WO2019085632A1 - 自动导向搬运车的上件装置及其控制方法、装置、系统 - Google Patents

自动导向搬运车的上件装置及其控制方法、装置、系统 Download PDF

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Publication number
WO2019085632A1
WO2019085632A1 PCT/CN2018/103641 CN2018103641W WO2019085632A1 WO 2019085632 A1 WO2019085632 A1 WO 2019085632A1 CN 2018103641 W CN2018103641 W CN 2018103641W WO 2019085632 A1 WO2019085632 A1 WO 2019085632A1
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WO
WIPO (PCT)
Prior art keywords
cargo
truck
goods
loaded
target
Prior art date
Application number
PCT/CN2018/103641
Other languages
English (en)
French (fr)
Inventor
周绸
吴永海
徐慧鑫
全晓臣
Original Assignee
杭州海康机器人技术有限公司
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
Application filed by 杭州海康机器人技术有限公司 filed Critical 杭州海康机器人技术有限公司
Priority to EP18873572.4A priority Critical patent/EP3680199A4/en
Priority to US16/756,349 priority patent/US11292670B2/en
Publication of WO2019085632A1 publication Critical patent/WO2019085632A1/zh

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Classifications

    • 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
    • B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • 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
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • 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
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0216—Codes or marks on the article
    • 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
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/10—Sequence control of conveyors operating in combination

Definitions

  • the present application relates to the field of logistics, and in particular, to an upper device for automatically guiding a truck and a control method, device and system thereof.
  • the automatic guidance truck (English: Automated Guided Vehicle, AGV) is used in the logistics system to carry goods.
  • the operator can manually place the goods on the automatic guided transport vehicle, which can travel along a preset trajectory to transport the goods to a designated place.
  • the process of placing the goods on the automated guided truck is the upper part.
  • the embodiment of the present application provides an upper device for automatically guiding a truck and a control method, device and system thereof, which can solve the problem of low efficiency of the upper member method in the related art.
  • the technical solution is as follows:
  • an upper device for automatically guiding a transport vehicle comprising an upper transport station and a control assembly, the upper transport station including a cargo support table and driving the a drive for the movement of the cargo support table;
  • the cargo support station is provided with a cargo inlet and a cargo outlet, the cargo support station transporting the cargo from the cargo entrance to the cargo exit, the cargo outlet being located above the operating passage of the truck;
  • the control assembly is coupled to the driver, and the control assembly controls the drive to move the cargo support table.
  • the upper conveying station is disposed above the running passage, and the conveying direction of the cargo supporting platform is consistent with the extending direction of the running passage.
  • the upper transfer station further includes a leg supporting the cargo support table, and the support is supported on an outer side of the running channel.
  • the upper device further includes:
  • a detection assembly disposed at the cargo inlet, the detection assembly including at least one of a scale, a size detector, and a scanner.
  • the cargo support platform comprises an acceleration conveyor belt, and the outlet of the acceleration conveyor belt is the cargo outlet.
  • the cargo support table further includes an adjacent conveyor belt adjacent to the acceleration conveyor belt;
  • the driver includes a drive assembly that drives the adjacent conveyor belt and the acceleration conveyor belt, respectively.
  • the adjacent transmission belt is a buffer transmission belt
  • the cargo support station further includes a detection transmission belt
  • the detection transmission belt, the buffer transmission belt and the acceleration transmission belt are sequentially disposed adjacent to each other, and Detecting the entrance of the conveyor belt as the cargo inlet;
  • the driver also includes a drive assembly that drives the test conveyor.
  • the adjacent conveyor belt is a detection conveyor belt
  • the entrance of the detection conveyor belt is the cargo inlet
  • the upper device further includes: a detecting component disposed on either side of the detecting conveyor, the detecting component comprising: at least one of a scale, a size detector, and a scanner.
  • the upper device further includes: a cargo identification sensor disposed on either side of each conveyor belt;
  • the cargo identification sensor is coupled to the control assembly.
  • the upper device further includes: a plurality of speed detecting sensors disposed on the running channel sequentially along an extending direction of the running channel, or disposed on either side of the running channel;
  • Each of the speed measuring sensors is coupled to the control assembly, and a distance of each of the speed measuring sensors from the cargo outlet is greater than a first distance threshold.
  • the upper device further includes:
  • a truck identification sensor disposed on the operation channel or disposed on either side of the operation channel;
  • the truck identification sensor is coupled to the control assembly, and the distance of the truck identification sensor from the cargo outlet is greater than a second distance threshold.
  • a method of controlling a widget device for controlling the widget device of the first aspect comprising:
  • controlling the cargo support table in the upper transport platform to drive the movement of the goods to be loaded according to the motion parameter of the target transport vehicle comprises:
  • the cargo support table drives the goods to be loaded to move to the goods outlet.
  • the motion parameter includes a moving position and a moving speed of the target truck
  • adjusting the transmission speed of the cargo support table according to the motion parameter of the target truck includes:
  • the conveying speed of the cargo support table is adjusted according to the moving speed and the moving time, and the adjusted conveying speed of the cargo support table is equal to the moving speed of the target transport vehicle after the moving time.
  • the adjusting the transmission speed of the cargo support table according to the moving speed and the moving time length comprises:
  • the method before the obtaining the motion parameter of the target truck moving on the running channel, the method further includes:
  • Obtaining a characteristic parameter of the goods to be used the characteristic parameter comprising: at least one of a weight, a size, and a delivery identifier;
  • a target truck that matches the cargo to be loaded is determined.
  • the method further includes:
  • the determining, according to the characteristic parameter, the target truck that matches the goods to be used includes:
  • the truck is determined to be the target truck.
  • the cargo support platform includes an acceleration conveyor belt, and the outlet of the acceleration conveyor belt is the cargo outlet;
  • the acceleration conveyor belt is controlled to drive the movement of the goods to be loaded.
  • the cargo support table further includes an adjacent conveyor belt adjacent to the acceleration conveyor belt; the method further includes:
  • the adjacent transmission belt is a buffer transmission belt
  • the cargo support station further includes a detection transmission belt
  • the detection transmission belt, the buffer transmission belt and the acceleration transmission belt are sequentially disposed adjacent to each other, and Detecting an entrance of the conveyor belt as the cargo entrance; the method further comprising:
  • the adjacent conveyor belt is a detection conveyor belt
  • the entrance of the detection conveyor belt is the cargo inlet
  • any one side of the detection transmission belt is provided with a detection component; the method further includes:
  • the detecting conveyor belt is controlled to convey the goods to be loaded to the detecting area of the detecting component.
  • the acquiring motion parameters of the target truck moving on the running channel includes:
  • an upper control device for automatically guiding a transport vehicle, the upper control device comprising: a processor and a memory, the memory for storing a computer program; the processor And executing the program stored on the memory to implement the steps of the method as described in the second aspect.
  • an upper part control system comprising: an operation site having at least one operation channel, at least one transport vehicle moving on the operation channel, and being disposed in the Operating at least one upper device on the field, each of the upper device being an upper device as described in the first aspect;
  • the cargo outlet of the cargo support table in each of the upper device is located above one of the running passages.
  • the height of the cargo outlet of the cargo support table is higher than the cargo bearing surface of each truck.
  • the system further includes: a control terminal, the control component establishes a communication connection with the control terminal, and the control terminal controls the control component to drive the driver to operate.
  • a computer readable storage medium having stored therein a computer program, the computer program being executed by a processor to implement the steps of the method of the second aspect .
  • the present application provides an upper device for automatically guiding a truck and a control method, device and system thereof, wherein the upper device includes an upper transfer station and a control assembly, and the upper transfer table includes a cargo support table and drives the cargo a drive for supporting the movement of the support table, the cargo support table is provided with a cargo inlet and a cargo outlet, and the control assembly can control the cargo support platform to transfer the cargo from the cargo entrance to the cargo exit through the drive, and deliver the cargo through the cargo exit To the truck, the automatic loading of the goods is realized, which effectively improves the efficiency of the goods.
  • the upper device includes an upper transfer station and a control assembly
  • the upper transfer table includes a cargo support table and drives the cargo a drive for supporting the movement of the support table
  • the cargo support table is provided with a cargo inlet and a cargo outlet
  • the control assembly can control the cargo support platform to transfer the cargo from the cargo entrance to the cargo exit through the drive, and deliver the cargo through the cargo exit To the truck, the automatic loading of the goods is realized, which effectively
  • FIG. 1 is a schematic structural diagram of an upper control system according to an exemplary embodiment
  • FIG. 2 is a schematic structural view of an upper device according to an exemplary embodiment
  • FIG. 3 is a schematic structural view of another upper device according to an exemplary embodiment
  • FIG. 4 is a schematic structural diagram of still another upper device according to an exemplary embodiment
  • FIG. 5 is a schematic structural diagram of still another upper device according to an exemplary embodiment
  • FIG. 6 is a flowchart of a method for controlling a widget device according to an exemplary embodiment
  • FIG. 7 is a flowchart of another method of controlling an upper device according to an exemplary embodiment
  • FIG. 8 is a flow chart showing a method of determining a target truck according to an exemplary embodiment
  • FIG. 9 is a flow chart showing a method of adjusting a conveying speed of a cargo support table according to an exemplary embodiment
  • FIG. 10 is a flowchart of still another method of controlling a widget device according to an exemplary embodiment
  • FIG. 11 is a flowchart of still another method of controlling an upper device according to an exemplary embodiment
  • FIG. 12 is a schematic structural diagram of a top control device according to an exemplary embodiment.
  • a top control system is provided.
  • the system may include an operation site 11 having at least one operation channel 10 , at least one truck 12 moving on the operation channel 10 , and setting At least one upper device M on the running field 11.
  • Each of the upper device M can correspond to one running channel 10 and can carry out cargo uppers for the truck 12 moving on the running channel 10.
  • Each truck 12 can be an automated guided truck.
  • the upper device of the automatic guided transport vehicle may include: an upper transport platform 01, and a control component ( Not shown in Figure 2).
  • the upper transfer table 01 may include a cargo support table 011 and a drive that drives the cargo support table 011 (not shown in FIG. 2).
  • the cargo support table 011 is provided with a cargo inlet A and a cargo outlet B, which can transport the cargo 13 from the cargo inlet A to the cargo outlet B, and the cargo outlet B is located at the operating passage 10 of the truck 12.
  • the control assembly is coupled to the driver for controlling the drive to drive the cargo support table 011 to transport the cargo to convey the cargo to the truck for automatic loading of the cargo.
  • the driver can be a driving motor
  • the control component can include a main control board and a motor control board.
  • the main control board is used to control the motor control board, communicate with other devices and determine various control decisions.
  • the motor control board is used to control the speed and steering of the drive motor.
  • the upper device of the automatic guided transport vehicle may include an upper transfer station and a control assembly
  • the upper transfer station may include a cargo support table and a drive for driving the cargo support table
  • the control component can control the cargo support platform to transfer the goods from the cargo entrance to the cargo exit through the drive, and transfer the goods to the transport vehicle through the cargo exit, thereby realizing the automatic loading of the cargo and effectively improving the cargo.
  • the efficiency of the pieces may include an upper transfer station and a control assembly, and the upper transfer station may include a cargo support table and a drive for driving the cargo support table
  • the control component can control the cargo support platform to transfer the goods from the cargo entrance to the cargo exit through the drive, and transfer the goods to the transport vehicle through the cargo exit, thereby realizing the automatic loading of the cargo and effectively improving the cargo. The efficiency of the pieces.
  • the cargo support table 011 may be disposed above the running channel 10, and the conveying direction of the cargo support table 011 may coincide with the extending direction X of the running channel 10.
  • the upper transfer table 01 may further include a leg 012 for supporting the cargo support table 011, and the leg 012 may be supported outside the running channel 10 to avoid affecting the normal running of the truck 12.
  • the cargo support table 011 is disposed above the operation channel 10, which can avoid the extra space occupied by the cargo support table 011, and effectively improve the space utilization rate of the operation site.
  • the upper transport table 01 can include a plurality of legs 012, which can be symmetrically disposed on both sides of the running channel 10, and each leg 012 can be combined with the cargo.
  • the support table 011 is fixedly connected to ensure stable support of the cargo support table 011.
  • FIG. 3 is a schematic structural diagram of another upper device according to an embodiment of the present application.
  • the upper device may further include: a detecting component 02 disposed at the cargo inlet A.
  • the detecting component 02 can include at least one of a scale 021, a size detector 022, and a scanner 023.
  • the detection component 02 can be used to acquire characteristic parameters of the goods to be loaded and send the characteristic parameters to the control component.
  • the scale 021 can be used to detect the weight of the goods to be loaded, and the scale 021 can be a weight sensor. As shown in FIG. 3, the scale 021 can be disposed below the bearing surface of the cargo support table 011.
