent robot runs on the steel platform, and the package is put into the designated sorting grid, and the package is placed under gravity by the chute into the lower container. After that, the container is transported by the handling robot or manually to the delivery area for subsequent package sorting and loading.
  • the parcel sorting system utilizes the instant response characteristics of intelligent robots and the flexibility of distributed systems to significantly reduce the overall cost of parcel sorting.
  • FIG. 5 is a schematic view showing a conventional layout of a sorting grid, a chute and an object container under the steel platform, wherein the filled portion indicates the sorting grid, the thick solid line indicates the chute, and the broken line indicates the article container. It can be seen that the traditional sorting grids, chutes and object containers are arranged side by side, evenly arranged, and the spacing between adjacent sorting grids is for the robot to pass through.
  • embodiments herein provide an automatic item transfer system and method.
  • Embodiments of the present disclosure provide an automatic item transport system including: an item container configured to receive an item to be transported having a predetermined direction; and a detecting device configured to detect an item in the item container Whether the transport condition is satisfied; the transport device automatically transports the article container to a preset destination when the item falling into the item container satisfies the transport condition; wherein the detecting device comprises at least the following a distance sensor, the distance sensor configured to detect depth information of an item falling into the item container, the depth information being used to determine whether an item falling into the item container satisfies a transport condition; a counter, the counter Provided to calculate the number of items falling into the item container, the quantity of the item being used to determine whether the item falling into the item container satisfies a transport condition; and the camera device is configured to acquire the drop into the The volume of the item in the item container, the item capacity being used to determine what is falling into the item container Transporter meets the condition; and a weight sensor, said weight sensor arranged to obtain the item weight of items
  • the system further includes: a sorting grid, and the sorting grid is bound to the direction of the item.
  • the sorting grid is configured to dispense items into different item containers according to the direction of the item.
  • the sorting compartment when the item container corresponding to the sorting compartment is removed, the sorting compartment becomes a self-locking state.
  • the system further includes: a scheduling server, where the scheduling server is configured to be in communication connection with the detecting device and the handling device, respectively.
  • the detecting device is configured to: send the shipping indication information to the scheduling server when the item in the item container satisfies a shipping condition; and the scheduling server is based on the indication information,
  • the handling device is controlled to transport the item container to a predetermined destination.
  • the scheduling server is configured to: acquire power information of the handling device; and when the remaining power of the handling device meets a preset condition, control the handling device to a first predetermined The area is charged.
  • the handling device is further configured to carry the empty item container from the second preset area to the preset sorting compartment.
  • the handling device navigates by identifying a combination of graphics.
  • the embodiment of the present invention provides an automatic item transfer method, comprising: receiving an item to be transported with a preset direction by using an item container; detecting, by the detecting device, whether an item falling into the item container satisfies a transport condition; When the item in the item container satisfies the transfer condition, the item container is automatically transported to the preset destination by the handling device; wherein detecting whether the item falling into the item container satisfies the transport condition by using the detecting device comprises at least one of the following: Detecting depth information of an item falling into the item container, and determining, according to the depth information, whether an item falling into the item container satisfies a transport condition; calculating a quantity of the item falling into the item container, and according to the The quantity of the item judges whether the quantity of the item falling into the item container satisfies the transfer condition; the capacity of the item falling into the item container is acquired by the image capturing device, and the falling into the item container is judged according to the item capacity Whether the item in the article
  • the method further includes: setting a sorting grid, and binding the sorting grid to the direction of the item.
  • the sorting compartments are used to dispense items into different item containers according to the direction of the item.
  • the sorting compartment when the item container corresponding to the sorting compartment is removed, the sorting compartment becomes a self-locking state.
  • the method further includes: setting a scheduling server, wherein the scheduling server is separately connected to the detecting device and the handling device.
  • the detecting device when the item in the item container satisfies a transport condition, the detecting device sends the transport indication information to the scheduling server; and the scheduling server controls the station based on the indication information.
  • the handling device transports the item container to a predetermined destination.
  • the scheduling server acquires the power information of the handling device; when the remaining power of the handling device meets the preset condition, the scheduling server controls the handling device to the first The predetermined area is charged.
  • the handling device also transports an empty item container from the second predetermined area to the preset sorting compartment.
  • the handling device navigates by identifying a combination of graphics.
  • the automatic item transfer system provided by the embodiment of the present invention is capable of detecting the depth information of the item falling into the item container by the distance sensor, and based on the depth information, the carrying device automatically when the item falling into the item container satisfies the transfer condition Transfer the item container to a preset destination.
  • the present application provides a brand-new automatic transfer method for articles, which ensures the accuracy of automatic detection results and improves the efficiency of article transportation.
  • a computer readable storage medium stored with an item self-running method program, and the item self-running method program, when executed by a processor, implements the item self-running method as described above.
  • the container containing the parcel should be transported to the delivery area by the handling robot or manually.
  • the handling robot or labor needs to move on the ground of the steel platform, and the chute and the object container
  • the uniform arrangement makes the position under the long chute in the field (the horizontal position below the three rows of long chutes in Figure 5, but the height is limited) can be used as a passage for the handling robot or manual moving, and the handling speed is limited. .
  • there is no longitudinal transport path in the entire space and it is impossible to realize the flexible walking of the transport robot or the manual, and the demand for efficient transportation cannot be satisfied. If the longitudinal channel is increased, it is necessary to reduce a certain number of chutes and corresponding container of goods, and this will result in a decrease in the number of sorting packages in the same time, and the efficiency of sorting and handling is reduced.
  • the steel platform is covered with support columns below, and the support columns need to be placed in the handling channel.
  • the passage containing the supporting column will be regarded as an obstacle by the handling robot, and the handling efficiency will be reduced. If the number of chutes and object containers is reduced and new channels are added, the efficiency of sorting and handling will be reduced. If the span of the columns is increased to reduce the number of columns, the height of the main beam of the steel platform should be increased to ensure safety. Thickness, which adds extra cost and wastes costs.
  • the layout relationship of the sorting grid, the chute and the article container of the sorting platform in the self-running system is redesigned, and the demand for the space of the chute and the object container is minimized, so that the site can be used as The space for handling the passage has increased significantly.
  • the system further includes a sorting platform, the sorting platform including a sorting unit, the sorting unit including a plurality of sortings disposed on the platform body of the sorting platform a plurality of chutes under the platform body and having the same number as the sorting compartments, and a plurality of article containers located below the platform body and having the same number as the sorting compartments; wherein each of the One of the object containers is disposed under the sorting compartment, and each of the sorting compartments is docked with one of the chute inlets; the chutes are both inclined and arranged to: slide the The sorting compartment at the entrance of the slot is docked with the item container below the sorting compartment of the sorting compartment, and the sorting grid of the adjacent sorting compartment is docked with the slot of the sliding slot
  • the ports are all clockwise adjacent or both are counterclockwise adjacent.
  • the sorting unit includes 2 times k sorting grids, and 2 times k sorting grids are distributed in 2 rows and k columns or k rows and 2 columns.
  • k is an integer greater than or equal to 2.
  • the sorting unit includes four sorting grids, and the four sorting grids are distributed in two rows and two columns.
  • a first item container is disposed under the first sorting cell, and a second item container is disposed under the second sorting port of the four sorting cells.
  • a third item container is disposed below the third sorting compartment of the four sorting compartments, and a fourth item container is disposed below the fourth sorting compartment of the four sorting compartments, and the entrance of the first chute Interfacing with the first sorting compartment, the outlet of the first chute is docked with the second item container, the entrance of the second chute is docked with the second sorting compartment, the second sliding The outlet of the slot is docked with the third item container, the inlet of the third chute is docked with the third sorting compartment, the outlet of the third chute is docked with the fourth item container, and the fourth chute The inlet is docked with the fourth sorting compartment, and the outlet of the fourth chute is docked with the first item container.
  • the sorting unit includes six sorting grids, and the six sorting grids are distributed in two rows and three columns.
  • the sorting grid is a square sorting grid.
  • the side length of the square sorting grid is 600 mm, and the interval between adjacent sorting grids is 1200 mm.
  • the item containers are each placed on a carrier.
  • the sorting platform includes a platform body, a supporting column supporting the platform body, and a plurality of sorting units for sorting.
  • the plurality of sorting units are distributed in an array form in the sorting platform, and the sorting platform is installed in the sorting field.
  • the support columns are disposed at intervals between the sorting units.
  • the system includes a first robot capable of moving on the platform body and putting the object to be sorted into any sorting grid on the platform body In the mouth.
  • the carrying device is a second robot, and the second robot is capable of carrying the article container.
  • the embodiment of the present invention forms a new type of docking grid-slot-object container docking layout based on the grouping concept, which is a three-dimensional layout with an upper equidistant and a lower concentration, which can reduce the chute below the steel platform.
  • the projection space occupied by the container of the item opens up a new handling passage in the field, which makes the handling path more flexible and the handling efficiency is greatly improved.
  • the space occupied by the container and the chute in the site is reduced, the passage of the transported goods container and the space that the operator can move around can increase the size requirement of the chute and the container of the article.
  • FIG. 1 is a schematic structural view of an automatic item transfer system according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of a handling device for conveying articles according to an embodiment of the present invention
  • FIG. 3 is a schematic flow chart of an automatic item transfer method according to an embodiment of the present invention.
  • Figure 4 is a schematic view showing the structure of a typical parcel sorting platform
  • FIG. 5 is a schematic diagram of a conventional layout of a sorting platform in the related art
  • FIG. 6 is a schematic view showing a layout relationship of a sorting grid, a chute, and an article container according to an embodiment of the present invention
  • FIG. 7 is a schematic view showing a layout relationship of a sorting grid, a chute, and an article container according to another embodiment of the present invention.
  • Figure 8 is a schematic illustration of a sorting platform of one embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a sorting platform based on a conventional layout manner
  • Figure 10 is a schematic illustration of a parcel sorting platform in accordance with another embodiment of the present document.
  • FIG. 1 is an automatic item transfer system provided by an embodiment of the present invention.
  • the system includes an item container 1 , a detecting device 2 , and a carrying device 3 .
