WO2019109641A1 - 带有安检功能的物品分拣系统 - Google Patents

带有安检功能的物品分拣系统 Download PDF

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Publication number
WO2019109641A1
WO2019109641A1 PCT/CN2018/095443 CN2018095443W WO2019109641A1 WO 2019109641 A1 WO2019109641 A1 WO 2019109641A1 CN 2018095443 W CN2018095443 W CN 2018095443W WO 2019109641 A1 WO2019109641 A1 WO 2019109641A1
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WO
WIPO (PCT)
Prior art keywords
item
sorted
transport device
security
mobile transport
Prior art date
Application number
PCT/CN2018/095443
Other languages
English (en)
French (fr)
Inventor
李洪波
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
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 US16/475,543 priority Critical patent/US10987700B2/en
Priority to JP2019536051A priority patent/JP6682706B2/ja
Publication of WO2019109641A1 publication Critical patent/WO2019109641A1/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
    • 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
    • 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
    • B07C3/18—Devices or arrangements for indicating destination, e.g. by code marks
    • 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
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • 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
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
    • G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
    • G01V5/20—Detecting prohibited goods, e.g. weapons, explosives, hazardous substances, contraband or smuggled objects
    • G01V5/22—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • 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
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots
    • 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
    • B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
    • B65G2207/40—Safety features of loads, equipment or persons

Definitions

  • This paper covers the field of intelligent logistics technology, for example, involving an item sorting system with security functions.
  • the security inspection machine is an electronic device that passes the checked baggage into the X-ray inspection channel by means of a belt conveyor, and has been widely used in railway stations, bus stations, airports, customs, ports, logistics, warehouses and other important places. Baggage parcels, large and medium-sized bags, suitcases, consignments and other larger items are tested.
  • the common security inspection machine on the market is used in scenes such as express logistics, and the function of parcel sorting cannot be realized, and when the baggage package is large, it will cause accumulation during the transportation process; the accumulated baggage packages are poured into the detection channel together, if found Baggage parcels that do not meet safety requirements are not easy to find.
  • the related technology also combines the parcel sorting system such as the cross-belt sorter with the security inspection equipment, and installs the security inspection equipment at the entrance of the parcel or at a specific point, and simultaneously realizes two functions of parcel sorting and parcel security.
  • the parcel sorting system such as the cross-belt sorter belongs to the serial system, so the system combined with the security inspection machine guarantees the quality of the security inspection, and the parcel needs to pass through the security inspection machine at a low speed, which makes the whole parcel sorting system such as the cross-belt sorter operate. The speed is greatly reduced, and the efficiency of parcel sorting is greatly discounted; if a package does not meet the safety requirements and needs to be handled by personnel, the entire system will be suspended.
  • Embodiments herein provide an item sorting system with a security check function.
  • the embodiment of the present invention provides an item sorting system with a security function, comprising: a security inspection machine, the security inspection machine is provided with a detector, a security driving device and a security inspection channel; and a mobile transportation device matching the security inspection channel space, The mobile transport device uses the security drive device to move the received item to be sorted through the security inspection channel, and accepts the security detection of the object to be sorted by the detector in the security inspection channel or
  • the item sorting system comprises: a security inspection machine, the security inspection machine is provided with a detector and a security inspection channel; a mobile transportation device matching the space of the security inspection channel, the mobile transportation device is arranged to receive the to-be-sorted The item moves through the security inspection channel and receives security detection of the item to be sorted by the detector within the security inspection channel.
  • the security inspection device is in communication with the mobile transportation device, and the mobile transportation device sends its own identification to the security inspection machine before entering the security inspection channel.
  • the item to be sorted on the mobile transport device is provided with an address information code related to the destination of the item to be sorted.
  • system further includes:
  • the item to be sorted is placed on the mobile transport device at the supply end in a manual or automatic manner.
  • the mobile transport device includes a carrying platform for receiving one or more items to be sorted.
  • the carrying platform is any one of a flap, a belt, a cross belt, and a drum.
  • system further includes:
  • the article information identifying device is provided with an article inspecting device capable of acquiring the article information of the item to be sorted of the article information identifying device.
  • the mobile transportation device acquires the item information by the item inspection device at the item information identification device.
  • the item information includes a destination of the item to be sorted.
  • the item information identifying device is located at the supplier end.
  • system further includes:
  • a transport walking platform that provides a mobile support platform for the mobile transport device.
  • the transportation walking platform is any one of a ground, a track, or a platform.
  • system further includes:
  • the falling end is provided with an article storage device, and the article storage device receives the item to be sorted delivered by the mobile transport device.
  • the item delivery point of the mobile transport device and the drop end have a preset height difference.
  • the mobile transport device is in the same plane as the drop end.
  • the mobile transport device and the drop end are located in different planes.