  • the size detector 022 can be used to detect the size of the item 13 to be loaded, and the size detector 022 can be a piece tool set at the cargo inlet A of the cargo support table 011, which can include along the cargo support Two strip structures are arranged in the conveying direction of the table 011, and the spacing between the two strip structures is adjustable. After the goods to be loaded are placed between the two strip structures, the release tool can determine the size of the goods to be loaded according to the spacing between the two strip structures.
  • the size detector 022 may be a photosensor or an ultrasonic sensor or the like capable of directly recognizing the size of the goods to be loaded. As shown in FIG. 3, the size detector 022 can be disposed on both sides of the cargo support table 011. Alternatively, the size detector 022 may also be disposed above the cargo support table 011. Wherein, the photoelectric sensor can be an infrared sensor.
  • the scanner 023 can be used to obtain a delivery identification of the goods to be loaded, and the delivery identification can be used to indicate the destination to which the goods to be loaded are to be transported.
  • a delivery slip sheet may be attached to each of the goods, and the delivery slip sheet may be marked with a delivery identifier, and the delivery identifier may be a two-dimensional code, a barcode or a character string.
  • the scanner 023 can be a device capable of identifying the delivery identifier, for example, an image sensor capable of recognizing a two-dimensional code, a barcode or a character string.
  • the scanner 023 may be disposed on the side of the cargo support table 011, or may be disposed above the cargo support table 011, or may be directly disposed on the load bearing surface of the cargo support table 011.
  • a bracket 03 may be disposed above the cargo support table 011, and the scanner 023 may be disposed on the bracket 03.
  • the side of the goods to be marked marked with the delivery mark can be placed toward the scanner 023 so that the scanner 023 can effectively scan the to-be-on.
  • the distribution identification of the goods can be used to effectively scan the to-be-on.
  • the characteristic parameter acquired by the detecting component 02 may include the weight of the goods to be loaded.
  • the characteristic parameters acquired by the detecting component 02 may include the size of the goods to be loaded.
  • the characteristic parameters acquired by the detecting component 02 may include the destination of the goods to be loaded.
  • the control component may detect whether there is a transportation parameter and a characteristic parameter detected by the detecting component 02 according to the transportation parameter of the at least one transportation vehicle 12 stored in advance. Match the target truck 12.
  • the transportation parameters of the target truck 12 may include parameters for indicating the carrying capacity of the target truck 12, and may also include parameters for indicating the destination of the target truck 12.
  • the upper device may further be provided with an alarm module connected to the control component, and the alarm module may include at least one of a buzzer and a light emitting diode.
  • the alarm module may be controlled to issue an alarm signal, such as an audible alarm signal, a light alarm signal or an acousto-optic alarm signal.
  • the warning signal can be used to prompt the staff to remove the goods to be loaded in time to avoid affecting the upper parts of other goods, thereby effectively improving the sorting efficiency of the goods.
  • the upper device can also be provided with a sorting arm connected to the control component.
  • the sorting arm can also be controlled to directly move the goods to be loaded from the cargo support table 011, thereby realizing automatic removal of the cargo, thereby effectively Improve the sorting efficiency of goods.
  • the cargo support table 011 may include an acceleration conveyor belt J1, and the outlet of the acceleration conveyor belt J1 is the cargo outlet B.
  • the control unit in the upper device can directly control the conveying speed of the acceleration conveyor J1 in the process of controlling the upper part of the cargo support table 011 to transfer the goods to be loaded from the cargo outlet B to the target truck 12. .
  • the cargo support table 011 may further include an adjacent conveyor belt J2 adjacent to the acceleration conveyor belt J1.
  • the driver may include a driving component for driving the adjacent conveyor belt J2 and the acceleration conveyor belt J1, respectively, and the control component may respectively drive each driving component to drive the corresponding belt rotation, thereby realizing the adjacent conveyor belt J2 and the acceleration conveyor belt. J1's independent operation.
  • the adjacent conveyor belt J2 may be a detection conveyor belt, and the entrance of the inspection conveyor belt J2 is the cargo entrance A.
  • the detecting component 02 in the upper device can be disposed on either side of the detecting conveyor J2.
  • the control component can acquire the waiting component through the detecting component 02.
  • the characteristic parameters of the goods In the process of acquiring the characteristic parameter, the control component can also control the acceleration conveyor J1 to transfer the goods to be carried on the goods to the goods outlet B, thereby enabling simultaneous detection and the two steps of the upper part, effectively Improve the efficiency of the upper parts of the goods.
  • the adjacent conveyor belt J2 may be a buffer conveyor belt
  • the cargo support table 011 may further include a detection conveyor belt J3, the detection conveyor belt J3, the buffer transmission belt J2
  • the acceleration conveyor belt J1 can be disposed adjacent to each other in turn, and the entrance of the detection conveyor belt is the cargo inlet A.
  • the cache transmission belt may include a plurality of, each cache transmission belt may be used to cache a piece of goods to be loaded, thereby realizing an orderly upper part of the goods and improving the efficiency of the upper part of the goods.
  • the upper device may further include a cargo identification sensor 04 disposed on either side of each conveyor belt, and the cargo identification sensor 04 is coupled to the control assembly.
  • the cargo identification sensor 04 can be used to detect whether there is cargo on each conveyor belt set on the cargo support table 011, and can send the detection result to the control component, so that the control component can drive the corresponding transmission according to the detection result. Belt rotation.
  • the cargo identification sensor 04 may include any one of a pressure sensor and a photoelectric sensor, and the photoelectric sensor may be an infrared sensor or a laser sensor.
  • the cargo identification sensor 04 can be disposed below each conveyor belt bearing surface.
  • the cargo identification sensor 04 includes a photoelectric sensor such as an infrared sensor or a laser sensor
  • the cargo identification sensor 04 may be disposed on the side of each conveyor belt, or may be disposed on the bearing surface of each conveyor belt, or may be disposed on Above each conveyor belt.
  • a bracket may be provided directly above the conveyor belt, and the cargo identification sensor 04 is placed on the bracket.
  • the upper device may further include a truck identification sensor 05 disposed on the running channel 10 or disposed on either side of the running channel 10.
  • the truck identification sensor 05 is coupled to a control assembly that can be used to detect the identification of the truck 12 and to transmit the detected identification of the truck 12 to the control assembly such that the control assembly receives the
  • the identification of the truck 12 acquires the transportation parameters of the truck, and based on the transportation parameters, determines whether the truck 12 is a target truck capable of transporting the goods to be loaded.
  • the distance between the truck identification sensor 05 and the cargo outlet B may be greater than the second distance threshold.
  • the two distance threshold may be greater than the length L of the acceleration conveyor J1 in the conveying direction.
  • the truck identification sensor 05 may be disposed at a position on the running lane 10 corresponding to the cargo inlet A of the cargo support table 011.
  • the body of each truck 12 may be marked with its own logo.
  • the truck identification sensor 05 can acquire and identify the truck 12 Identify and send the identification of the truck 12 to the control assembly.
  • the identifier marked on the body of each truck 12 may be a character string, a two-dimensional code or a barcode, or the like.
  • the truck identification sensor 05 can be an image sensor capable of identifying the logo, for example the image sensor can be a camera.
  • control component in order to realize the effective upper part of the cargo 13, can adjust the conveying speed of the cargo support table 011 according to the movement parameter of the truck 12, wherein the motion parameter can include the moving speed of the truck 12 and move Place.
  • the upper device may further include: a plurality of speed measuring sensors 06 disposed on the running channel 10 in the extending direction of the running channel 10, or disposed on either side of the running channel 10.
  • Each of the speed sensing sensors 06 is connected to a control unit, and each of the speed measuring sensors 06 is configured to detect the moving speed of the truck 12 when the truck 12 passes and transmit the moving speed of the truck 12 to the control unit.
  • the control unit can determine the moving speed of the truck 12 based on the data transmitted by the speed measuring sensor 06, and can determine the moving position of the truck 12 based on the position of each of the speed measuring sensors 06 stored in advance.
  • the distance between each speed sensor 06 and the cargo outlet B should be greater than the first.
  • the first distance threshold may be greater than or equal to the length L of the acceleration transmission belt J1 in the conveying direction. And, the first distance threshold is smaller than the second distance threshold. That is, when the truck 12 moves on the running lane 10, it is necessary to pass the truck identification sensor 05 first, and then sequentially pass each of the speed measuring sensors 06.
  • the plurality of speed measuring sensors 06 may be disposed at one side of the running channel 10, and the distance of the plurality of speed measuring sensors 06 from the cargo outlet B is smaller than the distance of the truck identification sensor 05 from the cargo outlet B. .
  • the upper device of the automatic guided transport vehicle may include an upper transfer station and a control assembly
  • the upper transfer station may include a cargo support table and a drive for driving the cargo support table.
  • the control component can control the cargo support station to transfer the goods from the cargo entrance to the cargo exit through the drive, and transfer the goods to the transport vehicle through the cargo exit, thereby realizing the automatic loading of the goods and effectively improving the goods. The efficiency of the upper part.
  • control method may be used to control an upper device of an automatic guided transport vehicle as shown in any one of FIGS. 2 to 5, and The control method can be applied to the control components in the upper device.
  • the control method may include:
  • Step 601 Acquire motion parameters of the target truck moving on the running channel.
  • the motion parameter of the target truck may include a moving speed and a moving position of the target truck.
  • Step 602 Control the cargo support platform in the upper transport platform to drive the movement of the cargo to be loaded according to the motion parameter of the target transport vehicle, and when the target transport vehicle moves to the corresponding position of the cargo exit of the cargo support platform on the operation channel, The goods to be delivered are delivered to the target truck through the goods outlet.
  • the control component may control, according to the acquired motion parameter of the target truck, the cargo support platform to move the goods to be loaded to the cargo exit before the target truck moves to the corresponding position of the cargo exit. And when the target truck moves to the corresponding position of the cargo exit, the goods to be loaded are transferred to the target truck.
  • the control component may control the cargo support table to move the cargo to be loaded to the cargo outlet after the target truck moves to the corresponding position of the cargo outlet, and the target pallet truck may move to the corresponding position of the cargo exit, and may stop waiting for the cargo. Pieces.
  • the control component can also control the cargo support table to synchronously move the goods to be loaded to the goods outlet when the target truck moves to the corresponding position of the cargo exit, and transmit the goods to be delivered to the target truck. In order to achieve the goods without parking.
  • the control component can adjust the moving speed of the cargo support table to move the cargo to be loaded according to the movement parameter of the truck.
  • the cargo support table can transport the goods from the cargo entrance to the cargo exit, and the goods are transported to the truck through the cargo exit, thereby realizing automatic loading of the goods, effective Improve the efficiency of the upper parts of the goods.
  • FIG. 7 is a flowchart of another method for controlling a top device according to an embodiment of the present application.
  • the control method may be used to control an upper device of the automatic guided vehicle shown in FIG. 2 to FIG. 5, and the method may be A control component applied to the upper device.
  • the control method may include:
  • Step 701 Obtain a characteristic parameter of the goods to be used.
  • the detecting component disposed on the cargo support table can detect the characteristic parameter of the cargo to be loaded and send the characteristic parameter to the control component.
  • the detection assembly can include at least one of a scale, a size detector, and a scanner.
  • the characteristic parameters of the goods to be sent sent by the detecting component acquired by the control component may include: the weight detected by the scale, the size detected by the size detector, and the delivery identifier detected by the scanner. At least one of them.
  • the detection component includes a scale, a size detector, and a scanner, and the detection component detects that the characteristic parameters of the cargo include: a weight of 6 kilograms, a length of 20 centimeters, a width of 30 centimeters, and a delivery identifier of A.
  • the characteristic parameters of the cargo obtained by the control component are: the weight of the cargo is 6 kg, the length is 20 cm, the width is 30 cm, and the destination indicated by the delivery identifier is A.
  • Step 702 Detect whether there is a target transportation vehicle whose transportation parameter matches the characteristic parameter according to the transportation parameter of the at least one transportation vehicle stored in advance.
  • the transportation component of the at least one transportation vehicle in the upper part control system may be pre-stored in the control component, and the transportation parameter may include a bearing capacity for indicating the transportation vehicle and/or for indicating the transportation vehicle.
  • the transport parameters of the truck may include at least one of a loadable weight range of the truck, a loadable size range, and a transport destination.
  • the type of parameters included in the transportation parameters acquired by the control component should correspond to the types of parameters included in the characteristic parameters of the goods to be loaded.
  • the transport parameter should include at least the range of weights that can be carried by the truck and the range of sizes that can be carried.
  • the matching of the transportation parameter and the feature parameter may mean that the transportation destination in the transportation parameter is the same place as the destination indicated by the delivery identifier.
  • the matching of the transport parameter and the feature parameter may mean that the parameter value of the feature parameter is within the value range of the corresponding transport parameter.