  • the item container 1 may be a common container for containing items to be sorted, such as common cage carts, parcel bags, etc., and the item containers typically receive items having common sorting attributes (eg, receiving items sent to Haidian District, Beijing) ), that is, the article container 1 receives the item to be transported with a preset direction.
  • common sorting attributes eg, receiving items sent to Haidian District, Beijing
  • the system may further comprise a sorting compartment 4, and the sorting compartment 4 is bound to the article container 1 receiving the preset direction for receiving Pre-set items.
  • the system further comprises a detection device 2 comprising a distance sensor capable of detecting depth information of the item falling into the item container 1 The depth information is used to determine whether an item falling into the item container 1 satisfies a transport condition.
  • a sensor having a distance measuring function such as ultrasonic waves, laser light, or infrared light can be used.
  • the detecting device 2 can determine whether the articles in the article container 1 satisfy a fixed depth by integrally scanning the plane of the article container 1, thereby determining whether the article container is full.
  • the handling device 3 automatically transports the article container 1 to a preset destination when the article falling into the article container 1 satisfies the transfer condition.
  • the handling device 3 includes a receiving device 31, a running device 32, a height adjusting device 34, and a communication device 33.
  • the receiving device 31 can receive the bottom of the article container 1 and, of course, can also be used to carry other parts of the article container 1 in order to support the article container 1.
  • the communication device 33 can know whether the article satisfies the condition of the transporting condition. When the container 1 is known to be fully loaded and can be automatically transported away, the communication device 33 informs the height adjusting device 34 to adjust the height to support the article container 1 through the walking device. 32 automatically transports the item container 1 away.
  • the system further includes: a sorting grid, and the sorting grid is bound to the direction of the item.
  • the sorting compartments distribute the items into different item containers 1 depending on the direction of the item.
  • the sorting port becomes self-locking.
  • the detecting device 2 includes a counter that determines that the handling device 3 satisfies the transport condition by calculating the number of items falling into the item container 1.
  • the detecting device 2 includes an image capturing device capable of acquiring the capacity of the article in the article container 1 and determining that the handling device 3 satisfies the transporting condition.
  • the detecting device 2 includes a weight sensor capable of acquiring the weight of the article in the article container 1 to determine that the handling device 3 satisfies the transport condition.
  • the system further includes: a scheduling server, wherein the scheduling server is communicably connected to the detecting device 2 and the handling device 3 respectively.
  • the detecting device 2 sends the shipping indication information to the scheduling server when the item in the item container 1 satisfies the shipping condition; the scheduling server is based on the indication information, The handling device 3 is controlled to transport the item container 1 to a preset destination.
  • the scheduling server is capable of acquiring the power information of the handling device 3; when the remaining power of the handling device 3 meets a preset condition, the scheduling server controls the handling device 3 to the first predetermined area for charging.
  • the handling equipment is equipped with a battery inside, so that the handling equipment will carry out the transportation of the task through its own energy.
  • the handling equipment monitors the remaining battery capacity in real time. When the remaining capacity of the handling equipment reaches a certain threshold, the handling equipment is controlled to charge itself to the preset area.
  • the carrying device can obtain the power information of the handling device; when the remaining power of the handling device meets the preset condition, the handling device reports the remaining power information to the scheduling server, and the scheduling server determines the current power according to the current A number of factors, such as scheduling tasks, consider whether to control the handling equipment to a predetermined location for charging.
  • the handling device 3 also transports the empty item container 1 from the second preset area to the preset sorting compartment, such that after the item container filled with the item is transported away, The handling device 3 can carry a new item container.
  • the handling device 3 navigates by identifying a combination of graphics.
  • the graphic combination may be a two-dimensional code, and may be any combination of graphics combined by other graphics.
  • the item shipping device determines the current geographic location information by identifying a combination of graphics.
  • an embodiment of the present invention further discloses an automatic item transfer method, including:
  • S301 Receive an item to be transported with a preset direction by using an item container.
  • the item container 1 may be a common container for containing items to be sorted, such as common cage carts, parcel bags, etc., and the item containers typically receive items having common sorting attributes (eg, receiving items sent to Haidian District, Beijing) ), that is, the article container 1 receives an item to be shipped having a predetermined direction.
  • common sorting attributes eg, receiving items sent to Haidian District, Beijing
  • the system may further comprise a sorting compartment 4, and the sorting compartment 4 is bound to the article container 1 receiving the preset direction for receiving Pre-set items.
  • the system further comprises a detection device 2 comprising a distance sensor capable of detecting depth information of the item falling into the item container 1 The depth information is used to determine whether an item falling into the item container 1 satisfies a transport condition.
  • a sensor having a distance measuring function such as an ultrasonic wave, a laser, or an infrared ray may be used.
  • the detecting device 2 may determine whether the article in the article container 1 satisfies a fixed depth by scanning the plane of the article container 1 as a whole. Then determine if the item container is full.
  • the handling device 3 automatically transports the article container 1 to a preset destination when the article falling into the article container 1 satisfies the transfer condition.
  • the handling device 3 includes a receiving device 31, a running device 32, a height adjusting device 34, and a communication device 33.
  • the receiving device 31 can receive the bottom of the article container 1 and, of course, can also be used to carry other parts of the article container 1 in order to support the article container 1.
  • the communication device 33 can know whether the article satisfies the condition of the transporting condition. When the container 1 is known to be fully loaded and can be automatically transported away, the communication device 33 informs the height adjusting device 34 to adjust the height to support the article container 1 through the walking device. 32 automatically transports the item container 1 away.
  • the method further includes: setting a sorting grid, and binding the sorting grid to the direction of the item.
  • the items are dispensed into different item containers 1 depending on the direction of the item.
  • the sorting compartment becomes a self-locking state.
  • the detecting and determining whether an item falling into the item container 1 satisfies a transport condition comprises: determining, by calculating the quantity of items falling into the item container 1 Device 3 meets the transport conditions.
  • the detecting and determining whether the item falling in the item container 1 satisfies the transport condition comprises: acquiring the item capacity in the item container 1 by the camera device, and further determining the The conveying device 3 satisfies the transfer conditions.
  • the detecting and determining whether the item falling into the item container 1 meets the transport condition comprises: obtaining the weight of the item in the item container 1 by using a weight sensor, and further determining The handling device 3 satisfies the transport conditions.
  • the method further includes: setting a scheduling server, so that the scheduling server is communicably connected to the detecting device 2 and the handling device 3 respectively.
  • the detecting device 2 sends the shipping indication information to the scheduling server when the item in the item container 1 satisfies the shipping condition; the scheduling server is based on the indication information, The handling device 3 is controlled to transport the item container 1 to a preset destination.
  • the scheduling server is capable of acquiring the power information of the handling device 3; when the remaining power of the handling device 3 meets a preset condition, the scheduling server controls the handling device 3 to the first predetermined area for charging.
  • the handling device 3 also carries the empty item container 1 from the second preset area to the preset sorting compartment.
  • the handling device 3 navigates by identifying a combination of graphics.
  • a computer readable storage medium stored with an item self-running method program, and the item self-running method program, when executed by a processor, implements the item self-running method as described above.
  • the sorting system of the present invention comprises a sorting platform and a robot.
  • the sorting platform can be based on a platform structure with a plurality of sorting compartments, and a chute and an object container are arranged below each sorting compartment. The following is a detailed description of this article.
  • sorting platform and the sorting system provided in this paper are suitable for the sorting of logistics parcels, and also for other scenes that need to be sorted.
  • Sorting grid The "sorting grid” described herein is consistent with the general understanding in the art, which refers to an opening provided on a platform body (usually made of steel, hence also referred to as a steel platform), the robot (such as sorting robot) running on the platform body, the package (or other items that need to be sorted) is put into the opening, the package falls into the chute below the opening, and finally falls into the container of the article set at the exit of the chute.
  • the “sorting grid” is sometimes referred to as “sorting grid well”.
  • the sorting platform includes a steel platform and support columns that support the steel platform, and the sorting platform is erected in a site such as a sorting warehouse.
  • a site such as a sorting warehouse.
  • sorting grids There are several sorting grids on the steel platform. These sorting grids are evenly and spacedly distributed on the steel platform and distributed in an array. The distance between adjacent sorting grids needs to allow the sorting robot to pass. .
  • sorting grids on the sorting platform are grouped. For example, multiple adjacent sorting grids are used as a group of sorting ports to obtain multiple sorting grid groups, each sorting grid.
  • the mouth group includes 2 times k sorting cells, and k is an integer greater than or equal to 2. That is to say, a sorting grid group includes at least 4 sorting grids, and can also be 6, 8, 10 or more sorting grids.
  • the distribution of 2 times k sorting grids in a sorting grid group is 2 rows k columns or k rows 2 columns, and the row spacing is equal to the column spacing, which can be regarded as the sorting.
  • the total number of sorting ports on the sorting platform should be an integral multiple of the number of sorting cells in a sorting group, for example, 24, 36, 60, 64, 200 , 400 and so on.
  • a setting is advantageous for grouping the sorting cells, and the specific number can be set according to actual application requirements.
  • the known size and processing technology can be used.
  • the size of the sorting grid should be designed to allow most packages to pass, ensuring smooth sorting process.
  • the sorting compartment is square and has a side length of 400 to 800 mm, for example 500 to 700 mm, and for example 600 mm. This size ensures that small packages can be delivered into the sorting compartment.
  • the spacing of adjacent sorting compartments can be 1200mm, and this spacing dimension ensures that the sorting robot on the steel platform can pass smoothly. Of course, it is also possible to set the spacing of adjacent sorting grids according to other sizes of the sorting robot.
  • the item container is disposed below the steel platform, and the item container is used to collect the package that has been dropped by the sorting compartment and the chute, and when the collection is completed, the object container is carried by the person or the handling robot to Subsequent processing locations.
  • the article container can be any container having an opening, such as a box that is open at the top or a box that is open at the side that interfaces with the outlet of the chute.
  • the article container is a square box that is open at the top, and has a side length of 800 to 1600 mm, for example, 1000 to 1400 mm, and further, for example, 1200 mm.
  • the number and position of the item containers correspond to the sorting compartments.
  • the number of the item containers is equal to the number of sorting compartments, and an item container is arranged below each sorting compartment.