  • the correspondence between the destination and the drop end may be any one of one-to-one, many-to-one, one-to-many, and many-to-many.
  • system further includes:
  • a controller communicatively coupled to the item detecting device and the mobile transport device.
  • the controller acquires item information of the item to be sorted, and assigns task or scheduling information to the mobile transportation device based on the item information.
  • the mobile transport device moves at a first speed prior to reaching the security checker.
  • the mobile transport device moves at the second speed on the security drive after reaching the security checker.
  • the mobile transport device receives a speed command sent by the security checker and determines the second speed based on the command.
  • the security inspection machine is placed in front of or behind the item information identification device, and the mobile transportation device enters the security inspection machine after receiving the item to be sorted from the supply end.
  • the security inspection machine detects whether the item to be sorted on the mobile transportation device is safe, and sends the detection result to the mobile transportation device;
  • the mobile transport device When the item to be sorted is a security item, the mobile transport device continues to perform the sorting task;
  • the mobile transport device moves to a designated area.
  • the security inspection machine is placed before the drop end.
  • the security inspection machine detects whether the item to be sorted on the mobile transportation device is safe, and sends the detection result to the mobile transportation device;
  • the mobile transport device delivers the item to be sorted to the falling end;
  • the mobile transport device moves to a designated area.
  • the controller acquires power usage information of the mobile transportation device, and when the remaining power of the mobile transportation device meets a preset condition, the control system controls the mobile transportation The device moves to a preset area for charging.
  • the mobile transport device navigates by identifying a combination of graphics.
  • the mobile transportation device navigates through a system or an autonomous manner.
  • an anti-package slip assist device is disposed on one or more sides of the outer side of the carrying platform.
  • the item sorting system is essentially a parallel sorting system, which can avoid system suspension caused by unqualified security inspection of individual items (such as parcels); If the robot carries the parcel through the security inspection machine and realizes the parcel sorting task, the differential operation mode is adopted (the mobile transport device carries the parcel to pass the security inspection machine at a low speed to ensure the security inspection quality; the mobile transport device carries the parcel to carry out the parcel delivery at high speed, thereby improving Parcel sorting efficiency) can effectively ensure the quality of security inspection and greatly improve the efficiency of parcel sorting.
  • FIG. 1 is a schematic diagram of an item sorting system in the related art
  • FIG. 2 is a schematic diagram of an item sorting system with a security check function according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a sorting process of an item with a security check function according to an embodiment of the present invention.
  • FIG. 1 is a schematic view of an item sorting system in the related art.
  • a package sorting system such as a cross-belt sorter is combined with a security inspection device, and a security inspection device is installed at a package entrance or a specific point.
  • the parcel sorting system such as the cross-belt sorter belongs to the serial system, and the system combined with the security inspection machine guarantees the quality of the security inspection, and the parcel needs to pass through the security inspection machine at a low speed, which makes the operation speed of the parcel sorting system such as the entire cross-belt sorter.
  • the package sorting efficiency is greatly discounted; if a package does not meet the security requirements and needs personnel to handle, the entire system will be suspended.
  • the parcel sorting robot system is essentially a parallel sorting system, which can avoid the system suspension caused by individual parcels failing to meet the safety requirements.
  • the parcel sorting robot carries The parcel passes through the security inspection machine and realizes the parcel sorting task.
  • the parcel sorting robot carries the parcel to pass the security inspection machine at a low speed to ensure the quality of the security inspection; the parcel sorting robot carries the parcel to deliver the parcel at high speed, thereby improving the parcel score. Sorting efficiency) can effectively ensure the quality of security inspection and greatly improve the efficiency of package sorting.
  • the new robotic system and method for parcel sorting and security inspection provided by this paper can effectively realize the functions of parcel security inspection and efficient sorting, and has the advantages of flexible parcel sorting robot system.
  • the embodiment of the present invention provides an item sorting system with a security function, comprising: a security inspection machine 1, the security inspection machine 1 is provided with a detector, a security driving device and a security inspection channel; and the security inspection channel a space-matched mobile transport device 2, wherein the mobile transport device 2 uses the security drive device to move the received item to be sorted through the security inspection channel, and accepts the detector in the security inspection channel Safety detection of items to be sorted.
  • the security inspection machine 1 may include a detector that detects the sorted items waiting for the sorted items passing through the security baggage inspection machine to determine whether the articles transported on the mobile transportation device 2 are safe.
  • the mobile transport device 2 can be a wheeled robot of various types and shapes for loading one or more items to be separated (eg, packages).
  • the destination information related to the item is carried in the destination address information code, and the destination address information code is set on the item to be inspected.
  • the mobile transport device 2 in the embodiment of the present invention is modified so that the mobile transport device 2 matches the security inspection channel, so that the mobile transport device can still be loaded with the article. Pass the security device 1.