  • the control component when detecting whether the transportation parameter of the transportation vehicle matches the characteristic parameter of the goods to be loaded, the control component needs to detect whether each characteristic parameter of the goods to be loaded matches the transportation parameter corresponding to the transportation vehicle. . If it is detected that each characteristic parameter of a certain truck matches the corresponding transportation parameter, the control component may determine that there is a target truck in the upper part control system capable of carrying the goods to be loaded, and may perform steps 703. If it is detected that a certain characteristic parameter of a truck does not match, the control component can determine that the truck cannot effectively carry the cargo. If the control component detects that the transportation parameter of each truck in the upper control system does not match the characteristic parameter of the cargo to be loaded, it may be determined that there is no target handling in the upper control system capable of effectively carrying the goods to be loaded. The car can perform step 703.
  • the corresponding transportation parameters of each truck can be as shown in Table 1. Please refer to Table 1.
  • the transportation parameters of the truck identified as a include: the loadable weight ranges from 1 kg to 11 kg, and the loadable size ranges from 20 to 40 cm in length and 10 to 40 cm in width.
  • the detection component detects the characteristic parameters of a certain cargo including: weight 10 kg, length 50 cm, width 50 cm, and the destination indicated by the delivery identifier is A.
  • the control component sequentially compares the characteristic parameters of the cargo with the transportation parameters of the three trucks shown in Table 1 above, and can detect that the transportation parameters of each of the three trucks and the characteristic parameters of the cargo cannot be In a perfect match, the control component can determine that there is no target truck in the upper control system that can effectively carry the cargo, so step 703 can be performed. When the control component detects the target truck with the transport parameters matching the feature parameters, step 704 can be performed.
  • Step 703 Send an alarm signal.
  • the alarm module can be controlled to issue an alarm signal to prompt the worker to move the goods away from the upper part of the other goods, thereby effectively improving the goods. Picking efficiency.
  • the upper device of the automatic guided transport vehicle may be provided with a sorting arm, and the control assembly may be connected to the sorting arm.
  • the control component does not detect the target truck whose transportation parameter matches the characteristic parameter, the sorting arm can be controlled to directly move the cargo away, thereby realizing the automatic removal of the cargo, thereby effectively improving the sorting efficiency of the cargo.
  • Step 704 Determine, according to the feature parameter, a target truck that matches the goods to be loaded.
  • control component When the control component detects that there is a target truck in the upper control system that matches the goods to be loaded, it can be determined that the goods to be loaded can be effectively loaded, and therefore can be based on the characteristic parameters of the goods to be used.
  • a target truck that matches the goods to be loaded is determined in the truck moving on the running lane.
  • FIG. 8 is a flow chart of a method for determining a target truck that matches a cargo to be loaded according to a characteristic parameter according to an embodiment of the present application. As shown in FIG. 8, the method for determining the target truck by the control component may include:
  • Step 7041 Obtain an identifier of the truck passing through the second designated position of the running channel.
  • the distance between the second designated location and the exit of the cargo may be greater than the second distance threshold and the second distance threshold may be greater than the length L of the acceleration conveyor in the transport direction.
  • the second designated location may be the location of the cargo entrance of the cargo support station.
  • the positioning module and the communication module may be installed on the truck.
  • the truck detects that it is located at the second designated position by the positioning module, the identifier of the carrier can be directly sent to the Control component.
  • a truck identification sensor may be provided at a second designated location of the operating channel, and each vehicle body is marked with its own logo.
  • the vehicle identification sensor can acquire and identify the identification of the transportation vehicle when it is detected that the transportation vehicle passes, and transmit the identification of the transportation vehicle to the control unit.
  • Step 7042 Obtain a transportation parameter of the transportation vehicle according to the identifier of the transportation vehicle.
  • the correspondence between the identifier of the truck and the transportation parameter may be pre-stored in the control component, and the control component may acquire the truck from the pre-stored correspondence according to the acquired identifier of the truck. Shipping parameters.
  • the correspondence between the identification of the truck and the transportation parameters stored in the control unit is as shown in Table 1 above.
  • the transport vehicle identification sensor recognizes that the transport vehicle identifier is b, that is, the identification of the transport vehicle that has passed through the second designated position acquired by the control unit is b.
  • the control component can determine the transportation parameter of the truck identified as b according to the correspondence shown in Table 1 above: the loadable weight ranges from 1 kg to 20 kg; the loadable size ranges from 10 to 80 cm in length and width. 10 to 20 cm; the destination is A.
  • Step 7043 Determine whether the transportation parameter of the truck matches the characteristic parameter of the cargo to be used.
  • each of the transportation parameters may be sequentially compared with the corresponding item of the characteristic parameter of the cargo to be loaded. For example, it can be detected whether the weight parameter value in the characteristic parameter of the cargo is within the range of the loadable weight value of the truck, and whether the size parameter value of the cargo is within the range of the loadable size of the truck, indicated by the delivery identifier of the cargo. Whether the destination and the destination of the truck are the same.
  • control component can compare the characteristic parameters of the goods to be loaded: weight 6 kg, length 20 cm, width 20 cm, and each item in the destination A indicated by the delivery identifier is respectively compared with the transportation parameter corresponding to the truck b. .
  • the cargo support table 011 may include a plurality of transport belts such as a detection transport belt J3, a buffer transport belt J2, and an acceleration transport belt J1.
  • the control component should judge based on the characteristic parameters of the goods to be loaded on the acceleration conveyor J1. That is, the control component needs to determine whether the transportation parameter of the truck matches the characteristic parameter of the cargo to be loaded on the acceleration conveyor J1.
  • Step 7044 When the transportation parameter of the transportation vehicle matches the characteristic parameter of the cargo to be used, the transportation vehicle is determined to be the target transportation vehicle.
  • the control component can determine that the truck identified as b is the target truck.
  • control component when the control component detects that the transportation parameter of the truck does not match the characteristic parameter of the cargo to be used, the control component may not adjust the conveying speed of the cargo support table, and the cargo to be loaded on the cargo support table continue waiting.
  • the control component can obtain the identifier again, obtain the transportation parameter corresponding to the truck according to the correspondence relationship shown in Table 1, and continue to detect whether the truck is in contact with the to-be-loaded component.
  • the goods match. That is, the control component can repeatedly execute the method shown in the above steps 7041 to 7044 until it is determined that the target truck matches the goods to be loaded.
  • Step 705 Acquire motion parameters of the target truck moving on the running channel.
  • the control component may acquire the motion parameter of the target truck, wherein the motion parameter may include the moving speed and the moving position of the target truck.
  • each of the trucks in the upper control system may be provided with a positioning sensor, a speed sensor, a communication module, and the like.
  • the communication module in the target truck can report the moving position of the target truck detected by the positioning sensor and the moving speed of the target truck detected by the speed sensor to the control component. That is, the control component can acquire the motion parameters automatically reported by the target truck moving on the running channel.
  • control component can acquire the moving speed of the target truck after passing the second designated position in real time through the plurality of speed measuring sensors. Moreover, the control component may pre-store a correspondence between the speed sensor identifier and the set position, and the control component may determine the setting position of the speed sensor according to the identifier of the speed sensor that reports the moving speed, thereby determining the moving position of the target truck. .
  • the length L of the acceleration conveyor belt J1 in the conveying direction is 10 m (m) meters, and three times are arranged at 14 m, 16 m, and 18 m from the cargo exit B of the cargo support table 011.
  • Speed sensor 06. The correspondence relationship between the set position of the speed measuring sensor 06 and the identification of the speed measuring sensor 06 stored in the control unit is as shown in Table 2. As can be seen from Table 2, the identification of the speed sensor 06 at 18 m from the cargo outlet B of the cargo support table 011 is S1.
  • Speed sensor setting position Speed sensor identification 18m from the cargo exit B of the cargo support 011 S1 16m from the cargo exit B of the cargo support 011 S2 14m from the cargo exit B of the cargo support 011 S3
  • the speed sensor S2 detects that the moving speed of the target truck is 2 meters per second (m/s) when the target truck passes, and transmits the detected moving speed to the control unit. After the control component receives the moving speed sent by the speed measuring sensor S2, the moving position of the target transport vehicle can be determined according to the correspondence relationship shown in Table 2: 16m from the cargo exit B of the cargo support table 011.
  • Step 706 Control, according to the motion parameter of the target truck, the cargo support platform in the upper transport platform to drive the movement of the cargo to be loaded, and when the target transport truck moves to the corresponding position of the cargo exit of the cargo support platform on the operation channel, The goods to be delivered are delivered to the target truck through the goods outlet.
  • the control component can adjust the conveying speed of the cargo support table according to the motion parameter of the target vehicle.
  • the cargo support table is operated according to the adjusted conveying speed
  • the cargo supporting platform drives the goods to be loaded to move synchronously to the cargo outlet, and The goods are transported to the truck through the goods outlet, thereby realizing the non-stopping of the goods.
  • the motion parameters of the target truck acquired by the control component may include a moving position and a moving speed.
  • FIG. 9 is a flowchart of a method for controlling a transmission speed of a cargo support table according to a motion parameter of a target vehicle according to an embodiment of the present application. As shown in FIG. 9, the method may include:
  • Step 7061 When it is detected that the target truck moves to the first designated position of the running channel, calculate the moving time required for the target truck to move to the corresponding position on the running channel and the cargo exit according to the moving speed of the target truck.
  • the distance between the first designated location and the cargo exit may be greater than a first distance threshold, which may be greater than or equal to the length of the acceleration conveyor in the transport direction. And, the first distance threshold may be smaller than the second distance threshold.
  • the first designated location may be a location on the operational channel that corresponds to the entrance of the accelerated conveyor.
  • the control component can calculate the target transporting vehicle to the cargo exit location according to the moving speed V.
  • Step 7062 Adjust the conveying speed of the cargo support table according to the moving speed and the moving time.
  • the adjusted conveying speed of the cargo support table can be equal to the moving speed of the target transport vehicle after the moving time has elapsed. Therefore, when the goods to be loaded arrive at the exit of the goods, the moving speed of the goods to be used is equal to the moving speed of the target truck, so as to avoid the goods to be transported to the target truck, The speed of the two is different and the goods fall.
  • the control component can determine the acceleration a1 of the cargo support table according to the moving speed V and the moving time length T, and control the cargo supporting platform.
  • the acceleration time a1 is accelerated by the acceleration a1, thereby realizing the adjustment of the conveying speed of the cargo support table.
  • V0 may refer to the initial speed of the acceleration conveyor.
  • the cargo support table can accurately feed the goods to be loaded onto the target truck. Due to the upper part, the moving speed of the goods to be loaded and the moving speed of the target carrying vehicle are both 2 m/s, so that it is possible to prevent the goods from falling.
  • the distance between the cargo to be loaded and the outlet of the cargo may also be determined.
  • the control unit when the control component adjusts the conveying speed of the cargo support table, the control unit can also adjust according to the movement duration and the separation distance, so that the cargo support platform runs after the movement time according to the adjusted transmission speed, and then drives The goods of the upper piece move at the same distance as the separation distance.
  • the control component calculates that the moving time of the target truck moving to the cargo outlet is T, and when the target truck moves to the first designated position, the distance between the cargo to be loaded and the cargo outlet is S. Then, in order to ensure that the conveying speed of the cargo support table after the moving time T is equal to the moving speed V of the target truck, and the distance of the movement of the goods to be loaded in the moving time T is S, the control component can determine respectively.
  • the first time length t1 of the cargo support table is accelerated by the acceleration a2 during the movement time T and the second time length t2 of the constant speed rotation, and the first time length t1 and the second time length t2 can satisfy:
  • the acceleration a2, the first duration t1, and the second duration t2 can also satisfy:
  • the control component can calculate that a2 is 1/3m 2 /s, t1 is 6s, and t2 is 1s according to the above formula (1) to formula (3), then the control component can control the acceleration transmission belt with an acceleration of 1/3m 2 /s Acceleration for 6s, then rotate at a constant speed of 2m / s for 1s. Therefore, it can be ensured that after 7 seconds, the moving speed of the acceleration belt is 2 m/s, and the acceleration belt can drive the goods to be loaded to the goods outlet, thereby accurately loading the goods to be loaded. To the target truck.
  • the cargo support table 011 may include an acceleration conveyor belt J1. Therefore, the process of adjusting the conveying speed of the cargo support table shown in the above step 706 may actually be to adjust the transmission speed of the acceleration conveyor belt J1. process.
  • the cargo support table 011 may further include an adjacent conveyor belt J2 adjacent to the acceleration conveyor belt J1.
  • FIG. 10 is a flowchart of still another method for controlling the upper device according to the embodiment of the present application. As shown in FIG. 10, the control method may further include:
  • Step 801 Detect whether there is a cargo to be loaded on each of the adjacent conveyor belts and the acceleration conveyor belt.
  • step 802 When the control component detects that the goods on the adjacent conveyor belt are waiting for the goods to be loaded, and accelerates the goods on the conveyor belt that are not left to be loaded, step 802 may be performed; otherwise, step 803 may be performed.