  • the arrangement of the item containers is consistent with the arrangement of the sorting cells. For example, for four adjacent sorting grids arranged in two rows and two columns, the four article containers below are also arranged in two rows and two columns, and the four article containers are concentrated and closely adjacent.
  • the item container can be placed directly on the ground.
  • the item container can be placed on a carrier, which can be a gantry structure having a certain height.
  • the handling robot can easily lift the item container (together with the carrier) through the carrier to make the handling process smoother.
  • a chute is disposed between each sorting compartment and each of the article containers, the chute is inclined, the docking sorting port is docked at the chute inlet, and the object container is docked at the chute exit,
  • Each of the chutes is arranged to dock the sorting compartment at the entrance of the chute with the container of the item below the adjacent sorting compartment, and the adjacent sorting compartment is aligned with the sorting compartment of the chute inlet.
  • the hour hand is adjacent or adjacent to each other counterclockwise.
  • each chute corresponding to each sorting grid needs to be specially set, by setting 2 by k in a sorting grid group.
  • the square contour defined by the sorting grid (k 2) or the rectangular contour (k>2), 4 chutes below the 4 sorting grids at the 4 corners of the square or rectangle Special settings are made such that the adjacent two planes are perpendicular to the four planes in which the four chutes are respectively located.
  • Example 1 Sorting unit of parcel sorting platform
  • FIG. 6 is a schematic diagram showing the layout relationship of the sorting grid, the slideway, and the article container of the sorting platform of the embodiment of the present invention
  • FIG. 6 is a plan view.
  • the part filled with the "well" character indicates the sorting grid
  • the thick solid line indicates the chute
  • the dashed line indicates the item container.
  • four sorting grids are used as one sorting grid group, and four chutes and four article containers are correspondingly arranged below the four sorting grids.
  • the sorting grid 1, the sorting compartment 2, the sorting compartment 3, and the sorting compartment 4 are a group of sorting ports, and the four sorting grids are arranged at intervals, and the arrangement mode is 2 Multiply by 2 rows and 2 columns, the line spacing is equal to the column spacing.
  • the 4 sorting grids define a square outline (the dotted line area in the figure), and the 4 sorting grids are respectively located at the 4 corners of the square.
  • each sorting compartment there is placed an item container, a total of four item containers, namely item container A, item container B, item container C and item container D.
  • the four item containers are arranged closely.
  • the lower side of the sorting compartment 1 is the article container D
  • the lower side of the sorting compartment 2 is the article container A
  • the lower side of the sorting compartment 3 is the article container B
  • the lower side of the sorting compartment 4 is the article container C.
  • chute with a total of 4 chutes, namely chute a, chute b, chute c and chute d.
  • the sorting compartment can be connected to the item container.
  • the intelligent robot puts the parcel into a sorting compartment, the parcel can fall into the article container along the chute.
  • the vertical plane where the chute a is located is perpendicular to the vertical plane where the chute b is located, and the vertical plane where the chute b is located is perpendicular to the vertical plane where the chute c is located, and the vertical direction of the chute c is The straight plane is perpendicular to the vertical plane where the chute d is located, and the vertical plane where the chute d is located is perpendicular to the vertical plane where the chute a is located.
  • the outlet of the chute a leads to the article container A
  • the outlet of the chute b leads to the article container B
  • the outlet of the chute c leads to the article container C
  • the outlet of the chute d leads to the article container D.
  • each sorting grid port is docked with the object container under the adjacent sorting grid through the chute, and finally four sorting grids and four
  • the chute and the four article containers form a swirling cycle that reduces the projected space occupied by the chute below the steel platform and the item container.
  • the package delivered to the sorting compartment 1 falls into the article container A through the chute a
  • the package delivered to the sorting compartment 2 falls into the article container B through the chute b, and so on, forming a rotation cycle.
  • the rotation cycle direction of the four chutes in the embodiment is counterclockwise, and the four sorting ports are counterclockwise adjacent.
  • the four chutes can also be set to be clockwise. Rotating cycle, the four sorting cells are clockwise adjacent.
  • Example 2 Sorting unit of parcel sorting platform
  • FIG. 7 is a schematic diagram showing the layout relationship of the sorting grid, the slideway, and the article container of the sorting platform of the embodiment of the present invention, and FIG. 7 is a perspective view.
  • four sorting grids are used as one sorting grid group, and four chutes and four article containers are correspondingly arranged below the four sorting grids.
  • Four sorting compartments, four chutes and four item containers form a loop.
  • Embodiment 1 differs from Embodiment 1 in that the four article containers are loosely placed rather than closely arranged.
  • the so-called loose placement means that there is a certain gap between the adjacent articles in the group, but the width of the gap is very large with respect to the distance between the container of an item in the group and the container of the other group in the group. Small, so that the four item containers in this group are still concentrated as a whole.
  • Embodiment 1 is different from Embodiment 1 in that the four article containers of the present embodiment are all placed on the carrier 50.
  • the carrier 50 can be a gantry structure having a certain height as shown in FIG.
  • the carrier 50 provided in the present embodiment facilitates the handling of the article container on which the transport robot carries, and the carrier 50 can be carried together with the article container.
  • Fig. 8 is a block diagram showing the structure of the sorting platform of the embodiment of the present invention.
  • Figure 9 is a schematic view of a parcel sorting platform formed in accordance with a conventional layout. 8 and 9 are top views.
  • the parcel sorting platform may include a steel platform and a support column for supporting the steel platform, and the sorting grid is arranged on the steel platform.
  • the steel platforms of Figures 8 and 9 have the same number of sorting compartments, all of which are 36 sorting compartments. In Figure 9, the 36 sorting compartments are distributed on the steel platform in a 6 x 6 arrangement.
  • sorting grids are divided into 9 sorting grid groups, each group consisting of 4 sorting grids, and the bottom is correspondingly provided with 4 chutes and 4 object containers.
  • the arrangement of the sorting compartments, the chutes and the article containers in each sorting group can adopt the layout scheme in Embodiment 1 or Embodiment 2.
  • the sorting grid is divided into a plurality of sorting grid groups, the lower chute and the article container are concentrated, and the arrangement of 4 chutes in one sorting grid group
  • the method forms a rotation cycle in the space, so that the four planes in which the four chutes are located can form a cylinder with a square bottom surface in the space, and the four sorting grids are at the four corners of the square.
  • each sorting group is independent, and there is no interference between adjacent groups. Therefore, the space between adjacent groups can be used as a transporting operation channel for the handling robot or personnel below the steel platform.
  • the area of the transport path is indicated by a chain line.
  • the container occupies a large amount of space, with only three lateral channels, and the channel height is limited by the height of the chute.
  • Figure 10 is a block diagram showing the structure of another parcel sorting platform of the embodiment of the present invention.
  • Figure 10 is a plan view. Compared with the parcel sorting platform of the embodiment 3, the total number of sorting ports of the embodiment is also 36. The difference between this embodiment and the third embodiment is mainly that the present embodiment has 36 sorting ports. It is divided into 6 sorting grid groups, each group consisting of 6 sorting grids. The 6 sorting grids define a rectangular contour, and 4 sorting grids are located on the 4 corners of the rectangle. At the same time, the arrangement of the six chutes and six container containers under the sorting grid group was also adjusted.
  • the square filled portion represents the sorting compartment
  • the thick solid line represents the chute
  • the dashed line represents the item container, wherein the item container is square, and the rectangular area filled with diagonal lines has no item container.
  • the chute below the sorting compartment 1 is in communication with the container of the item below the sorting compartment 2
  • the chute below the sorting compartment 2 is in communication with the container of the item below the sorting compartment 3
  • the slip below the sorting compartment 3 The trough communicates with the item container below the sorting compartment 4
  • the chute below the sorting compartment 4 communicates with the item container below the sorting compartment 5, and the chute below the sorting compartment 5 and the sorting compartment 6 below
  • the container of the article is connected, and the chute below the sorting compartment 6 communicates with the container of the article below the sorting compartment 1.
  • the chute below the sorting port 1 and the chute below the sorting port 2 extend in the same direction
  • the chute below the sorting port 4 and the chute below the sorting port 5 extend in the same direction
  • the chute below the sorting compartment 1 , the chute below the sorting compartment 3, the chute below the sorting compartment 4 and the chute below the sorting compartment 6 are respectively adjacent to the four planes The two planes are vertical.
  • the four chutes (the chute below the sorting slot 1 , the chute below the sorting slot 3, the chute below the sorting slot 4 and the chute below the sorting slot 6)
  • the four planes in which they are located can form a cylinder with a rectangular bottom surface in the space, the sorting grids 1, 3, 4 and 6 are at the four corners of the rectangle, and the sorting grids 2 and 5 are respectively in the rectangular shape. The middle of the long side.
  • the columns of the plurality of sorting grid groups are independent, and there is no interference between the adjacent groups, so that the space between the adjacent groups can be used as a transporting operation channel for the robot or personnel under the steel platform.
  • the six chutes under the sorting ports 1 to 6 in the embodiment of Fig. 9 have a clockwise direction of rotation, and the six sorting ports are clockwise adjacent.
  • six chutes may also be arranged to rotate in a counterclockwise direction, with six sorting grids being counterclockwise adjacent.
  • the area of the transport path is indicated by a chain line in FIG. 10, which has three lateral channels and 1.5 longitudinal channels; one longitudinal channel is reduced compared to the layout of FIG. 8 of Embodiment 3, but has only the conventional layout of FIG. Compared to the three highly constrained lateral channels, the layout scheme of this embodiment is superior to the conventional layout.
  • the arrangement of the chute and the article container of the embodiment of the present invention makes better use of the three-dimensional space, and the whole is more compact; There is no interaction in the collection area, and the layout is more reasonable.
  • the channel areas of Embodiments 3 and 4 herein are based on the conventional layout scheme, and the number of channels is increased from the three horizontal channels whose original height is limited to three horizontal channels and 1.5 to The 2.5 longitudinal channels greatly increase the flexibility of handling robots or manual handling, and the handling efficiency can be greatly improved.
  • the number of channels in the embodiment of the present invention is increased, so that the support columns of the steel platform are no longer restricted by the transportation path.
  • the support columns can be arranged in other places except the intersections in the passage, and the handling robot or personnel can It is easy to carry the container of the item to the corresponding area to the adjacent path, thereby avoiding the waste of the cost of the sorting grid or the increase of the column span.
  • a parcel sorting system comprising an intelligent robot and the parcel sorting platform described in Embodiment 3, the intelligent robot capable of carrying parcels and moving on the parcel sorting platform according to a planned path, and transporting the parcel to a calculated one
  • the target sorts the grid and unloads the parcel into the target sorting compartment.
  • a parcel sorting system comprising an intelligent robot and the parcel sorting platform described in Embodiment 4, the intelligent robot capable of carrying parcels and moving on the parcel sorting platform according to a planned route, and transporting the parcel to a calculated one
  • the target sorts the grid and unloads the parcel into the target sorting compartment.
  • the term “a” is understood to mean “at least one” or “one or more”, that is, in one embodiment, the number of one element may be one, and in other embodiments, the element The number can be multiple, and the term “a” cannot be construed as limiting the quantity.
  • ordinal numbers such as “first”, “second”, etc. will be used to describe various components, those components are not limited herein. This term is only used to distinguish one component from another. For example, a first component could be termed a second component, and as such, a second component could also be termed a first component without departing from the teachings of the inventive concept.
  • the term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

Abstract

一种物品自动转运系统及方法。该物品自动转运系统，包括：物品容器（1），物品容器（1）设置为接收具有预设路向的待运送物品；检测装置（2），检测装置（2）设置为检测落入物品容器（1）中的物品是否满足转运条件；搬运装置（3），搬运装置（3）设置为在落入物品容器（1）中的物品满足转运条件时，自动将物品容器（1）转运到预设目的地。

Description

物品自动转运系统及方法
本公开要求申请日为2017年09月30日、申请号为201710928844.6、名称为“物品自运转系统及方法”，以及申请日为2018年04月27日、申请号为201810394665.3、名称为“分拣系统、分拣平台及其分拣单元”的两个中国专利申请优先权，该申请的全部内容通过引用结合在本公开中。
技术领域
本文涉及智能物流和自动化仓储物流技术领域，例如涉及物品自动转运系统及方法。
背景技术
电子商务的快速发展，既给快递行业带来了前所未有的发展机遇，也给快递服务提出了严峻的挑战。如何高效率、低成本、灵活准确的进行包裹分拣一直是这个行业面临的难题。传统的人工矩阵式分拣效率低，差错率高、人工强度大、招工难、管理难。近年来机器人技术的蓬勃发展为整个物流行业带来了巨大的技术变革，也给分拣行业带来新的技术和新的设计理念。快递机器人分拣系统，操作员在供件台将包裹放在机器人承载装置上，机器人承载着包裹运行到分拣格口位置将包裹投递到分拣格口从而完成包裹分拣任务。上述包裹分拣机器人系统，较传统人工分拣方式大大提高了分拣效率，较交叉带分拣机等传统自动化方式又具有成本低、柔性高等优点，因而得到了业界的广泛关注和快速推广。
目前普遍的包裹集货主要是通过包裹分拣系统将包裹分拣至相应的路向格口，再由码货人员从格口将包裹码放至物品容器(集货笼车或者集包袋等)，码货人员需要判断物品容器是否满载，然后搬运人员再将物品容器搬运至相应的集货暂存区等待发货，同时需要向当前路向格口补给一个空的物品容器，搬运与补给的快慢会直接影响分拣系统向路向格口的卸包，从而影响包裹分拣系统的效率。这个过程中，有以下场景需要人工参与：需要码包裹；需要判断物品 容器的货物满载情况(特别是一个码货人员对应多个物品容器的情况，很难及时根据物品容器满载情况通知搬运人员搬运容器及补给空的物品容器)；需要搬运满的物品容器同时补给空的物品容器。整个过程一方面需要大量的人员投入来提高集货搬运效率，另一方面，码货人员不能及时向搬运人员反馈物品容器信息，造成搬运与补给滞后，从而影响前端包裹分拣系统的效率。正因为如此，不管是为了节约人工成本，提高搬运效率，还是为了集货容器能够及时搬运与补给，确保前端包裹分拣效率，都亟待需要一套能够实现集货容器自动搬运的系统来提高效率，降低人工成本。
因此，亟待一种全新的物品自动转运系统。
随着电子商务近年来突飞猛进的发展，物流配送逐渐成为电子商务的核心要素。在当前的电子商务中，物流配送具有发货单位小型化、品种多、批量小、批次多、周期短的特点，传统的人工操作、传送带式或是自动导引运输车(Automated Guided Vehicle，AGV)式的仓储物流方式已经难以适应电子商务的发展需求，而基于智能机器人的自动化仓储物流正在兴起。
智能机器人在自动化仓储物流中可以实现搬运、分拣或拣选等功能。其中，以智能机器人为包裹分拣主体的包裹分拣系统可以大大降低包裹分拣的综合成本。包裹分拣系统是基于我国国情及地理因素，并综合考虑我国劳动密集型产业人力成本和精密复杂自动化设备成本之间的平衡而应运而生的物流分拣系统。传统的包裹分拣系统基于钢平台结构，以钢平台结构作为包裹分拣平台，钢平台上设置有若干分拣格口，并在每个分拣格口下方设置滑槽和物品容器，智能机器人在钢平台上沿计算好的路径运行，并将包裹投入指定的分拣格口。图4示出了一种常见的包裹分拣平台的构成图，钢平台设置在分拣仓库内，包裹经输送线运送至该钢平台，由人工将包裹从输送线上取下放置于钢平台上的智能机器人上，智能机器人在钢平台上运行，将包裹投入指定的分拣格口，包裹在重力作用下经滑槽落入下方的物品容器中。之后，由搬运机器人或人工将物品容器运输至发货区，进行后续的包裹分拣、装车等环节。包裹分拣系统利用智能机器人的即时响应特性和分布式系统的灵活性，能够大幅降低包裹分拣的综合成本。图5为一种钢平台下方分拣格口、滑槽及物品容器的传统布局示意图，其中填充部分表示分拣格口，粗实线表示滑槽，虚线表示物品容器。可以看出，传统的分拣格口、滑槽以及物品容器均为并排分布，均匀布置，相邻分拣格口 之间的间距供机器人穿行。
但是传统布局的钢平台分拣系统搬运效率低下，因此，急需一种全新的分拣格口、滑槽以及物品容器的布局形式，在不浪费投入成本的前提下，为搬运物品容器的人员或搬运机器人留出更多行走空间，提高搬运效率。
发明内容
以下是对本文详细描述的主题的概述。本概述并非是为了限制权利要求的保护范围。
有鉴于此，本文实施例提供一种物品自动转运系统及方法。
本文实施例提供了一种物品自动转运系统，包括：物品容器，所述物品容器设置为接收具有预设路向的待运送物品；检测装置，所述检测装置设置为检测所述物品容器中的物品是否满足转运条件；搬运装置，所述搬运装置在落入所述物品容器中的物品满足转运条件时，自动将所述物品容器转运到预设目的地；其中，所述检测装置包括以下至少之一：距离传感器，所述距离传感器设置为检测落入所述物品容器中物品的深度信息，所述深度信息用于判断落入所述物品容器中的物品是否满足转运条件；计数器，所述计数器设置为计算落入所述物品容器中物品的数量，所述物品的数量用于判断落入所述物品容器中的物品是否满足转运条件；摄像装置，所述摄像装置设置为获取落入所述物品容器中的物品容量，所述物品容量用于判断落入所述物品容器中的物品是否满足转运条件；以及重量感应器，所述重量感应器设置为获取落入所述物品容器中的物品重量，所述物品重量用于判断落入所述物品容器中的物品是否满足转运条件。
根据本文实施例的一种具体实现方式，所述系统还包括：分拣格口，所述分拣格口与物品的路向绑定。
根据本文实施例的一种具体实现方式，所述分拣格口设置为根据物品的路向，将物品分配到不同的物品容器中。
根据本文实施例的一种具体实现方式，当与分拣格口对应的物品容器被移走时，所述分拣格口变成自锁状态。
根据本文实施例的一种具体实现方式，所述系统还包括：调度服务器，所述调度服务器设置为与所述检测装置和所述搬运装置分别通信连接。