  • a cargo identification sensor 04 may be disposed on either side of each conveyor belt.
  • the control unit can detect, by the cargo identification sensor 04, whether or not the goods to be loaded are left on each of the adjacent conveyor belt J2 and the acceleration conveyor belt J1.
  • Step 802 Control the adjacent transport belt to transfer the goods to be loaded to the accelerated transport belt.
  • the adjacent conveyor belt J2 can be controlled to transfer the cargo 13 to be loaded to the acceleration conveyor. J1.
  • the operator can then place the next item 13 to be loaded on the adjacent conveyor belt of the cargo support table 011, so that the control unit can continue to detect the characteristic parameters of the next item 13 to be loaded, thereby ensuring the detection of characteristic parameters.
  • the two steps of the goods can be executed simultaneously, which improves the efficiency of the goods.
  • Step 803 Control the adjacent transmission belt to remain in a stationary state.
  • the control unit When the control unit detects that there is no cargo remaining on the adjacent conveyor belt J2, or accelerates the cargo on the conveyor belt J1 to be loaded, the adjacent conveyor belt J2 can be controlled to remain stationary. Moreover, when the cargo 13 to be loaded is not left on the acceleration conveyor J1, the control unit can also control the acceleration conveyor J1 to remain stationary.
  • the cargo support table 011 can further include a detection conveyor belt J3.
  • the detection transport belt J3, the buffer transport belt J2, and the acceleration transport belt J1 may be sequentially disposed adjacent to each other, and the entrance of the detection transport belt J3 may be the cargo entrance B.
  • control unit can detect whether the goods to be loaded are left on each of the detection conveyor belt, the buffer conveyor belt and the acceleration conveyor belt.
  • control method of the upper device may further include: when detecting that the goods on the transmission belt staying with the upper part are stopped, and the goods on the transmission belt that are not waiting for the upper part are cached, the control transmission belt is transmitted to the buffer conveyor. The goods to be loaded.
  • Controlling the detection conveyor belt to convey the goods to be loaded to the buffer conveyor belt can enable the inspection conveyor belt to continue to perform upper parts inspection on the next goods to be loaded, thereby improving the efficiency of the upper parts of the goods.
  • the detecting component in the upper device can be disposed on either side of the detecting conveyor belt, so when the control component detects that the cargo on the conveyor belt staying with the upper part is detected, the detecting transmission belt can also be controlled.
  • the goods of the upper piece are conveyed to the detection area of the detecting component, so that the detecting component can timely acquire the characteristic parameters of the goods to be loaded, and send the detected characteristic parameters to the control component.
  • the detection conveyor belt rotation can be continuously controlled to transfer the goods to be loaded to the buffer conveyor belt or the acceleration conveyor belt.
  • control transmission belt may also be controlled to be in a stationary state, so that the operator can The goods are removed, or the sorting arm is controlled to move the goods to be loaded.
  • FIG. 11 is a flowchart of still another method for controlling a device of the upper device provided by the embodiment of the present application.
  • the control method may include:
  • Step 901 Acquire a motion parameter of the truck moving on the running channel.
  • control component may acquire motion parameters of each truck moving on the running channel, and the motion parameters of the truck may include a moving speed and a moving position of the truck, and the motion parameters of the truck are acquired.
  • the motion parameters of the truck may include a moving speed and a moving position of the truck, and the motion parameters of the truck are acquired.
  • Step 902 When it is detected that the truck moves to the first designated position of the running lane, according to the moving speed of the truck, the moving time required for the truck to move to the corresponding position on the running lane and the cargo exit is calculated.
  • control component When the control component detects that a certain truck moves to the first designated position, it can calculate the movement duration required to move to the corresponding position on the running channel and the cargo exit according to the moving speed.
  • the process of calculating the moving time can refer to the above steps. 7061, no longer elaborate on this.
  • Step 903 Adjust the conveying speed of the cargo support table according to the moving speed and the moving time.
  • the sequence of the steps of the control method of the upper device provided by the embodiment of the present application may be appropriately adjusted, and the steps may also be correspondingly increased or decreased according to the situation.
  • the above steps 701 to 704 can be deleted according to the situation, that is, each of the trucks in the upper control system can carry all the acquisitions of the to-be-loaded parts, so the control component can eliminate the need to determine the target truck that matches the acquisition of the upper parts.
  • Any person skilled in the art can easily conceive changes in the technical scope of the present application, and should be covered by the scope of the invention, and therefore will not be described again.
  • the control component can adjust the moving speed of the cargo support table to move the goods to be moved according to the movement parameter of the truck, so that when the truck moves to At the exit of the goods, the cargo support platform can transfer the goods from the entrance of the goods to the exit of the goods, and the goods are transported to the truck through the goods outlet, thereby realizing the automatic loading of the goods and effectively improving the upper parts of the goods. s efficiency.
  • FIG. 12 is a schematic structural diagram of a top control device according to an embodiment of the present application.
  • the upper control device may include a processor 1201 and a memory 1202.
  • the memory 1202 can be used to store the computer program 12021.
  • the processor 1201 can be configured to execute the program 12021 stored on the memory 1202 to implement the steps of the method provided by the foregoing method embodiment.
  • the upper part control system may include: an operation site having at least one operation channel 10 , and at least one transportation vehicle moving on the operation channel 10 12, and at least one upper device disposed on the running field, and an upper device M may be disposed on each running field, and each upper device M may be any of FIG. 2 to FIG. 5 and FIG. Upper device.
  • the cargo outlet B of the cargo support table 011 in each upper device is located above one of the running passages 10, and the height of the cargo outlet B of the cargo support table 011 should be higher than each handling
  • the cargo carrying surface of the cart 12 allows the cargo 13 to be effectively loaded onto the target truck 12 when it is transported to the cargo outlet B.
  • the upper control system may further include: a control terminal, and the control component in the upper device M may establish a communication connection with the control terminal.
  • the control terminal can control the control component to drive the driver to operate, thereby driving the cargo support table 011 to move forward to realize the upper part of the cargo.
  • the control method of the upper device shown in FIG. 6, FIG. 7, FIG. 10 or FIG. 11 described above can also be applied to the control terminal.
  • the upper control device shown in FIG. 12 may also be disposed in the control terminal.
  • the embodiment of the present application provides a computer readable storage medium, which may be a non-transitory computer readable storage medium.
  • the computer readable storage medium stores therein a computer program that, when executed by the processor, implements the control method of the upper device shown in FIG. 6, FIG. 7, FIG. 10 or FIG.

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Abstract

一种自动导向搬运车的上件装置及其控制方法、装置、系统，属于物流领域。上件装置包括：上件传输台(01)以及控制组件，该上件传输台(01)包括货物支撑台(011)和驱动货物支撑台(011)运动的驱动器，该货物支撑台(011)设置有货物入口(A)和货物出口(B)，该控制组件可以通过该驱动器控制该货物支撑台(011)将货物(13)从货物入口(A)处传送到货物出口(B)处，并将货物(13)通过该货物出口(B)传送至搬运车(12)上，实现货物的自动上件。

Description

自动导向搬运车的上件装置及其控制方法、装置、系统
本申请要求于2017年10月30日提交中国国家知识产权局、申请号为201711038463.7、申请名称为“自动导向搬运车的上件装置及其控制方法、上件控制系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及物流领域，特别涉及一种自动导向搬运车的上件装置及其控制方法、装置、系统。
背景技术
为了提高货物的运输效率，物流系统中一般采用自动导向搬运车(英文：Automated Guided Vehicle，简称：AGV)来搬运货物。
相关技术中，操作人员可以手动将货物放置在自动导向搬运车上，该自动导向搬运车可以沿预设轨迹行驶，以将货物运输到指定地点。该将货物放置在自动导向搬运车上的过程即为上件。
但是，该人工上件的方式费时费力，上件效率较低。
发明内容
本申请实施例提供了一种自动导向搬运车的上件装置及其控制方法、装置、系统，可以解决相关技术中的上件方法上件效率低的问题。所述技术方案如下：
根据本申请实施例的第一方面，提供一种自动导向搬运车的上件装置，所述上件装置包括上件传输台和控制组件，所述上件传输台包括货物支撑台和驱动所述货物支撑台运动的驱动器；
所述货物支撑台设置有货物入口和货物出口，所述货物支撑台将货物从货物入口处传送到货物出口处，所述货物出口位于搬运车的运行通道上方；
所述控制组件与所述驱动器连接，且所述控制组件控制所述驱动器带动所述货物支撑台运动。
可选的，所述上件传输台设置在所述运行通道的上方，且所述货物支撑台 的传送方向与所述运行通道的延伸方向一致。
可选的，所述上件传输台还包括支撑所述货物支撑台的支脚，所述支脚支撑在所述运行通道的外侧。
可选的，所述上件装置还包括：
设置在所述货物入口处的检测组件，所述检测组件包括：称重器、尺寸检测器和扫码器中的至少一种。
可选的，所述货物支撑台包括加速传输带，所述加速传输带的出口为所述货物出口。
可选的，所述货物支撑台还包括与所述加速传输带相邻的邻接传输带；
所述驱动器包括分别驱动所述邻接传输带和所述加速传输带的驱动组件。
可选的，所述邻接传输带为缓存传输带，所述货物支撑台还包括检测传输带，所述检测传输带、所述缓存传输带和所述加速传输带依次相邻设置，并且所述检测传输带的入口为所述货物入口；
所述驱动器还包括驱动所述检测传输带的驱动组件。
可选的，所述邻接传输带为检测传输带，所述检测传输带的入口为所述货物入口。
可选的，所述上件装置还包括：设置在所述检测传输带任一侧的检测组件，所述检测组件包括：称重器、尺寸检测器和扫码器中的至少一种。
可选的，所述上件装置还包括：设置在每个传输带任一侧的货物识别传感器；
所述货物识别传感器与所述控制组件连接。
可选的，所述上件装置还包括：沿所述运行通道的延伸方向依次设置在所述运行通道上，或者设置在所述运行通道任一侧的多个测速传感器；
每个所述测速传感器均与所述控制组件连接，且每个所述测速传感器与所述货物出口的距离大于第一距离阈值。
可选的，所述上件装置还包括：
设置在所述运行通道上，或者设置在所述运行通道任一侧的搬运车识别传感器；
所述搬运车识别传感器与所述控制组件连接，且所述搬运车识别传感器与所述货物出口的距离大于第二距离阈值。
根据本申请实施例的第二方面，提供一种上件装置的控制方法，用于控制第一方面所述的上件装置，所述方法包括：
获取在运行通道上移动的目标搬运车的运动参数；
根据所述目标搬运车的运动参数，控制上件传输台中的货物支撑台带动待上件的货物移动，并在所述目标搬运车移动到所述运行通道上与所述货物支撑台的货物出口对应位置时，将所述待上件的货物通过所述货物出口传送至所述目标搬运车。
可选的，所述根据所述目标搬运车的运动参数，控制上件传输台中的货物支撑台带动待上件的货物移动，包括：
根据所述目标搬运车的运动参数，调整所述货物支撑台的传送速度，所述货物支撑台按照调整后的传送速度运行时，在所述目标搬运车移动到所述运行通道上与所述货物出口对应位置时，所述货物支撑台带动所述待上件的货物移动至所述货物出口处。
可选的，所述运动参数包括目标搬运车的移动位置和移动速度，所述根据所述目标搬运车的运动参数，调整所述货物支撑台的传送速度，包括：
当检测到所述目标搬运车移动至所述运行通道的第一指定位置时，根据所述目标搬运车的移动速度，计算所述目标搬运车移动至所述运行通道上与所述货物出口对应位置所需的移动时长，所述第一指定位置与所述货物出口处之间的距离大于第一距离阈值；
根据所述移动速度和所述移动时长，调整所述货物支撑台的传送速度，调整后的所述货物支撑台的传送速度在经过所述移动时长之后与所述目标搬运车的移动速度相等。
可选的，所述根据所述移动速度和所述移动时长，调整所述货物支撑台的传送速度，包括：
当检测到所述目标搬运车移动至所述第一指定位置时，确定所述待上件的货物与所述货物出口处之间的间隔距离；
根据所述移动时长和所述间隔距离，调整所述货物支撑台的传送速度，所述货物支撑台按照调整后的传送速度运行所述移动时长之后，带动所述待上件的货物移动的距离与所述间隔距离相等。
可选的，在所述获取在运行通道上移动的目标搬运车的运动参数之前，所 述方法还包括：
获取待上件的货物的特征参数，所述特征参数包括：重量、尺寸和配送标识中的至少一种；
根据所述特征参数，确定与所述待上件的货物匹配的目标搬运车。
可选的，在所述获取待上件的货物的特征参数之后，所述方法还包括：
根据预先存储的至少一个搬运车的运输参数，检测是否存在运输参数与所述特征参数匹配的目标搬运车；
当未检测到运输参数与所述特征参数匹配的目标搬运车时，发出告警信号，或者将所述待上件的货物搬离所述货物支撑台。
可选的，所述根据所述特征参数，确定与所述待上件的货物匹配的目标搬运车，包括：
获取经过所述运行通道的第二指定位置的搬运车的标识，所述第二指定位置与所述货物出口处之间的距离大于第二距离阈值；
根据所述搬运车的标识获取所述搬运车的运输参数；
判断所述搬运车的运输参数是否与所述待上件的货物的特征参数匹配；
当所述搬运车的运输参数与所述待上件的货物的特征参数匹配时，确定所述搬运车为目标搬运车。
可选的，所述货物支撑台包括加速传输带，所述加速传输带的出口为所述货物出口；
所述根据所述目标搬运车的运动参数，控制上件传输台中的货物支撑台带动待上件的货物移动，包括：
根据所述目标搬运车的运动参数，控制所述加速传输带带动待上件的货物移动。
可选的，所述货物支撑台还包括与所述加速传输带相邻的邻接传输带；所述方法还包括：
当检测到所述邻接传输带上停留有待上件的货物，而所述加速传输带上未停留待上件的货物时，控制所述邻接传输带向所述加速传输带传送所述待上件的货物。
可选的，所述邻接传输带为缓存传输带，所述货物支撑台还包括检测传输带，所述检测传输带、所述缓存传输带和所述加速传输带依次相邻设置，并且 所述检测传输带的入口为所述货物入口；所述方法还包括：
当检测到所述检测传输带上停留有待上件的货物，而所述缓存传输带上未停留待上件的货物时，控制所述检测传输向所述缓存传送带传送所述待上件的货物。
可选的，所述邻接传输带为检测传输带，所述检测传输带的入口为所述货物入口。
可选的，所述检测传输带的任一侧设置有检测组件；所述方法还包括：
当检测到所述检测传输带上停留有待上件的货物时，控制所述检测传输带将所述待上件的货物传送至所述检测组件的检测区域。
可选的，所述获取在运行通道上移动的目标搬运车的运动参数，包括：
通过测速传感器获取所述目标搬运车的运动参数；
或者，接收所述目标搬运车发送的运动参数。
根据本申请实施例的第三方面，提供一种自动导向搬运车的上件控制装置，所述上件控制装置包括：处理器和存储器，所述存储器，用于存放计算机程序；所述处理器，用于执行所述存储器上所存放的程序，实现如第二方面所述方法的步骤。
根据本申请实施例的第四方面，提供一种上件控制系统，所述系统包括：具有至少一条运行通道的运行场地，在所述运行通道上移动的至少一个搬运车，以及设置在所述运行场地上的至少一个上件装置，每个所述上件装置为如第一方面所述的上件装置；
其中，每个所述上件装置中货物支撑台的货物出口位于一条所述运行通道的上方。
可选的，所述货物支撑台的货物出口处的高度高于每个搬运车的货物承载面。
可选的，所述系统还包括：控制终端，所述控制组件与所述控制终端建立有通信连接，所述控制终端控制所述控制组件驱动所述驱动器运转。
根据本申请实施例的第五方面，提供一种计算机可读存储介质，所述计算机可读存储介质内存储有计算机程序，所述计算机程序被处理器执行时实现第二方面所述方法的步骤。
本申请提供的技术方案带来的有益效果至少包括：
本申请提供了一种自动导向搬运车的上件装置及其控制方法、装置、系统，其中上件装置包括上件传输台以及控制组件，且该上件传输台包括货物支撑台和驱动该货物支撑台运动的驱动器，该货物支撑台设置有货物入口和货物出口，该控制组件可以通过该驱动器控制该货物支撑台将货物从货物入口处传送到货物出口处，并将货物通过该货物出口传送至搬运车上，从而实现了货物的自动上件，有效提高了货物上件的效率。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请的实施例，下面将对实施例描述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申请的一些实施例，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他的附图。
图1是根据一示例性实施例示出的一种上件控制系统的结构示意图；
图2是根据一示例性实施例示出的一种上件装置的结构示意图；
图3是根据一示例性实施例示出的另一种上件装置的结构示意图；
图4是根据一示例性实施例示出的又一种上件装置的结构示意图；