根据本文实施例的一种具体实现方式，所述检测装置设置为在所述物品容器中的物品满足转运条件时，发送转运指示信息给所述调度服务器；所述调度服务器基于所述指示信息，控制所述搬运装置将所述物品容器转运到预设目的地。
根据本文实施例的一种具体实现方式，所述调度服务器设置为：获取所述搬运装置的电量信息；当所述搬运装置的剩余电量满足预设条件时，控制所述搬运装置到第一预定区域进行充电。
根据本文实施例的一种具体实现方式，所述搬运装置还设置为从第二预设区域搬运空的物品容器至预设分拣格口。
根据本文实施例的一种具体实现方式，所述搬运装置通过识别图形组合进行导航。
本文实施例提供了一种物品自动转运方法，包括：利用物品容器接收具有预设路向的待运送物品；利用检测装置检测落入所述物品容器中的物品是否满足转运条件；当落入所述物品容器中的物品满足转运条件时，通过搬运装置自动将所述物品容器转运到预设目的地；其中利用检测装置检测落入所述物品容器中的物品是否满足转运条件包括以下至少之一：检测落入所述物品容器中物品的深度信息，并根据所述深度信息判断落入所述物品容器中的物品是否满足转运条件；计算落入所述物品容器中物品的数量，并根据所述物品的数量判断计算落入所述物品容器中物品的数量是否满足转运条件；通过摄像装置获取落入所述物品容器中的物品容量，并根据所述物品容量判断所述落入所述物品容器中的物品是否满足转运条件；以及通过重量感应器获取落入所述物品容器中的物品重量，并根据所述物品重量判断落入所述物品容器中的物品是否满足转运条件。
根据本文实施例的一种具体实现方式，所述方法还包括：设置分拣格口，将所述分拣格口与物品的路向绑定。
根据本文实施例的一种具体实现方式，根据物品的路向，利用所述分拣格口将物品分配到不同的物品容器中。
根据本文实施例的一种具体实现方式，当与分拣格口对应的物品容器被移走时，所述分拣格口变成自锁状态。
根据本文实施例的一种具体实现方式，所述方法还包括：设置调度服务器， 所述调度服务器与所述检测装置和所述搬运装置分别通信连接。
根据本文实施例的一种具体实现方式，在所述物品容器中的物品满足转运条件时，所述检测装置发送转运指示信息给所述调度服务器；所述调度服务器基于所述指示信息，控制所述搬运装置将所述物品容器转运到预设目的地。
根据本文实施例的一种具体实现方式，所述调度服务器获取所述搬运装置的电量信息；当所述搬运装置的剩余电量满足预设条件时，所述调度服务器控制所述搬运装置到第一预定区域进行充电。
根据本文实施例的一种具体实现方式，所述搬运装置还从第二预设区域搬运空的物品容器至预设分拣格口。
根据本文实施例的一种具体实现方式，所述搬运装置通过识别图形组合进行导航。
本文实施例提供的物品自动转运系统，通过距离传感器能够检测落入所述物品容器中物品的深度信息，基于该深度信息，搬运装置在落入所述物品容器中的物品满足转运条件时，自动将所述物品容器转运到预设目的地。相比于相关技术中的其他方式，本申请提供了一种全新的物品自动转运方式，保证了自动检测结果的准确性，提高了物品转运的效率。
本文一实施例中提供一种计算机可读存储介质，存储有物品自运转方法程序，所述物品自运转方法程序在被处理器执行时实现如上所述的物品自运转方法。
传统布局的钢平台分拣系统搬运效率低下，原因在于：
1、在分拣完毕后，需由搬运机器人或人工将装有包裹的物品容器运至发货区，这时搬运机器人或人工需在钢平台方的地面上移动作业，而滑槽和物品容器均匀布置的方式，使得场地中只有长滑槽下方的位置(图5中三排长滑槽下方的横向的位置，但高度有限)可以作为通道，供搬运机器人或人工移动搬运，搬运速度受到限制。且在整个空间中没有纵向的搬运通道，无法实现搬运机器人或人工的灵活行走，无法满足高效搬运的需求。若增加纵向通道，则需减少某几列滑槽及对应的物品容器，而此举会导致相同时间内分拣包裹的数量减少，分拣及搬运的效率减低。
2、在整个钢平台结构中，钢平台下方布满了支撑立柱，支撑立柱需要放置在搬运通道内。在搬运作业中，含有支撑立柱的通道将被搬运机器人视为障碍 无法通过，又降低了搬运效率。若减少滑槽和物品容器的数量，增加新的通道，会导致分拣和搬运的效率降低；若增加立柱的跨度来减少立柱的数量，为保障安全需同时增大钢平台主梁的高度和厚度，这会额外增加成本，造成成本浪费。
3、钢平台下方的物品容器均匀放置，使得某些分拣格口对应的滑槽需多重定制，如图5中相邻两行滑槽的长度和坡度不同，无法统一定制，这造成设计、生产及施工成本的浪费。
本文实施例对物品自运转系统中分拣平台的分拣格口、滑槽以及物品容器的布局关系进行重新设计，将滑槽、物品容器对场地空间的需求降到最低，使得场地中可作为搬运通道的空间大幅增多。
根据本文实施例的一种具体实现方式，所述系统还包括分拣平台，所述分拣平台包括分拣单元，所述分拣单元包括设置在分拣平台的平台本体上的多个分拣格口，位于所述平台本体下方且与分拣格口数量相同的多个滑槽，以及位于所述平台本体下方且与分拣格口数量相同的多个物品容器；其中，每个所述分拣格口的下方布置有一个所述物品容器，且每个所述分拣格口与一个所述滑槽入口对接；所述滑槽均呈倾斜状，且被布置为：将所述滑槽的入口处的所述分拣格口与分拣格口相邻分拣格口下方的物品容器对接，所述相邻分拣格口与所述滑槽入的口所对接的分拣格口均为顺时针相邻或均为逆时针相邻。
根据本文实施例的一种具体实现方式，所述分拣单元包括2乘以k个分拣格口，2乘以k个分拣格口的分布方式为2行k列或者k行2列，k为大于或等于2的整数。
根据本文实施例的一种具体实现方式，所述分拣单元包括4个分拣格口，所述4个分拣格口的分布方式为2行2列。
根据本文实施例的一种具体实现方式，第一分拣格口下方布置有第一物品容器，所述4个分拣格口中的第二分拣格口下方布置有第二物品容器，所述4个分拣格口中的第三分拣格口下方布置有第三物品容器，所述4个分拣格口中的第四分拣格口下方布置有第四物品容器，第一滑槽的入口与所述第一分拣格口对接，所述第一滑槽的出口与所述第二物品容器对接，第二滑槽的入口与所述第二分拣格口对接，所述第二滑槽的出口与所述第三物品容器对接，第三滑槽的入口与所述第三分拣格口对接，所述第三滑槽的出口与所述第四物品容器对接，第四滑槽的入口与所述第四分拣格口对接，所述第四滑槽的出口与所述 第一物品容器对接。
根据本文实施例的一种具体实现方式，所述分拣单元包括6个分拣格口，所述6个分拣格口的分布方式为2行3列。
根据本文实施例的一种具体实现方式，所述分拣格口为正方形分拣格口。
根据本文实施例的一种具体实现方式，所述正方形分拣格口的边长为600mm，相邻分拣格口之间的间隔为1200mm。
根据本文实施例的一种具体实现方式，所述物品容器分别放置在载具上。
根据本文实施例的一种具体实现方式，所述分拣平台包括平台本体、支撑所述平台本体的支撑立柱以及实现分拣的多个分拣单元。
根据本文实施例的一种具体实现方式，所述多个分拣单元呈阵列形式分布在所述分拣平台中，所述分拣平台架设在分拣场地中。
根据本文实施例的一种具体实现方式，所述支撑立柱设置在所述分拣单元之间的间隔处。
根据本文实施例的一种具体实现方式，所述系统包括第一机器人，所述第一机器人能够在所述平台本体上移动并将待分拣对象投入所述平台本体上的任一分拣格口中。
根据本文实施例的一种具体实现方式，所述搬运装置为第二机器人，所述第二机器人能够对所述物品容器实施搬运。
本文实施例基于分组理念形成了一种全新的分拣格口-滑槽-物品容器的对接布局形式，其为一种上方等距、下方集中的立体布局形式，可减少钢平台下方滑槽与物品容器所占用的投影空间，在场地中开辟出了新的搬运通道，使搬运路径更为灵活，搬运效率大幅提升。应用本文后，在不浪费成本的基础上，场地中的物品容器和滑槽占用的空间减少，运输物品容器的通道以及操作人员可走动的空间增多，既能够满足滑槽、物品容器的尺寸需求，又不减少分拣格口、物品容器的数量，此外还可节省钢平台下方的整体空间，为物品容器的搬运、人员行走通道留出更多空间。本文的整体空间利用率得到提升，物品容器的搬运效率得以提高，并最终使分拣系统的整体作业效率得到提高。
在阅读并理解了附图和详细描述后，可以明白其他方面。
附图说明
下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1为本文一实施例提供的一种物品自动转运系统的结构示意图；
图2为本文一实施例提供的一种用于物品传送的搬运装置的结构示意图；
图3为本文一实施例提供的一种物品自动转运方法的流程示意图；
图4为一种典型的包裹分拣平台的构成示意图；
图5为相关技术中分拣平台的传统布局示意图；
图6为本文一个实施例的分拣格口、滑槽以及物品容器的布局关系示意图，其为俯视图；
图7为本文另一实施例的分拣格口、滑槽以及物品容器的布局关系示意图，其为立体图；
图8为本文一个实施例的分拣平台的示意图；
图9为基于传统布局方式的分拣平台示意图；
图10为本文另一个实施例的包裹分拣平台的示意图。
具体实施方式
下面结合附图对本文实施例进行详细描述。
应当明确，所描述的实施例仅仅是本文一部分实施例，而不是全部的实施例。基于本文中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本文保护的范围。
参见图1，图1为本文实施例提供的一种物品自动转运系统，该系统包括物品容器1、检测装置2以及搬运装置3。
物品容器1可以是常见的用于容纳待分拣物品的容器，比如常见的笼车、包裹袋等，物品容器通常接收具有共同分拣属性的物品(例如，接收发送给北京市海淀区的物品)，即所述物品容器1接收具有预设路向的待运送物品。
为了能够使物品容器1能够接收预设路向的待运送物品，参见图1，系统还可以包括分拣格口4，分拣格口4与接收预设路向的物品容器1绑定，以便于接收预设路向的物品。