图5是根据一示例性实施例示出的再一种上件装置的结构示意图；
图6是根据一示例性实施例示出的一种上件装置的控制方法的流程图；
图7是根据一示例性实施例示出的另一种上件装置的控制方法的流程图；
图8是根据一示例性实施例示出的一种确定目标搬运车方法的流程图；
图9是根据一示例性实施例示出的一种调整货物支撑台的传送速度的方法流程图；
图10是根据一示例性实施例示出的又一种上件装置的控制方法的流程图；
图11是根据一示例性实施例示出的再一种上件装置的控制方法的流程图；
图12是根据一示例性实施例示出的一种上件控制装置的结构示意图。
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请实施方式作进一步地详细描述。
在本申请实施例提供了一种上件控制系统，如图1所示，该系统可以包括具有至少一条运行通道10的运行场地11，在运行通道10上移动的至少一个搬运车12，以及设置在运行场地11上的至少一个上件装置M。其中每个上件装置M可以对应一条运行通道10，并能够为在该运行通道10上移动的搬运车12进行货物上件。每个搬运车12可以为自动导向搬运车。
图2是本申请实施例提供的一种自动导向搬运车的上件装置的结构示意图，如图2所示，该自动导向搬运车的上件装置可以包括：上件传输台01，控制组件(图2中未示出)。该上件传输台01可以包括货物支撑台011和驱动货物支撑台011运动的驱动器(图2中未示出)。
该货物支撑台011设置有货物入口A和货物出口B，该货物支撑台011可以将货物13从货物入口A处传送到货物出口B处，且该货物出口B位于搬运车12的运行通道10的上方。该控制组件与驱动器连接，用于控制驱动器带动货物支撑台011传送货物，以将货物传送至搬运车，从而实现货物的自动上件。
其中，该驱动器可以为驱动电机，该控制组件可以包括主控板和电机控制板。该主控板用于控制电机控制板，与其他设备进行通信以及确定各种控制决策，该电机控制板用于控制驱动电机的转速和转向。
综上所述，本申请实施例提供的自动导向搬运车的上件装置可以包括上件传输台以及控制组件，该上件传输台可以包括货物支撑台和驱动该货物支撑台运动的驱动器，该控制组件可以通过该驱动器控制该货物支撑台将货物从货物入口处传送到货物出口处，并将货物通过该货物出口传送至搬运车上，从而实现了货物的自动上件，有效提高了货物上件的效率。
可选的，如图2所示，该货物支撑台011可以设置在运行通道10的上方，且该货物支撑台011的传送方向可以与运行通道10的延伸方向X一致。相应的，该上件传输台01还可以包括用于支撑该货物支撑台011的支脚012，该支脚012可以支撑在运行通道10的外侧，以避免对搬运车12的正常行驶造成影响。将货物支撑台011设置在运行通道10的上方，可以避免该货物支撑台011占用额 外的空间，有效提高了运行场地的空间利用率。
示例的，如图2所示，该上件传输台01可以包括多个支脚012，该多个支脚012可以两两对称的设置在运行通道10的两侧，且每个支脚012均可以与货物支撑台011固定连接，以保证对该货物支撑台011的稳定支撑。
图3是本申请实施例提供的另一种上件装置的结构示意图，如图3所示，该上件装置还可以包括：设置在货物入口A处的检测组件02。该检测组件02可以包括：称重器021、尺寸检测器022和扫码器023中的至少一种。该检测组件02可以用于获取待上件的货物的特征参数，并将该特征参数发送至控制组件。
其中，该称重器021可以用来检测待上件的货物的重量，该称重器021可以为重量传感器。如图3所示，该称重器021可以设置在货物支撑台011的承载面的下方。
该尺寸检测器022可以用来检测待上件的货物13的尺寸，该尺寸检测器022可以为设置在货物支撑台011的货物入口A处的放件工装，该放件工装可以包括沿货物支撑台011的传送方向设置的两个条状结构，该两个条状结构之间的间距可调。将待上件的货物放置在该两个条状结构之间后，该放件工装可以根据该两个条状结构之间的间距确定待上件的货物的尺寸。或者，该尺寸检测器022也可以为能够直接识别待上件的货物的尺寸的光电传感器或超声波传感器等。如图3所示，该尺寸检测器022可以设置在货物支撑台011的两侧。或者，该尺寸检测器022也可以设置在货物支撑台011的上方。其中，该光电传感器可以为红外传感器。
该扫码器023可以用于获取待上件的货物的配送标识，该配送标识可以用于指示待上件的货物待搬运至的目的地。例如，每个货物上可以贴附有配送面单，该配送面单上可以标示有配送标识，该配送标识可以为二维码、条形码或者字符串等。相应的，该扫码器023可以为能够识别该配送标识的器件，例如可以为能够识别二维码、条形码或者字符串的图像传感器。并且，该扫码器023可以设置在货物支撑台011的侧面，也可以设置在货物支撑台011的上方，或者也可以直接设置在该货物支撑台011的承载面上。
示例的，如图3所示，该货物支撑台011的上方可以设置有支架03，该扫码器023可以设置在该支架03上。操作人员在将待上件的货物放置在该货物支撑台011时，可以将待上件的货物标示有配送标识的一面朝向该扫码器023放 置，以便扫码器023能够有效扫描该待上件的货物的配送标识。
在本申请实施例中，当该检测组件02包括称重器021时，该检测组件02获取到的特征参数即可包括待上件的货物的重量。当该检测组件02包括尺寸检测器022时，该检测组件02获取到的特征参数即可包括待上件的货物的尺寸。该检测组件02包括扫码器023时，该检测组件02获取到的特征参数即可包括待上件的货物的目的地。
控制组件在获取到检测组件02检测到的待上件的货物的特征参数后，可以根据预先存储的至少一个搬运车12的运输参数，检测是否存在运输参数与检测组件02检测到的特征参数相匹配的目标搬运车12。该目标搬运车12的运输参数可以包括用于指示该目标搬运车12的承载能力的参数，还可以包括用于指示该目标搬运车12的搬运目的地的参数。
可选的，该上件装置中还可以设置有与控制组件连接的告警模块，该告警模块可以包括蜂鸣器和发光二极管中的至少一种。当控制组件未检测到运输参数与特征参数匹配的目标搬运车12时，可以控制该告警模块发出告警信号，例如声音告警信号、灯光告警信号或者声光告警信号。该告警信号可以用于提示工作人员及时将待上件的货物搬离，避免影响其他货物的上件，从而有效提高了货物的分拣效率。
可选的，该上件装置中还可以设置有与控制组件连接的分拣臂。当控制组件未检测到运输参数与特征参数匹配的目标搬运车12时，还可以控制该分拣臂将待上件的货物直接搬离货物支撑台011，实现了货物的自动搬离，从而有效提高了货物的分拣效率。
在本申请实施例中，如图3所示，该货物支撑台011可以包括加速传输带J1，该加速传输带J1的出口即为货物出口B。该上件装置中的控制组件在控制货物支撑台011上件的过程中，可以直接控制该加速传输带J1的传送速度，以将待上件的货物从货物出口B传送至目标搬运车12上。
可选的，如图4所示，该货物支撑台011还可以包括与加速传输带J1相邻的邻接传输带J2。相应的，该驱动器可以包括分别驱动邻接传输带J2和加速传输带J1的驱动组件，控制组件可以分别驱动每个驱动组件带动对应的传输带转动，从而可以实现该邻接传输带J2和加速传输带J1的独立运转。
作为一种可选的实现方式，如图4所示，该邻接传输带J2可以为检测传输 带，且该检测传输带J2的入口即为货物入口A。该上件装置中的检测组件02可以设置在该检测传输带J2的任一侧，待上件的货物在该检测传输带J2上传输的过程中，控制组件可以通过检测组件02获取该待上件的货物的特征参数。在该获取特征参数的过程中，控制组件还可以控制加速传输带J1将其上承载的待上件的货物传送至货物出口B处，由此可以实现检测和上件两个步骤同时执行，有效提高了货物上件的效率。
作为另一种可选的实现方式，由于控制组件在确定上件控制系统中存在与待上件的货物13匹配的目标搬运车12后，需要获取该目标搬运车12的运动参数，并根据该运动参数调整加速传输带J1的传送速度，该过程需要一定的时间。因此为了提高货物的上件效率，如图5所示，该邻接传输带J2可以为缓存传输带，该货物支撑台011还可以包括检测传输带J3，该检测传输带J3、该缓存传输带J2和该加速传输带J1可以依次相邻设置，并且该检测传输带的入口即为货物入口A。其中，该缓存传输带可以包括多个，每个缓存传输带可以用来缓存一件待上件的货物，从而可以实现货物的有序上件，提高货物的上件效率。
在本申请实施例中，如图5所示，该上件装置还可以包括设置在每个传输带任一侧的货物识别传感器04，该货物识别传感器04与控制组件连接。该货物识别传感器04可以用来检测货物支撑台011上设置的每个传输带上是否停留有货物，并可以将检测结果发送至控制组件，以便该控制组件可以根据该检测结果，驱动对应的传输带转动。
其中，该货物识别传感器04可以包括压力传感器和光电传感器中的任一种，该光电传感器可以为红外传感器或激光传感器。当该货物识别传感器04包括压力传感器时，该货物识别传感器04可以设置在每个传输带承载面的下方。当该货物识别传感器04包括红外传感器或激光传感器等光电传感器时，该货物识别传感器04可以设置在每个传输带的侧面，也可以设置在每个传输带的承载面上，或者也可以设置在每个传输带的上方。例如可以在传输带的正上方设置支架，并将该货物识别传感器04设置在该支架上。
可选的，该上件装置还可以包括设置在运行通道10上，或者设置在运行通道10任一侧的搬运车识别传感器05。该搬运车识别传感器05与控制组件连接，该搬运车识别传感器05可以用来检测搬运车12的标识，以及将检测到的搬运车12的标识发送至该控制组件，以便该控制组件根据接收到的搬运车12的标 识获取该搬运车的运输参数，进而根据该运输参数判断该搬运车12是否为能够运输待上件的货物的目标搬运车。并且，为了确保控制组件在识别出该目标搬运车后，能够有足够的时间调整加速传输带J1的传送速度，该搬运车识别传感器05与货物出口B的距离可以大于第二距离阈值，该第二距离阈值可以大于加速传输带J1在传送方向上的长度L。示例的，如图5所示，该搬运车识别传感器05可以设置在运行通道10上与该货物支撑台011的货物入口A所对应的位置处。
在本申请实施例中，每个搬运车12的车身上可以标示有自身的标识，当搬运车12经过该搬运车识别传感器05时，该搬运车识别传感器05可以获取并识别该搬运车12的标识，并向控制组件发送该搬运车12的标识。示例的，每个搬运车12的车身上标示的标识可以为字符串，也可以为二维码或者条形码等。该搬运车识别传感器05可以为能够识别该标识的图像传感器，例如该图像传感器可以为摄像头。
在本申请实施例中，为了实现货物13的有效上件，控制组件可以根据搬运车12的运动参数，调整货物支撑台011的传送速度，其中，该运动参数可以包括搬运车12的移动速度和移动位置。
因此，如图5所示，该上件装置还可以包括：沿运行通道10的延伸方向依次设置在运行通道10上，或者设置在运行通道10任一侧的多个测速传感器06。该每个测速传感06均与控制组件连接，每个测速传感器06用于在搬运车12经过时检测该搬运车12的移动速度，并将该搬运车12的移动速度发送至控制组件。控制组件可以根据测速传感器06发送的数据确定搬运车12的移动速度，并可以根据预先存储的每个测速传感器06的位置，确定搬运车12的移动位置。
为了保证控制组件在获取到目标搬运车12的运动参数后，有足够的时间根据该运动参数调整货物支撑台011的的传送速度，该每个测速传感器06与货物出口B的距离应该大于第一距离阈值。其中，该第一距离阈值可以大于或等于加速传输带J1在传送方向上的长度L。并且，该第一距离阈值小于该第二距离阈值。也即是，搬运车12在运行通道10上移动时，需要先经过搬运车识别传感器05，然后再依次经过每个测速传感器06。
示例的，如图5所示，该多个测速传感器06可以设置在运行通道10的一侧，且该多个测速传感器06距货物出口B的距离小于搬运车识别传感器05距 货物出口B的距离。
综上所述，本申请实施例提供的自动导向搬运车的上件装置可以包括上件传输台以及控制组件，该上件传输台可以包括货物支撑台和驱动该货物支撑台运动的驱动器。该控制组件可以通过该驱动器控制该货物支撑台将货物从货物入口处传送到货物出口处，并将货物通过该货物出口传送至搬运车上，从而实现了货物的自动上件，有效提高了货物上件的效率。
图6是本申请实施例提供的一种上件装置的控制方法的流程图，该控制方法可以用于控制如图2至图5任一所示的自动导向搬运车的上件装置，且该控制方法可以应用于该上件装置中的控制组件。如图6所示，该控制方法可以包括：
步骤601、获取在运行通道上移动的目标搬运车的运动参数。
其中，该目标搬运车的运动参数可以包括目标搬运车的移动速度和移动位置。
步骤602、根据目标搬运车的运动参数，控制上件传输台中的货物支撑台带动待上件的货物移动，并在目标搬运车移动到运行通道上与货物支撑台的货物出口对应位置时，将待上件的货物通过货物出口传送至目标搬运车。
在本申请实施例中，控制组件根据获取到的目标搬运车的运动参数，可以控制货物支撑台在目标搬运车移动至货物出口对应位置之前，将该待上件的货物移动至货物出口处，并在目标搬运车移动至货物出口对应位置时，将该待上件的货物传送至目标搬运车。或者，控制组件可以控制货物支撑台在目标搬运车移动至货物出口对应位置之后，再将待上件的货物移动至货物出口处，目标搬运车移动至货物出口对应位置时，可以停车等待货物上件。又或者，控制组件还可以控制货物支撑台在目标搬运车移动至货物出口对应位置时，同步将该待上件的货物移动至货物出口处，并将该待上件的货物传送至目标搬运车，从而实现货物的不停车上件。
综上所述，本申请实施例提供的上件装置的控制方法，控制组件可以根据搬运车的运动参数来调整货物支撑台带动待上件的货物移动的移动速度。当搬运车移动至货物出口处时，该货物支撑台能够将货物从货物入口处传送到货物出口处，并将货物通过该货物出口传送至搬运车上，从而实现了货物的自动上 件，有效提高了货物上件的效率。
图7是本申请实施例提供的另一种上件装置的控制方法的流程图，该控制方法可以用于控制图2至图5所示的自动导向搬运车的上件装置，且该方法可以应用于该上件装置中的控制组件。如图7所示，该控制方法可以包括：
步骤701、获取待上件的货物的特征参数。
在本申请实施例中，设置在货物支撑台上的检测组件可以检测待上件的货物的特征参数，并将该特征参数发送至控制组件。该检测组件可以包括称重器、尺寸检测器和扫码器中的至少一种。相应的，控制组件获取到的该检测组件发送的该待上件的货物的特征参数可以包括：称重器检测到的重量、尺寸检测器检测到的尺寸和扫码器检测到的配送标识中的至少一种。
示例的，假设检测组件包括称重器、尺寸检测器和扫码器，该检测组件检测到某货物的特征参数包括：重量为6千克，长20厘米、宽30厘米，配送标识为A，则控制组件获取到的该货物的特征参数即为：货物的重量6千克，长20厘米、宽30厘米，配送标识指示的目的地为A。
步骤702、根据预先存储的至少一个搬运车的运输参数，检测是否存在运输参数与特征参数匹配的目标搬运车。