为了能够确定物品容器中物品是否装满或达到预设的容量，系统还包括检 测装置2，检测装置2中包括距离传感器，所述距离传感器能够检测落入所述物品容器1中物品的深度信息，所述深度信息用于判断落入所述物品容器1中的物品是否满足转运条件。
例如，可以采用超声波、激光、红外线等具有测距功能的传感器。进行测距时，检测装置2可以通过整体扫描物品容器1中平面的方式，确定物品容器1中的物品是否满足固定的深度，进而确定物品容器是否装满。
搬运装置3在落入所述物品容器1中的物品满足转运条件时，自动将所述物品容器1转运到预设目的地。例如，参见图2，该搬运装置3包括承接装置31、行走装置32、高度调节装置34以及通信装置33。
承接装置31能够承接物品容器1的底部，当然，也可以用来承载物品容器1的其他部位，以便于支撑住物品容器1。通信装置33便可以获知物品是否满足转运条件的信息，当获知物品容器1已经装满可以自动运走时，此时通信装置33便通知高度调节装置34调节高度支撑起物品容器1，通过行走装置32将物品容器1自动运走。
根据本文实施例的一种具体实现方式，所述系统还包括：分拣格口，所述分拣格口与物品的路向绑定。所述分拣格口根据物品的路向，将物品分配到不同的物品容器1中。
为了保证物品容器1在被移走之后，不会有货物从分拣格口散落下来，根据本文实施例的一种具体实现方式，当与分拣格口对应的物品容器1被移走时，所述分拣格口变成自锁状态。
根据本文实施例的一种具体实现方式，所述检测装置2包括计数器，通过计算落入所述物品容器1中物品的数量判断所述搬运装置3满足转运条件。
根据本文实施例的一种具体实现方式，所述检测装置2包括摄像装置，所述摄像装置能够获取所述物品容器1中的物品容量，进而判断所述搬运装置3满足转运条件。
根据本文实施例的一种具体实现方式，所述检测装置2包括重量感应器，所述重量感应器能够获取所述物品容器1中的物品重量，进而判断所述搬运装置3满足转运条件。
根据本文实施例的一种具体实现方式，所述系统还包括：调度服务器，所述调度服务器分别与所述检测装置2及所述搬运装置3通信连接。
根据本文实施例的一种具体实现方式，所述检测装置2在所述物品容器1中的物品满足转运条件时，发送转运指示信息给所述调度服务器；所述调度服务器基于所述指示信息，控制所述搬运装置3将所述物品容器1转运到预设目的地。
根据本文实施例的一种具体实现方式，所述调度服务器能够获取所述搬运装置3的电量信息；当所述搬运装置3的剩余电量满足预设条件时，所述调度服务器控制所述搬运装置3到第一预定区域进行充电。为了便于搬运设备的运行，搬运设备内部装有电池，这样搬运设备便会通过自身的能量来完成任务的运输。搬运设备会实时监测电池的剩余电量，当搬运设备的剩余电量达到一定的阈值后，控制搬运设备到预设的区域自行充电。另外，所述搬运设备能够获取所述搬运设备的电量信息；当所述搬运设备的剩余电量满足预设条件时，所述搬运设备将剩余电量信息上报给调度服务器，由调度服务器根据当前电量以及调度任务等多个因素综合考虑是否将搬运设备控制到预定地点进行充电。
根据本文实施例的一种具体实现方式，所述搬运装置3还从第二预设区域搬运空的物品容器1至预设分拣格口，这样，装满物品的物品容器被运走之后，搬运装置3可以搬运新的物品容器。
根据本文实施例的一种具体实现方式，所述搬运装置3通过识别图形组合进行导航。该图形组合可以是二维码，可以是通过其他的图形组合而成的任意图形组合。物品运送设备通过识别图形组合来判断当前的地理位置信息。
参见图3，本文一实施例还公开了一种物品自动转运方法，包括：
S301，利用物品容器接收具有预设路向的待运送物品。
物品容器1可以是常见的用于容纳待分拣物品的容器，比如常见的笼车、包裹袋等，物品容器通常接收具有共同分拣属性的物品(例如，接收发送给北京市海淀区的物品)，即，所述物品容器1接收具有预设路向的待运送物品。
为了能够使物品容器1能够接收预设路向的待运送物品，参见图1，系统还可以包括分拣格口4，分拣格口4与接收预设路向的物品容器1绑定，以便于接收预设路向的物品。
S302，检测检测落入所述物品容器中物品的深度信息，基于所述深度信息判断落入所述物品容器中的物品是否满足转运条件。
为了能够确定物品容器中物品是否装满或达到预设的容量，系统还包括检 测装置2，检测装置2中包括距离传感器，所述距离传感器能够检测落入所述物品容器1中物品的深度信息，所述深度信息用于判断落入所述物品容器1中的物品是否满足转运条件。
例如，可以采用超声波、激光、红外线等具有测距功能的传感器，进行测距时，检测装置2可以通过整体扫描物品容器1中平面的方式，确定物品容器1中的物品是否满足固定的深度，进而确定物品容器是否装满。
S303，当落入所述物品容器中的物品满足转运条件时，通过搬运装置自动将所述物品容器转运到预设目的地。
搬运装置3在落入所述物品容器1中的物品满足转运条件时，自动将所述物品容器1转运到预设目的地。例如，参见图2，该搬运装置3包括承接装置31、行走装置32、高度调节装置34以及通信装置33。
承接装置31能够承接物品容器1的底部，当然，也可以用来承载物品容器1的其他部位，以便于支撑住物品容器1。通信装置33便可以获知物品是否满足转运条件的信息，当获知物品容器1已经装满可以自动运走时，此时通信装置33便通知高度调节装置34调节高度支撑起物品容器1，通过行走装置32将物品容器1自动运走。
根据本文实施例的一种具体实现方式，所述方法还包括：设置分拣格口，将所述分拣格口与物品的路向绑定。
根据本文实施例的一种具体实现方式，根据物品的路向，将物品分配到不同的物品容器1中。
根据本文实施例的一种具体实现方式，当与分拣格口对应的物品容器1被移走时，所述分拣格口变成自锁状态。
根据本文实施例的一种具体实现方式，所述检测并判断落入所述物品容器1中的物品是否满足转运条件，包括：通过计算落入所述物品容器1中物品的数量判断所述搬运装置3满足转运条件。
根据本文实施例的一种具体实现方式，所述检测并判断落入所述物品容器1中的物品是否满足转运条件，包括：通过摄像装置获取所述物品容器1中的物品容量，进而判断所述搬运装置3满足转运条件。
根据本文实施例的一种具体实现方式，所述检测并判断落入所述物品容器1中的物品是否满足转运条件，包括：通过重量感应器获取所述物品容器1中的 物品重量，进而判断所述搬运装置3满足转运条件。
根据本文实施例的一种具体实现方式，所述方法还包括：设置调度服务器，使得所述调度服务器分别与所述检测装置2及所述搬运装置3通信连接。
根据本文实施例的一种具体实现方式，所述检测装置2在所述物品容器1中的物品满足转运条件时，发送转运指示信息给所述调度服务器；所述调度服务器基于所述指示信息，控制所述搬运装置3将所述物品容器1转运到预设目的地。
根据本文实施例的一种具体实现方式，所述调度服务器能够获取所述搬运装置3的电量信息；当所述搬运装置3的剩余电量满足预设条件时，所述调度服务器控制所述搬运装置3到第一预定区域进行充电。
根据本文实施例的一种具体实现方式，所述搬运装置3还从第二预设区域搬运空的物品容器1至预设分拣格口。
根据本文实施例的一种具体实现方式，所述搬运装置3通过识别图形组合进行导航。
上述方法实施例中的内容与系统实施例中的内容相对应，在此不再赘述。
本文一实施例中提供一种计算机可读存储介质，存储有物品自运转方法程序，所述物品自运转方法程序在被处理器执行时实现如上所述的物品自运转方法。
本文对设置在分拣平台上的若干分拣格口进行分组，对每组分拣格口所对应的多个滑槽及其布置方式进行重新设计，并对本组分拣格口下方的物品容器及其摆放位置进行重新设计，使得本组的分拣格口、滑槽和物品容器即能够满足本组的包裹分拣需求，而不需要与其他组中的分拣格口、滑槽或物品容器发生干涉。从而，可在组与组之间设置搬运通道，供人员或搬运机器人行走，且搬运通道不受高度限制。
本文的分拣系统包括分拣平台和机器人，分拣平台可基于平台结构，其上具有若干分拣格口，每个分拣格口的下方均设置有滑槽和物品容器。以下对本文进行详细描述。
需要说明的是，本文所提供的分拣平台以及分拣系统适用于物流包裹的分拣，也适用于其它需要分拣的场景。
分拣格口本文所述的“分拣格口”与本领域中的通常理解一致，其是指设置在平台本体(通常为钢材质制成，因此也称为钢平台)上的开口，机器人(如分拣机器人)在平台本体上运行，将包裹(或者其它需要分拣的物品)投入开口，包裹落入开口下方的滑槽，最终落入滑槽出口处设置的物品容器中。根据其使用特点，在不同场景中，有时也将“分拣格口”称为“分拣格口井”。
在本文的实施例中，分拣平台包括钢平台和对钢平台起支撑作用的支撑立柱，分拣平台架设在场地例如分拣仓库中。钢平台上开有若干分拣格口，这些分拣格口均匀地、相间隔地分布在钢平台上，呈阵列形式分布，相邻分拣格口之间的距离需能够允许分拣机器人通过。
本文对分拣平台上的若干分拣格口进行分组，例如，将相邻的多个分拣格口作为一组分拣格口，可得到多个分拣格口组，每个分拣格口组包括2乘以k个分拣格口，k为大于或等于2的整数。也就是说，一个分拣格口组中至少包括4个分拣格口，还可以为6个、8个、10个或更多分拣格口。
在一实施方式中，一个分拣格口组中的2乘以k个分拣格口的分布方式为2行k列或者k行2列，行间距与列间距相等，可视为该分拣格口组中的2×k个分拣格口定义出一个正方形轮廓(k＝2时)或矩形轮廓(k＞2时)。这样的设置可使得与多个分拣格口对应设置的多个滑槽尺寸一致。
在一实施方式中，分拣平台上的分拣格口的总数应为一个分拣格口组中分拣格口数量的整数倍，例如24个、36个、60个、64个、200个、400个等等。这样的设置有利于对分拣格口进行分组，具体数量可根据实际应用需求设置。