在本申请实施例中，该控制组件中可以预先存储有上件控制系统中至少一个搬运车的运输参数，该运输参数可以包括用于指示搬运车的承载能力和/或用于指示搬运车的搬运目的地的参数。例如，该搬运车的运输参数可以包括搬运车的可承载的重量范围、可承载的尺寸范围以及搬运目的地中的至少一种。当控制组件获取到待上件的货物的特征参数时，可以先检测上件控制系统中是否存在运输参数与检测组件检测到的特征参数匹配的目标搬运车。
需要说明的是，控制组件获取到的运输参数所包括的参数类型与待上件货物的特征参数所包括的参数类型应当相对应。例如，当待上件的货物的特征参数包括重量和尺寸时，该运输参数应当至少包括搬运车的可承载的重量范围和可承载的尺寸范围。
还需要说明的是，当特征参数包括配送标识时，运输参数与特征参数匹配可以是指，运输参数中的搬运目的地与该配送标识指示的目的地为同一地点。当特征参数包括重量或尺寸时，运输参数与特征参数匹配可以是指，特征参数的参数值处于对应的运输参数的数值范围之内。
在本申请实施例中，控制组件在检测搬运车的运输参数与待上件货物的特征参数是否匹配时，需要检测待上件货物的每一项特征参数是否与搬运车对应的运输参数相匹配。若检测到某个搬运车的各项特征参数均与对应的运输参数相匹配，则控制组件可以确定上件控制系统中存在能够有效承载该待上件的货物的目标搬运车，并可以执行步骤703。若检测出某个搬运车有一项特征参数不匹配，则控制组件可以确定该搬运车不能有效承载该货物。若控制组件检测到上件控制系统中每个搬运车的运输参数均与待上件货物的特征参数不匹配，则可以确定该上件控制系统中不存在能够有效承载待上件货物的目标搬运车，并可以执行步骤703。
示例的，假设上件控制系统中共有3个搬运车在运行通道上移动，每个搬运车对应的运输参数可以如表1所示。请参考表1，标识为a的搬运车的运输参数包括：可承载的重量范围为1千克至11千克，可承载的尺寸范围为长20至40厘米、宽10至40厘米，搬运目的地为B。
表1
Figure PCTCN2018103641-appb-000001
假设检测组件检测到某个货物的特征参数包括：重量10千克，长50厘米、宽50厘米，配送标识指示的目的地为A。控制组件将该货物的特征参数与上述表1所示的三个搬运车的运输参数依次进行对比，可以检测出该三个搬运车中每个搬运车的运输参数与该货物的特征参数都不能完全匹配，则控制组件可以确定该上件控制系统中不存在能够有效承载该货物的目标搬运车，从而可以执行步骤703。当控制组件检测到运输参数与特征参数匹配的目标搬运车时，可以执行步骤704。
步骤703、发出告警信号。
当控制组件未检测到运输参数与特征参数匹配的目标搬运车时，可以控制告警模块发出告警信号，以提示工作人员将货物搬离，避免影响其他货物的上件，从而有效提高了货物的分拣效率。
或者，该自动导向搬运车的上件装置中还可以设置有分拣臂，该控制组件可以与该分拣臂连接。当控制组件未检测到运输参数与特征参数匹配的目标搬运车时，可以控制该分拣臂直接将货物搬离，实现了货物的自动搬离，从而有效提高了货物的分拣效率。
步骤704、根据特征参数，确定与待上件的货物匹配的目标搬运车。
当控制组件检测到上件控制系统中存在与待上件的货物匹配的目标搬运车时，可以确定该待上件的货物能够有效上件，因此可以根据待上件的货物的特征参数，从在运行通道上移动的搬运车中确定与该待上件的货物匹配的目标搬运车。
图8是本申请实施例提供的一种根据特征参数，确定与待上件的货物匹配的目标搬运车的方法流程图。如图8所示，该控制组件确定目标搬运车的方法可以包括：
步骤7041、获取经过运行通道的第二指定位置的搬运车的标识。
为了保证控制组件在确定目标搬运车之后，有足够的时间获取该目标搬运车的运动参数，并根据该运动参数调整货物支撑台的传送速度，该第二指定位置与货物出口处之间的距离可以大于第二距离阈值，且该第二距离阈值可以大于加速传输带在传送方向上的长度L。例如，当该货物支撑台的延伸方向平行于搬运车的运行通道时，该第二指定位置可以为货物支撑台的货物入口处所在的位置。
在一种可选的实现方式中，搬运车上可以安装有定位模块和通信模块，当搬运车通过定位模块检测到自身位于第二指定位置处时，可以通过通信模块将自身的标识直接发送至控制组件。
在另一种可选的实现方式中，运行通道的第二指定位置处可以设置有搬运车识别传感器，且每个搬运车的车身上标示有自身的标识。搬运车识别传感器可以在检测到有搬运车经过时，获取并识别该搬运车的标识，并向控制组件发送该搬运车的标识。
步骤7042、根据搬运车的标识获取搬运车的运输参数。
在本申请实施例中，控制组件中可以预先存储有搬运车的标识和运输参数的对应关系，控制组件可以根据该获取到的搬运车的标识，从预先存储的对应关系中获取该搬运车的运输参数。
示例的，假设控制组件中存储的搬运车的标识和运输参数的对应关系如上述表1所示。在上述步骤7041中，搬运车在经过第二指定位置时，搬运车识别传感器识别到的搬运车标识为b，即控制组件获取到的经过该第二指定位置的搬运车的标识为b。则控制组件可以根据上述表1所示的对应关系确定标识为b的搬运车的运输参数为：可承载的重量范围为1千克至20千克；可承载的尺寸范围为长10至80厘米、宽10至20厘米；搬运目的地为A。
步骤7043、判断搬运车的运输参数是否与待上件的货物的特征参数匹配。
在本申请实施例中，当控制组件获取到搬运车的运输参数和货物的特征参数后，可以将运输参数中的每一项参数与待上件货物的特征参数的对应项依次进行对比。例如可以检测货物的特征参数中的重量参数值是否在搬运车的可承载重量数值范围之内，货物的尺寸参数值是否在搬运车的可承载尺寸数值范围之内，货物的配送标识所指示的目的地和搬运车的搬运目的地是否相同。
示例的，控制组件可以将待上件货物的特征参数：重量6千克，长20厘米、宽20厘米，配送标识指示的目的地A中的每一项分别与搬运车b对应的运输参数进行对比。
在本申请实施例中，如图5所示，该货物支撑台011可以包括检测传输带J3、缓存传输带J2和加速传输带J1等多个传输带。控制组件在确定目标搬运车时，应当根据位于加速传输带J1上的待上件货物的特征参数进行判断。也即是，控制组件需要判断搬运车的运输参数是否与加速传输带J1上停留的待上件的货物的特征参数匹配。
步骤7044、当搬运车的运输参数与待上件的货物的特征参数匹配时，确定搬运车为目标搬运车。
示例的，由于搬运车b的运输参数中的每一项参数和待上件货物的特征参数的对应项参数均匹配，因此控制组件可以确定该标识为b的搬运车为目标搬运车。
可选的，当控制组件检测到该搬运车的运输参数与待上件的货物的特征参数不匹配时，控制组件可以不调整货物支撑台的传送速度，待上件的货物在货 物支撑台上继续等待。当下一个搬运车经过第二指定位置时，控制组件可以再获取其标识，根据表1所示的对应关系中获取该搬运车对应的运输参数，并继续检测该搬运车是否与该待上件的货物匹配。即控制组件可以重复执行上述步骤7041至步骤7044所示的方法，直至确定出与待上件的货物相匹配的目标搬运车。
步骤705、获取在运行通道上移动的目标搬运车的运动参数。
在本申请实施例中，控制组件在确定目标搬运车之后，可以获取该目标搬运车的运动参数，其中，该运动参数可以包括该目标搬运车的移动速度和移动位置。
在一种可选的实现方式中，上件控制系统中的每个搬运车上可以设置有定位传感器、速度传感器和通信模块等。目标搬运车中的通信模块可以将定位传感器检测到的目标搬运车的移动位置，以及速度传感器检测到的目标搬运车的移动速度上报至控制组件。即控制组件可以获取在运行通道上移动的目标搬运车自动上报的运动参数。
在另一种可选的实现方式中，控制组件可以通过多个测速传感器实时获取目标搬运车在经过第二指定位置之后的移动速度。并且，该控制组件中可以预先存储有测速传感器标识和设置位置的对应关系，该控制组件可以根据上报移动速度的测速传感器的标识，确定该测速传感器的设置位置，进而确定目标搬运车的移动位置。
示例的，如图5所示，假设加速传输带J1在传送方向上的长度L为10米(m)米，距离货物支撑台011的货物出口B处的14m、16m、18m处依次设置有三个测速传感器06。控制组件中存储的测速传感器06的设置位置和测速传感器06的标识的对应关系如表2所示。从表2可以看出，设置在距货物支撑台011的货物出口B处的18m处的测速传感器06的标识为S1。
表2
测速传感器的设置位置 测速传感器标识
距货物支撑台011的货物出口B的18m处 S1
距货物支撑台011的货物出口B的16m处 S2
距货物支撑台011的货物出口B的14m处 S3
假设测速传感器S2在目标搬运车经过时，检测到该目标搬运车的移动速度 为：2米每秒(m/s)，并将该检测到的移动速度发送至控制组件。则控制组件接收到该测速传感器S2发送的移动速度后，可以根据表2所示的对应关系，确定目标搬运车的移动位置为：距货物支撑台011的货物出口B处的16m处。
步骤706、根据目标搬运车的运动参数，控制上件传输台中的货物支撑台带动待上件的货物移动，并在目标搬运车移动到运行通道上与货物支撑台的货物出口对应位置时，将待上件的货物通过货物出口传送至目标搬运车。
在本申请实施例中，控制组件可以根据目标搬运车的运动参数，调整货物支撑台的传送速度。当货物支撑台按照调整后的传送速度运行时，在目标搬运车移动到运行通道上与货物出口处对应的位置时，该货物支撑台带动待上件的货物同步移动至货物出口处，并将货物通过该货物出口传送至搬运车上，从而实现了货物的不停车上件。
可选的，控制组件所获取到的目标搬运车的运动参数可以包括移动位置和移动速度。图9是本申请实施例提供的一种根据目标搬运车的运动参数，控制货物支撑台的传送速度的方法流程图，如图9所示，该方法可以包括：
步骤7061、当检测到目标搬运车移动至运行通道的第一指定位置时，根据该目标搬运车的移动速度，计算该目标搬运车移动至运行通道上与货物出口对应位置所需的移动时长。
在本申请实施例中，该第一指定位置与货物出口处之间的距离可以大于第一距离阈值，该第一距离阈值可以大于或等于加速传输带在传送方向上的长度。并且，该第一距离阈值可以小于该第二距离阈值。例如，该第一指定位置可以为运行通道上与加速传输带的入口对应的位置。
假设该第一指定位置距货物出口的距离为D，控制组件获取到的目标搬运车的移动速度为V，则控制组件即可以根据该移动速度V，计算得到目标搬运车移动至货物出口处所需的移动时长T为：T＝D/V。
示例的，假设该第一指定位置距离货物支撑台的货物出口B处的距离D为14m。位于该第一指定位置处的测速传感器S3在目标搬运车经过时，检测到的目标搬运车的移动速度V为2m/s。则该测速传感器S3向控制组件上报该移动速度后，控制组件可以根据上述表2所示的对应关系，确定该目标搬运车移动至该第一指定位置。此时控制组件可以根据该目标搬运车当前的移动速度V和移动位置，计算得到目标搬运车移动至货物出口B处所需的移动时长T为： T＝D/V＝14/2＝7秒(s)。
步骤7062、根据该移动速度和该移动时长，调整货物支撑台的传送速度。
该调整后的货物支撑台的传送速度在经过移动时长之后可以与目标搬运车的移动速度相等。从而使得待上件的货物到达货物出口处时，该待上件的货物的移动速度与该目标搬运车的移动速度相等，以避免将该待上件的货物传送至目标搬运车上后，由于两者速度不同而出现货物掉落的情况。
假设控制组件获取到的目标搬运车的移动速度为V，计算得到的移动时长为T，则控制组件可以根据该移动速度V和移动时长T确定货物支撑台的加速度a1，并控制该货物支撑台以该加速度a1加速移动时长T，从而实现对货物支撑台的传送速度的调整。其中，该加速度a1可以满足：a1＝(V-V0)/T，V0是指货物支撑台的初始速度。例如，当该货物支撑台包括加速传输带时，V0可以是指该加速传输带的初始速度。
示例的，假设控制组件获取到的目标搬运车的移动速度V为2m/s，移动时长T为7s，当前待上件的货物停留在货物支撑台的加速传输带上，且该加速传输带处于静止状态，即V0为0。则控制组件可以基于该移动速度V和移动时长T确定加速传输带的加速度a1满足：a1＝(V-V0)/T＝(2-0)/7≈0.28m 2/s，进而可以控制该加速传输带的以0.28m 2/s的加速度加速转动7s，使得加速传输带以及其承载的待上件的货物在7秒后的速度达到2m/s。由此可以保证目标搬运车在7秒后移动到该货物出口时，货物支撑台能够将待上件货物准确的上件至该目标搬运车上。由于上件时，该待上件的货物的移动速度和该目标搬运车的移动速度均为2m/s，因此可以避免货物掉落的情况发生。
可选的，在上述步骤7061中，当控制组件检测到目标搬运车移动至第一指定位置时，还可以确定待上件的货物与货物出口处之间的间隔距离。
相应的，在上述步骤7062中，控制组件在调整货物支撑台的传送速度时，还可以根据该移动时长和间隔距离进行调整，使得货物支撑台按照调整后的传送速度运行移动时长之后，带动待上件的货物移动的距离与间隔距离相等。
假设控制组件计算到目标搬运车移动至货物出口的移动时长为T，目标搬运车在移动至第一指定位置时，待上件的货物与货物出口之间的间隔距离为S。则为了保证货物支撑台在该移动时长T之后的传送速度与目标搬运车的移动速度V相等，且在该移动时长T内带动待上件的货物移动的距离为S，则控制组件可 以分别确定该货物支撑台在该移动时长T内以加速度a2加速转动的第一时长t1以及匀速转动的第二时长t2，该第一时长t1和第二时长t2可以满足：
t1+t2＝T       公式(1)；
该加速度a2可以满足：a2＝(V-V0)/t2     公式(2)；
并且，该加速度a2、第一时长t1以及第二时长t2还可以满足：
S＝V0×t1+(a2×t1 2)/2+V×t2    公式(3)。
示例的，假设控制组件获取到的目标搬运车的移动速度V为2m/s，目标搬运车移动至货物出口处所需的移动时长T为7s，且此时待上件的货物停留在货物支撑台的加速传输带上，该待上件的货物与货物出口之间的间隔距离为8m。控制组件根据上述公式(1)至公式(3)可以计算得到a2为1/3m 2/s、t1为6s，t2为1s，则控制组件可以控制该加速传输带以加速度1/3m 2/s加速转动6s，然后再以速度2m/s匀速转动1s。从而可以保证在经过7秒之后，加速传输带的移动速度为2m/s，且加速传输带可以带动待上件的货物移动到该货物出口，由此可以将待上件的货物准确的上件至该目标搬运车上。
可选的，参考图3，该货物支撑台011可以包括加速传输带J1，因此，上述步骤706所示的调整货物支撑台的传送速度的过程实际可以为调整该加速传输带J1的传送速度的过程。
可选的，参考图4，该货物支撑台011还可以包括与加速传输带J1相邻的邻接传输带J2。图10是本申请实施例提供的又一种上件装置的控制方法的流程图，如图10所示，该控制方法还可以包括：
步骤801、检测邻接传输带和加速传输带中每个传输带上是否停留有待上件的货物。
当控制组件检测到邻接传输带上停留有待上件的货物，而加速传输带上未停留待上件的货物时，可以执行步骤802；否则，可以执行步骤803。
在本申请实施例中，如图5所示，每个传输带任一侧可以设置有货物识别传感器04。控制组件可以通过该货物识别传感器04检测邻接传输带J2和加速传输带J1中的每个传输带上是否停留有待上件的货物。
步骤802、控制邻接传输带向加速传输带传送待上件的货物。
控制组件在检测到邻接传输带上停留有待上件的货物，而加速传输带J1上未停留有待上件的货物13时，可以控制邻接传输带J2将待上件的货物13传送 至加速传输带J1。操作人员进而可以将下一个待上件的货物13放置在货物支撑台011的邻接传输带上，以便控制组件可以继续对下一个待上件的货物13进行特征参数的检测，从而保证特征参数检测和货物上件两个步骤能够同时执行，提高了货物的上件效率。
步骤803、控制邻接传输带保持静止状态。
当控制组件检测到邻接传输带J2上未停留有货物，或者加速传输带J1上停留有待上件的货物时，可以控制该邻接传输带J2保持静止状态。并且，当该加速传输带J1上未停留有待上件的货物13时，控制组件还可以控制该加速传输带J1也保持静止状态。
作为一种可选的实现方式，如图5所示，该邻接传输带J2可以为缓存传输带时，该货物支撑台011还可以包括检测传输带J3。该检测传输带J3、缓存传输带J2和该加速传输带J1可以依次相邻设置，并且该检测传输带J3的入口可以为货物入口B。
在上述步骤801中，控制组件可以检测该检测传输带、缓存传输带和加速传输带中的每个传输带上是否停留有待上件的货物。
相应的，该上件装置的控制方法还可以包括：当检测到检测传输带上停留有待上件的货物，而缓存传输带上未停留待上件的货物时，控制检测传输带向缓存传送带传送待上件的货物。
控制该检测传输带将待上件的货物传送至该缓存传输带，可以使得检测传输带能够继续对下一个待上件的货物进行上件检测，提高了货物的上件效率。
可选的，该上件装置中的检测组件可以设置在该检测传输带的任一侧，因此当控制组件检测到检测传输带上停留有待上件的货物时，还可以控制检测传输带将待上件的货物传送至检测组件的检测区域，以便检测组件能够及时获取待上件的货物的特征参数，并将该检测到的特征参数发送至控制组件。控制组件根据该特征参数检测到与待上件的货物匹配的目标搬运车后，可以继续控制该检测传输带转动，以将该待上件的货物传送至缓存传输带或者加速传输带。可选的，当控制组件检测到运行通道上不存在于与待上件的货物的特征参数匹配的目标搬运车时，还可以控制该检测传输带处于静止状态，以便操作人员将该待上件的货物搬离，或者控制分拣臂将该待上件的货物搬离。
可选的，图11是本申请实施例提供的再一种上件装置的控制方法的流程图， 如图11所示，该控制方法可以包括：
步骤901、获取在运行通道上移动的搬运车的运动参数。
在本申请实施例中，控制组件可以获取在运行通道上移动的每个搬运车的运动参数，该搬运车的运动参数可以包括搬运车的移动速度和移动位置，该获取搬运车的运动参数的过程可以参考上述步骤705，对此不再赘述。
步骤902、当检测到搬运车移动至运行通道的第一指定位置时，根据该搬运车的移动速度，计算该搬运车移动至运行通道上与货物出口对应位置所需的移动时长。
当控制组件检测到某个搬运车移动至第一指定位置时，可以根据其移动速度计算其移动至运行通道上与货物出口对应位置所需的移动时长，该计算移动时长的过程可以参考上述步骤7061，对此不再赘述。
步骤903、根据该移动速度和该移动时长，调整货物支撑台的传送速度。
其中，根据移动时长和移动速度调整货物支撑台的传送速度的过程可以参考上述步骤7062，对此不再赘述。
可选的，本申请实施例提供的上件装置的控制方法的步骤的先后顺序可以进行适当调整，步骤也可以根据情况进行相应增减。例如上述步骤701至704可以根据情况进行删除，即上件控制系统中的每个搬运车均可以承载所有待上件的获取，因此控制组件可以无需确定与待上件的获取匹配的目标搬运车。任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化的方法，都应涵盖在发明的保护范围之内，因此不再赘述。
综上所述，本申请实施例提供的上件装置的控制方法，控制组件可以根据搬运车的运动参数来调整货物支撑台带动待上件的货物移动的移动速度，从而使得当搬运车移动至货物出口处时，该货物支撑台能够将货物从货物入口处传送到货物出口处，并将货物通过该货物出口传送至搬运车上，从而实现了货物的自动上件，有效提高了货物上件的效率。
图12是本申请实施例提供的一种上件控制装置的结构示意图。如图12所示，该上件控制装置可以包括：处理器1201和存储器1202。该存储器1202可以用于存放计算机程序12021。该处理器1201可以用于执行该存储器1202上所存放的程序12021，实现如上述方法实施例提供的方法的步骤。
本申请实施例提供的了一种上件控制系统，如图1所示，该上件控制系统可以包括：具有至少一条运行通道10的运行场地，在该运行通道10上移动的至少一个搬运车12，以及设置在该运行场地上的至少一个上件装置，且每个运行场地上可以设置一个上件装置M，每个上件装置M可以为图2至图5以及图12任一所示的上件装置。
其中，如图5所示，每个上件装置中的货物支撑台011的货物出口B位于一条运行通道10的上方，且该货物支撑台011的货物出口B处的高度应该高于每个搬运车12的货物承载面，从而使得货物13在被传送至货物出口B处时，能够有效上件至目标搬运车12上。
可选的，该上件控制系统还可以包括：控制终端，且上件装置M中的控制组件可以与该控制终端建立有通信连接。该控制终端可以控制该控制组件驱动驱动器运转，从而驱动货物支撑台011向前运转，实现货物的上件。相应的，上述图6、图7、图10或图11所示的上件装置的控制方法还可以应用于该控制终端中。可选的，图12所示的上件控制装置也可以设置在该控制终端中。
本申请实施例提供了一种计算机可读存储介质，该计算机可读存储介质可以为非易失性的计算机可读存储介质。该计算机可读存储介质内存储有计算机程序，该计算机程序被处理器执行时可以实现上述图6、图7、图10或图11所示的上件装置的控制方法。
本领域技术人员在考虑说明书及实践这里发明的发明后，将容易想到本申请的其它实施方案。本申请旨在涵盖本申请的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本申请的一般性原理并包括本申请未发明的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本申请的真正范围和精神由权利要求指出。
应当理解的是，本申请并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本申请的范围仅由所附的权利要求来限制。

Claims (29)

  1. 一种自动导向搬运车的上件装置，所述上件装置包括上件传输台和控制组件，所述上件传输台包括货物支撑台和驱动所述货物支撑台运动的驱动器；
    所述货物支撑台设置有货物入口和货物出口，所述货物支撑台将货物从货物入口处传送到货物出口处，所述货物出口位于搬运车的运行通道上方；
    所述控制组件与所述驱动器连接，且所述控制组件控制所述驱动器带动所述货物支撑台运动。
  2. 根据权利要求1所述的上件装置，所述上件传输台设置在所述运行通道的上方，且所述货物支撑台的传送方向与所述运行通道的延伸方向一致。
  3. 根据权利要求2所述的上件装置，所述上件传输台还包括支撑所述货物支撑台的支脚，所述支脚支撑在所述运行通道的外侧。
  4. 根据权利要求1所述的上件装置，所述上件装置还包括：
    设置在所述货物入口处的检测组件，所述检测组件包括：称重器、尺寸检测器和扫码器中的至少一种。
  5. 根据权利要求1所述的上件装置，所述货物支撑台包括加速传输带，所述加速传输带的出口为所述货物出口。
  6. 根据权利要求5所述的上件装置，所述货物支撑台还包括与所述加速传输带相邻的邻接传输带；
    所述驱动器包括分别驱动所述邻接传输带和所述加速传输带的驱动组件。
  7. 根据权利要求6所述的上件装置，所述邻接传输带为缓存传输带，所述货物支撑台还包括检测传输带，所述检测传输带、所述缓存传输带和所述加速传输带依次相邻设置，并且所述检测传输带的入口为所述货物入口；
    所述驱动器还包括驱动所述检测传输带的驱动组件。
  8. 根据权利要求6所述的上件装置，所述邻接传输带为检测传输带，所述检测传输带的入口为所述货物入口。
  9. 根据权利要求7或8所述的上件装置，所述上件装置还包括：设置在所述检测传输带任一侧的检测组件，所述检测组件包括：称重器、尺寸检测器和扫码器中的至少一种。
  10. 根据权利要求5至8任一所述的上件装置，所述上件装置还包括：设置在每个传输带任一侧的货物识别传感器；
    所述货物识别传感器与所述控制组件连接。
  11. 根据权利要求1至8任一所述的上件装置，所述上件装置还包括：沿所述运行通道的延伸方向依次设置在所述运行通道上，或者设置在所述运行通道任一侧的多个测速传感器；
    每个所述测速传感器均与所述控制组件连接，且每个所述测速传感器与所述货物出口的距离大于第一距离阈值。
  12. 根据权利要求1至8任一所述的上件装置，所述上件装置还包括：
    设置在所述运行通道上，或者设置在所述运行通道任一侧的搬运车识别传感器；
    所述搬运车识别传感器与所述控制组件连接，且所述搬运车识别传感器与所述货物出口的距离大于第二距离阈值。
  13. 一种上件装置的控制方法，用于控制如权利要求1至12任一所述的上件装置，所述方法包括：
    获取在运行通道上移动的目标搬运车的运动参数；
    根据所述目标搬运车的运动参数，控制上件传输台中的货物支撑台带动待上件的货物移动，并在所述目标搬运车移动到所述运行通道上与所述货物支撑台的货物出口对应位置时，将所述待上件的货物通过所述货物出口传送至所述 目标搬运车。
  14. 根据权利要求13所述的方法，所述根据所述目标搬运车的运动参数，控制上件传输台中的货物支撑台带动待上件的货物移动，包括：
    根据所述目标搬运车的运动参数，调整所述货物支撑台的传送速度，所述货物支撑台按照调整后的传送速度运行时，在所述目标搬运车移动到所述运行通道上与所述货物出口对应位置时，所述货物支撑台带动所述待上件的货物移动至所述货物出口处。
  15. 根据权利要求14所述的方法，所述运动参数包括目标搬运车的移动位置和移动速度，所述根据所述目标搬运车的运动参数，调整所述货物支撑台的传送速度，包括：
    当检测到所述目标搬运车移动至所述运行通道的第一指定位置时，根据所述目标搬运车的移动速度，计算所述目标搬运车移动至所述运行通道上与所述货物出口对应位置所需的移动时长，所述第一指定位置与所述货物出口处之间的距离大于第一距离阈值；
    根据所述移动速度和所述移动时长，调整所述货物支撑台的传送速度，调整后的所述货物支撑台的传送速度在经过所述移动时长之后与所述目标搬运车的移动速度相等。
  16. 根据权利要求15所述的方法，所述根据所述移动速度和所述移动时长，调整所述货物支撑台的传送速度，包括：
    当检测到所述目标搬运车移动至所述第一指定位置时，确定所述待上件的货物与所述货物出口处之间的间隔距离；
    根据所述移动时长和所述间隔距离，调整所述货物支撑台的传送速度，所述货物支撑台按照调整后的传送速度运行所述移动时长之后，带动所述待上件的货物移动的距离与所述间隔距离相等。
  17. 根据权利要求13所述的方法，在所述获取在运行通道上移动的目标搬运车的运动参数之前，所述方法还包括：
    获取待上件的货物的特征参数，所述特征参数包括：重量、尺寸和配送标识中的至少一种；
    根据所述特征参数，确定与所述待上件的货物匹配的目标搬运车。
  18. 根据权利要求17所述的方法，在所述获取待上件的货物的特征参数之后，所述方法还包括：
    根据预先存储的至少一个搬运车的运输参数，检测是否存在运输参数与所述特征参数匹配的目标搬运车；
    当未检测到运输参数与所述特征参数匹配的目标搬运车时，发出告警信号，或者将所述待上件的货物搬离所述货物支撑台。
  19. 根据权利要求17所述的方法，所述根据所述特征参数，确定与所述待上件的货物匹配的目标搬运车，包括：
    获取经过所述运行通道的第二指定位置的搬运车的标识，所述第二指定位置与所述货物出口处之间的距离大于第二距离阈值；
    根据所述搬运车的标识获取所述搬运车的运输参数；
    判断所述搬运车的运输参数是否与所述待上件的货物的特征参数匹配；
    当所述搬运车的运输参数与所述待上件的货物的特征参数匹配时，确定所述搬运车为目标搬运车。
  20. 根据权利要求13至19任一所述的方法，所述货物支撑台包括加速传输带，所述加速传输带的出口为所述货物出口；
    所述根据所述目标搬运车的运动参数，控制上件传输台中的货物支撑台带动待上件的货物移动，包括：
    根据所述目标搬运车的运动参数，控制所述加速传输带带动待上件的货物移动。
  21. 根据权利要求20所述的方法，所述货物支撑台还包括与所述加速传输带相邻的邻接传输带；所述方法还包括：
    当检测到所述邻接传输带上停留有待上件的货物，而所述加速传输带上未 停留待上件的货物时，控制所述邻接传输带向所述加速传输带传送所述待上件的货物。
  22. 根据权利要求21所述的方法，所述邻接传输带为缓存传输带，所述货物支撑台还包括检测传输带，所述检测传输带、所述缓存传输带和所述加速传输带依次相邻设置，并且所述检测传输带的入口为所述货物入口；所述方法还包括：
    当检测到所述检测传输带上停留有待上件的货物，而所述缓存传输带上未停留待上件的货物时，控制所述检测传输向所述缓存传送带传送所述待上件的货物。
  23. 根据权利要求22所述的方法，所述检测传输带的任一侧设置有检测组件；所述方法还包括：
    当检测到所述检测传输带上停留有待上件的货物时，控制所述检测传输带将所述待上件的货物传送至所述检测组件的检测区域。
  24. 根据权利要求13至19任一所述的方法，所述获取在运行通道上移动的目标搬运车的运动参数，包括：
    通过测速传感器获取所述目标搬运车的运动参数；
    或者，接收所述目标搬运车发送的运动参数。
  25. 一种自动导向搬运车的上件控制装置，所述上件控制装置包括：处理器和存储器，其中，
    所述存储器，用于存放计算机程序；
    所述处理器，用于执行所述存储器上所存放的程序，实现如权利要求13至24任一所述方法的步骤。
  26. 一种上件控制系统，所述系统包括：具有至少一条运行通道的运行场地，在所述运行通道上移动的至少一个搬运车，以及设置在所述运行场地上的至少一个上件装置，每个所述上件装置为如权利要求1至12任一所述的上件装 置；
    其中，每个所述上件装置中货物支撑台的货物出口位于一条所述运行通道的上方。
  27. 根据权利要求26所述的系统，所述货物支撑台的货物出口处的高度高于每个搬运车的货物承载面。
  28. 根据权利要求26或27所述的系统，所述系统还包括：控制终端，所述控制组件与所述控制终端建立有通信连接，所述控制终端控制所述控制组件驱动所述驱动器运转。
  29. 一种计算机可读存储介质，所述计算机可读存储介质内存储有计算机程序，所述计算机程序被处理器执行时实现权利要求13至24任一所述方法的步骤。
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