对于单个分拣格口的尺寸、加工工艺等特征，可采用已知的尺寸和加工工艺完成，例如分拣格口的尺寸应设计为允许大多数包裹通过，确保分拣流程顺畅。在一实施例中，分拣格口为正方形，边长为400～800mm，例如为500～700mm，再例如为600mm，该尺寸可以保证小件包裹都能被投递进分拣格口。相邻分拣格口的间距可以为1200mm，而这个间距尺寸可以保证钢平台上的分拣机器人能够顺利通过。当然，也可以根据分拣机器人的其它尺寸大小设置相邻分拣格口的间距。
物品容器在本文的实施例中，物品容器布置在钢平台的下方，物品容器用于收集经分拣格口和滑槽而落下的包裹，当收集完毕后由人员或搬运机器人将 物品容器搬运至后续处理地点。物品容器可为具有开口的任何容器，例如上方开口的箱体或者旁边开口的箱体，该开口与滑槽的出口对接。在一实施方式中，物品容器为上方开口的正方形箱体，边长为800～1600mm，例如为1000～1400mm，再例如为1200mm。
在一实施方式中，物品容器的数量和位置均与分拣格口对应，例如，物品容器的数量与分拣格口的数量相等，在每一个分拣格口的下方均布置有一个物品容器，且物品容器的排列方式与分拣格口的排列方式一致。例如对于按照2行2列排布的4个相邻分拣格口，其下方的4个物品容器也为2行2列排布，且4个物品容器位置集中，紧密相邻。
物品容器可直接放置在地面上，在可选的实施方式中，可将物品容器放置在载具上，载具可为具有一定高度的台架结构。搬运机器人可方便地通过载具将物品容器(连同载具)搬起，使搬运过程更加流畅。
<滑槽>
在本文的实施例中，在每一个分拣格口与每一个物品容器之间设置一个滑槽，滑槽倾斜设置，滑槽入口处对接分拣格口，滑槽出口处对接物品容器，将每一个滑槽布置为将滑槽入口处的分拣格口与相邻分拣格口下方的物品容器对接，相邻分拣格口与所述滑槽入口所对接分拣格口均为顺时针相邻或均为逆时针相邻。
可以理解的，在每个分拣格口组中，与每个分拣格口所对应的每个滑槽需进行特别设置，设置方式是：对于由一个分拣格口组中2乘以k个分拣格口定义出的正方形轮廓(k＝2时)或矩形轮廓(k＞2时)，对处于该正方形或矩形的4个角上的4个分拣格口下方的4个滑槽进行特别设置，令该4个滑槽分别所在的4个平面中，相邻的两个平面垂直。
对以往传统布局中所有滑槽均为平行排布的方式进行改进，使一个分拣格口组中的某些滑槽(如位于拐角处的4个分拣格口下方的4个滑槽)不再平行，而是各自做90°转向，4个滑槽均转向90°，最终可形成一种旋转的循环，可设置为顺时针循环或逆时针循环，这样该分拣格口组中的多个分拣格口可视为顺时针相邻或逆时针相邻。从而在本组分拣格口组和物品容器的范围之内，即可完成包裹分拣，无需涉及其他分拣格口组的物品容器。
还可在相邻分拣格口组之间设置搬运通道，从而与传统的滑槽布局相比，本文的搬运通道的面积获得大幅增多。
实施例1-包裹分拣平台的分拣单元
图6示出了本文实施例的分拣平台的分拣格口、滑道、物品容器的布局关系示意图，图6为俯视图。其中，以“井”字格填充的部分表示分拣格口，粗实线表示滑槽，虚线表示物品容器。本实施例将4个分拣格口作为一个分拣格口组，在4个分拣格口的下方对应地设置4个滑槽以及4个物品容器。
参考图6，分拣格口1、分拣格口2、分拣格口3和分拣格口4为一组分拣格口，4个分拣格口相间隔地布置，布置方式为2乘以2的2行2列，行间距与列间距相等，4个分拣格口定义出一个正方形轮廓(图中虚线区域)，4个分拣格口分别位于正方形的4个角上。
在每一个分拣格口的下方，放置有一个物品容器，共4个物品容器，分别为物品容器A、物品容器B、物品容器C和物品容器D。4个物品容器为紧密排布。并且，分拣格口1的下方为物品容器D，分拣格口2的下方为物品容器A，分拣格口3的下方为物品容器B，分拣格口4的下方为物品容器C。
在单个分拣格口和单个物品容器之间，设置有一个滑槽，共4个滑槽，分别为滑槽a、滑槽b、滑槽c和滑槽d。通过滑槽，可将分拣格口与物品容器连通，当智能机器人将包裹投入某个分拣格口后，包裹可沿滑槽落入物品容器中。在本实施例中，滑槽a所在的竖直平面与滑槽b所在的竖直平面垂直，滑槽b所在的竖直平面与滑槽c所在的竖直平面垂直，滑槽c所在的竖直平面与滑槽d所在的竖直平面垂直，滑槽d所在的竖直平面与滑槽a所在的竖直平面垂直。并且，滑槽a的出口通向物品容器A，滑槽b的出口通向物品容器B，滑槽c的出口通向物品容器C，滑槽d的出口通向物品容器D。
也就是说，4个滑槽及4个物品容器的位置相对集中，每个分拣格口通过滑槽与相邻分拣格口下方的物品容器对接，最终4个分拣格口、4个滑槽以及4个物品容器形成一种旋转的循环，使得钢平台下方滑槽与物品容器所占用的投影空间减少。
通过上述设置，向分拣格口1投递的包裹通过滑槽a落入物品容器A中，向分拣格口2投递的包裹通过滑槽b落入物品容器B中，以此类推，形成旋转 循环。注意到本实施例中4个滑槽的旋转循环方向为逆时针方向，4个分拣格口为逆时针相邻，在其他实施例中，也可将4个滑槽设置为按顺时针方向旋转循环，4个分拣格口为顺时针相邻。
实施例2-包裹分拣平台的分拣单元
图7示出了本文实施例的分拣平台的分拣格口、滑道、物品容器的布局关系示意图，图7为立体图。本实施例将4个分拣格口作为一个分拣格口组，在该4个分拣格口的下方对应地设置4个滑槽以及4个物品容器。4个分拣格口、4个滑槽和4个物品容器形成循环。
本实施例与实施例1的不同之处在于，4个物品容器为松散放置，而非紧密排布。所谓的松散放置指的是，本组中相邻的物品容器之间存在一定空隙，但是，相对于本组中某物品容器与其他组中某物品容器之间的距离，所述空隙的宽度非常小，使得本组中4个物品容器在整体上仍为集中布置。
本实施例与实施例1的不同之处还在于，本实施例的4个物品容器均放置在载具50上。载具50可为图6所示的具有一定高度的台架结构。本实施例中设置的载具50便于搬运机器人对其上的物品容器进行搬运作业，可将载具50和物品容器一起搬运。
本实施例的其余设置与实施例1的设置相同。
实施例3-包裹分拣平台
图8示出了本文实施例的分拣平台的结构示意图。图9为按照传统布局方式形成的包裹分拣平台示意图。图8和图9为俯视图。所述的包裹分拣平台可包括钢平台和用于支撑钢平台的支撑立柱，所述的分拣格口排布在所述钢平台上。图8和图9的钢平台上具有相同数量的分拣格口，均为36个分拣格口，图9中该36个分拣格口以6×6的排列方式分布在钢平台上。
参考图8，将36个分拣格口分为9个分拣格口组，每组包括4个分拣格口，下方对应设置有4个滑槽和4个物品容器。各个分拣格口组中的分拣格口、滑槽以及物品容器的布置方式可采用实施例1或实施例2中的布局方案。实施例1或实施例2的布局方案中，分拣格口被分为若干分拣格口组，下方的滑槽和物品容器位置集中，一个分拣格口组中的4个滑槽的布置方式在空间中形成一种 旋转的循环，使得该4个滑槽所在的4个平面可在空间中构成一个底面为正方形的柱体，4个分拣格口处于正方形的四个角上。
每个分拣格口组的柱体各自独立，相邻组之间不存在干涉，因而，可将相邻组之间的空间作为钢平台下方的搬运机器人或人员的搬运作业通道。
图8和图9中以点划线表示搬运通道的区域，比较来看，本文实施例的图7中有3条横向通道和2.5条纵向通道；而图8中的传统布局因滑槽和物品容器占据了大量空间，仅具有3条横向通道，且通道高度受到滑槽高度的限制。
实施例4-包裹分拣平台
图10示出了本文实施例的另一种包裹分拣平台的结构示意图。图10为俯视图。与实施例3的包裹分拣平台相比，本实施例的分拣格口总数也为36个，本实施例与实施例3的不同之处主要在于，本实施例将36个分拣格口分为6个分拣格口组，每组包括6个分拣格口，该6个分拣格口定义出一个矩形轮廓，其中4个分拣格口分别位于矩形的4个角上。同时，还对分拣格口组下方的6个滑槽和6个物品容器的布置方式进行了调整。
参考图10，以
Figure PCTCN2018097059-appb-000001
方格填充的部分表示分拣格口，粗实线表示滑槽，虚线表示物品容器，其中，物品容器为正方形，以斜线填充的矩形区域内无物品容器。分拣格口1下方的滑槽与分拣格口2下方的物品容器连通，分拣格口2下方的滑槽与分拣格口3下方的物品容器连通，分拣格口3下方的滑槽与分拣格口4下方的物品容器连通，分拣格口4下方的滑槽与分拣格口5下方的物品容器连通，分拣格口5下方的滑槽与分拣格口6下方的物品容器连通，分拣格口6下方的滑槽与分拣格口1下方的物品容器连通。
其中，分拣格口1下方的滑槽与分拣格口2下方的滑槽延伸方向相同，分拣格口4下方的滑槽与分拣格口5下方的滑槽延伸方向相同；并且，分拣格口1下方的滑槽、分拣格口3下方的滑槽、分拣格口4下方的滑槽以及分拣格口6下方的滑槽分别所在的4个平面中，相邻的两个平面垂直。也就是说，该4个滑槽(分拣格口1下方的滑槽、分拣格口3下方的滑槽、分拣格口4下方的滑槽以及分拣格口6下方的滑槽)所在的4个平面可在空间中构成一个底面为矩形的柱体，分拣格口1、3、4和6处于矩形的四个角上，分拣格口2和5分别处于矩形的两个长边的中部。
多个分拣格口组的柱体各自独立，相邻组之间不存在干涉，从而可将相邻组之间的空间作为钢平台下方搬运机器人或人员的搬运作业通道。
从6个滑槽旋转循环的角度来看，图9实施例中分拣格口1～6下方的6个滑槽的旋转循环方向为顺时针方向，6个分拣格口为顺时针相邻。在其他实施例中，也可将6个滑槽布置为按逆时针方向旋转循环，6个分拣格口为逆时针相邻。
图10中以点划线表示搬运通道的区域，其中有3条横向通道和1.5条纵向通道；与实施例3的图8的布局相比减少1条纵向通道，但与图9传统布局仅具有3条高度受限的横向通道相比，本实施例的布局方案优于传统布局。
在相同的空间、相同的分拣格口数量及排布方式的情况下，一方面，本文实施例的滑槽和物品容器的布置更好地利用了立体空间，整体更为紧凑；搬运通道和集货区域不存在交互情况，布局更加合理。
另一方面，在相同的空间内，本文的实施例3和4的通道面积在传统布局方案的基础上，通道数量由原来高度受限的3条横向通道，增加为3条横向通道和1.5～2.5条纵向通道，大大增加了搬运机器人或人工搬运的灵活性，搬运效率可大幅提升。
再一方面，所有滑槽的尺寸均为统一标准，从而减少了设计、生产及施工中存在的成本浪费。
最后一方面，本文实施例中通道数量的增多，使得钢平台的支撑立柱不再成为阻碍搬运路径的限制，支撑立柱可以布置在通道内除十字路口之外的其他位置，搬运机器人或人员可以绕到相邻路径轻松地将物品容器搬运至对应区域，从而避免分拣格口减少或立柱跨距增大带来的成本浪费。
实施例5-包裹分拣系统
一种包裹分拣系统，其包括智能机器人及实施例3所述的包裹分拣平台，该智能机器人能够承载包裹，并可按照规划路径在包裹分拣平台上移动，将包裹运送至计算好的目标分拣格口，并将包裹卸载投入到该目标分拣格口中。
实施例6-包裹分拣系统
一种包裹分拣系统，其包括智能机器人及实施例4所述的包裹分拣平台， 该智能机器人能够承载包裹，并可按照规划路径在包裹分拣平台上移动，将包裹运送至计算好的目标分拣格口，并将包裹卸载投入到该目标分拣格口中。
可以理解的是，术语“一”应理解为“至少一”或“一个或多个”，即在一个实施例中，一个元件的数量可以为一个，而在另外的实施例中，该元件的数量可以为多个，术语“一”不能理解为对数量的限制。
虽然比如“第一”、“第二”等的序数将用于描述各种组件，但是在这里不限制那些组件。该术语仅用于区分一个组件与另一组件。例如，第一组件可以被称为第二组件，且同样地，第二组件也可以被称为第一组件，而不脱离发明构思的教导。在此使用的术语“和/或”包括一个或多个关联的列出的项目的任何和全部组合。
在这里使用的术语仅用于描述各种实施例的目的且不意在限制。如在此使用的，单数形式意在也包括复数形式，除非上下文清楚地指示例外。另外将理解术语“包括”和/或“具有”当在该说明书中使用时指定所述的特征、数目、步骤、操作、组件、元件或其组合的存在，而不排除一个或多个其它特征、数目、步骤、操作、组件、元件或其组的存在或者附加。

Claims (31)

  1. 一种物品自动转运系统，包括：
    物品容器，所述物品容器设置为接收具有预设路向的待运送物品；
    检测装置，所述检测装置设置为检测所述物品容器中的物品是否满足转运条件；
    搬运装置，所述搬运装置设置为在落入所述物品容器中的物品满足转运条件时，自动将所述物品容器转运到预设目的地；
    其中，所述检测装置包括以下至少之一：
    距离传感器，所述距离传感器设置为检测落入所述物品容器中物品的深度信息，所述深度信息用于判断落入所述物品容器中的物品是否满足转运条件；
    计数器，所述计数器设置为计算落入所述物品容器中物品的数量，所述物品的数量用于判断落入所述物品容器中的物品是否满足转运条件；
    摄像装置，所述摄像装置设置为获取落入所述物品容器中的物品容量，所述物品容量用于判断落入所述物品容器中的物品是否满足转运条件；以及
    重量感应器，所述重量感应器设置为获取落入所述物品容器中的物品重量，所述物品重量用于判断落入所述物品容器中的物品是否满足转运条件。
  2. 根据权利要求1所述的系统，所述系统还包括：
    分拣格口，所述分拣格口设置为与物品的路向绑定。
  3. 根据权利要求2所述的系统，其中，
    所述分拣格口设置为根据所述物品的路向，将所述物品分配到不同的所述物品容器中。
  4. 根据权利要求2所述的系统，其中，
    当与所述分拣格口对应的所述物品容器被移走时，所述分拣格口变成自锁状态。
  5. 根据权利要求1所述的系统，所述系统还包括：
    调度服务器，所述调度服务器设置为与所述检测装置和所述搬运装置分别通信连接。
  6. 根据权利要求5所述的系统，其中，
    所述检测装置设置为在所述物品容器中的物品满足转运条件时，发送转运指示信息给所述调度服务器；
    所述调度服务器设置为根据所述指示信息，控制所述搬运装置将所述物品容器转运到预设目的地。
  7. 根据权利要求5所述的系统，其中，
    所述调度服务器设置为：
    获取所述搬运装置的电量信息；
    当所述搬运装置的剩余电量满足预设条件时，控制所述搬运装置到第一预定区域进行充电。
  8. 根据权利要求2所述的系统，其中，
    所述搬运装置还设置为从第二预设区域搬运空的物品容器至预设分拣格口。
  9. 根据权利要求1所述的系统，其中，
    所述搬运装置设置为通过识别图形组合进行导航。
  10. 根据权利要求2～9中任一项所述的系统，其中，所述系统还包括分拣平台，所述分拣平台包括分拣单元；
    所述分拣单元包括设置在分拣平台的平台本体上的多个分拣格口，位于所述平台本体下方且与分拣格口数量相同的多个滑槽，以及位于所述平台本体下方且与分拣格口数量相同的多个物品容器；其中，每个所述分拣格口的下方布置有一个所述物品容器，且每个所述分拣格口与一个所述滑槽的入口对接；所述滑槽呈倾斜状，且被布置为：将所述滑槽的入口处的所述分拣格口与分拣格口相邻分拣格口下方的所述物品容器对接，所述相邻分拣格口与所述滑槽的入口所对接的分拣格口为顺时针相邻或为逆时针相邻。
  11. 根据权利要求10所述的系统，其中，所述分拣单元包括2乘以k个分拣格口，2乘以k个分拣格口的分布方式为2行k列或者k行2列，k为大于或等于2的整数。
  12. 根据权利要求11所述的系统，其中，所述分拣单元包括4个分拣格口，所述4个分拣格口的分布方式为2行2列。
  13. 根据权利要求12所述的系统，其中，所述4个分拣格口中的第一分拣格口下方布置有第一物品容器，所述4个分拣格口中的第二分拣格口下方布置有第二物品容器，所述4个分拣格口中的第三分拣格口下方布置有第三物品容器，所述4个分拣格口中的第四分拣格口下方布置有第四物品容器，第一滑槽的入口与所述第一分拣格口对接，所述第一滑槽的出口与所述第二物品容器对接，第二滑槽的入口与所述第二分拣格口对接，所述第二滑槽的出口与所述第三物品容器对接，第三滑槽的入口与所述第三分拣格口对接，所述第三滑槽的 出口与所述第四物品容器对接，第四滑槽的入口与所述第四分拣格口对接，所述第四滑槽的出口与所述第一物品容器对接。
  14. 根据权利要求11所述的系统，其中，所述分拣单元包括6个分拣格口，所述6个分拣格口的分布方式为2行3列。
  15. 根据权利要求10～14中任一项所述的系统，其中，所述分拣格口为正方形分拣格口。
  16. 根据权利要求15所述的系统，其中，所述正方形分拣格口的边长为600mm，相邻分拣格口之间的间隔为1200mm。
  17. 根据权利要求10～14中任一项所述的系统，其中，所述物品容器放置在载具上。
  18. 根据权利要求10～14中任一项所述的系统，其中，所述分拣平台包括平台本体、支撑所述平台本体的支撑立柱以及实现分拣的多个分拣单元。
  19. 根据权利要求18所述的系统，其中所述多个分拣单元呈阵列形式分布在所述分拣平台中，所述分拣平台架设在分拣场地中。
  20. 根据权利要求18所述的系统，其中，所述支撑立柱设置在所述分拣单元之间的间隔处。
  21. 根据权利要求18～20中任一项所述的系统，所述系统还包括：
    第一机器人，所述第一机器人能够在所述平台本体上移动并将待分拣物品投入所述平台本体上的任一分拣格口中。
  22. 根据权利要求21所述的系统，所述搬运装置为第二机器人，所述第二机器人能够对所述物品容器实施搬运。
  23. 一种物品自动转运方法，包括：
    利用物品容器接收具有预设路向的待运送物品；
    利用检测装置检测落入所述物品容器中的物品是否满足转运条件；
    当落入所述物品容器中的物品满足转运条件时，利用搬运装置自动将所述物品容器转运到预设目的地；
    其中利用检测装置检测落入所述物品容器中的物品是否满足转运条件包括以下至少之一：
    检测落入所述物品容器中物品的深度信息，并根据所述深度信息判断落入所述物品容器中的物品是否满足转运条件；
    计算落入所述物品容器中物品的数量，并根据所述物品的数量判断计算落入所述物品容器中物品的数量是否满足转运条件；
    通过摄像装置获取落入所述物品容器中的物品容量，并根据所述物品容量判断所述落入所述物品容器中的物品是否满足转运条件；以及
    通过重量感应器获取落入所述物品容器中的物品重量，并根据所述物品重量判断落入所述物品容器中的物品是否满足转运条件。
  24. 根据权利要求23所述的方法，还包括：
    设置分拣格口，将所述分拣格口与物品的路向绑定。
  25. 根据权利要求24所述的方法，还包括：
    根据所述物品的路向，利用所述分拣格口将所述物品分配到不同的所述物品容器中。
  26. 根据权利要求24所述的方法，其中，当与所述分拣格口对应的所述物品容器被移走时，将所述分拣格口变成自锁状态。
  27. 根据权利要求23所述的方法，还包括：
    设置调度服务器，所述调度服务器与所述检测装置和所述搬运装置分别通信连接。
  28. 根据权利要求27所述的方法，其中，所述当落入所述物品容器中的物品满足转运条件时，自动将所述物品容器转运到预设目的地包括：
    在所述物品容器中的物品满足转运条件时，所述检测装置发送转运指示信息给所述调度服务器；
    所述调度服务器根据所述指示信息，控制所述搬运装置将所述物品容器转运到预设目的地。
  29. 根据权利要求27所述的方法，还包括：
    所述调度服务器获取所述搬运装置的电量信息；
    当所述搬运装置的剩余电量满足预设条件时，所述调度服务器控制所述搬运装置到第一预定区域进行充电。
  30. 根据权利要求24所述的方法，还包括：
    所述搬运装置还从第二预设区域搬运空的所述物品容器至预设分拣格口。
  31. 根据权利要求23所述的方法，还包括：
    所述搬运装置通过识别图形组合进行导航。
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