  • the security inspection machine 1 and the security inspection machine 1 may be communicatively coupled, and the mobile transport device 2 transmits its own identification to the security checker 1 before entering the security check channel. In this way, the security checker can invoke or identify through the network 3 the mobile transport device 2 that passes or is about to pass through itself.
  • One or more items to be sorted can be transported on the mobile transport device 2, and in order to ensure that the items to be sorted can be efficiently transported to the destination, according to a specific implementation manner of the embodiment of the present invention, the mobile transport device 2
  • the address information code associated with the destination of the item to be sorted is provided on the item to be sorted.
  • the information represented by the address information code may be “Xingcheng District, Beijing XX Street, Chaoyang District, Wang Xiaoming”.
  • the system may further include a supply end, the supply end providing one or more items to be sorted, the supply end Forming the first area.
  • the item end is loaded with items to be sorted (items to be sorted), and the items here may be logistics packages to be transported, or other items or goods that need to be sorted and delivered.
  • the items to be sorted that need to be transported can be placed on the mobile transport unit 2 either manually or automatically.
  • a transport platform can be provided above the mobile transport device 2 for receiving one or more items to be sorted.
  • the carrying platform is any one of a flap, a belt, a cross belt and a drum.
  • the carrying platform can also be set to other common or required types as needed.
  • the carrying platform may further comprise a lifting device by which the mobile transport device 2 can place the object to be transported (for example, a shelf containing the item to be sorted) by lifting in a mobile transport device.
  • the carrying platform of 2 after the object to be transported is lifted, it is possible to leave the originally placed plane (for example, the ground) and move with the mobile transport device 2.
  • the mobile transport device 2 can carry out security inspection by carrying the object through the security inspection machine by lifting.
  • the item information identifying device can also And an article inspection device for acquiring item information of an item to be distributed in the item information identification device corresponding to the item inspection device, the item information including the item to be separated Destination.
  • the item information identification device is placed at the supply end.
  • the system further includes: a transport walking platform, wherein the transport walking platform is The mobile transport device 2 provides a mobile support platform.
  • the transport walking platform may be any one of a ground, a track, and a platform.
  • the transport walking platform can also be other types of platforms or devices.
  • the system may further comprise a drop end, the receiving end receiving the item to be sorted conveyed by the mobile transport device 2, the bottom of the falling end and the bottom
  • the bottoms of the mobile transport device 2 may be in the same plane or in different planes.
  • the drop end may be a cage, and of course other types of containers capable of receiving the item to be sorted.
  • the falling end is generally placed below the landing opening of the platform, and the goods to be sorted are received by receiving the goods of the falling object.
  • the bottom of the falling end is in the same plane as the bottom of the mobile transport device 2, so that no high platform is required, which saves construction costs.
  • the falling end can be arbitrarily placed, so that the flexible placing manner can meet the needs of different types of installation sites.
  • a position identifier can be established for each drop end, so that the mobile transport device 2 can find the corresponding drop according to the position information of the destination corresponding to the task. end.
  • a matrix two-dimensional code identification may be set on a plane of the item sorting platform with security function, different two-dimensional codes represent different geographical locations, and the mobile transportation device 2 recognizes the two-dimensional code. Reach the preset position.
  • a location tag capable of automatically transmitting a signal (eg, a wireless signal) is mounted inside the drop end, and the mobile transport device 2 automatically routes the path to the drop end through the wireless signal.
  • the mobile transport device 2 transports the goods at the drop end
  • the current latest position of the drop end is automatically recorded, and the latest position is reported to the task server, or the latest position is transmitted to the remaining mobile transport devices in a broadcast manner.
  • the item delivery point of the mobile transport device 2 and the drop end have a preset height difference. Therefore, it is ensured that the parcel and other articles use the self-gravity and the above-mentioned height difference to realize the parcel sorting task by delivering the parcel to the destination end.
  • the height difference can be implemented in different ways. For example, a high platform (for example, a steel frame platform) can be used. When the mobile transport device 2 is operated above the platform, the falling end of the connecting parcel is located below the platform.
  • the correspondence between the destination and the drop end of the item to be sorted may be any one of one-to-one, many-to-one, one-to-many, and many-to-many.
  • the system further includes: a controller, the control The device is communicatively coupled to the item inspection device and the mobile transportation device 2.
  • the controller can be a server with scheduling and control functions, or other devices with control functions.
  • the controller obtains the running status of all devices in the system and uniformly allocates resources.
  • the controller acquires the item information of the item to be sorted, and assigns task or scheduling information to the mobile transportation device 2 based on the item information.
  • the mobile transport device 2 adopts a differential operation mode when carrying the articles through the security inspection machine and realizing the object sorting task, that is, the mobile transport device 2 passes the security inspection machine at a low speed when carrying the articles, thereby ensuring the quality of the security inspection, and the mobile transportation device 2 carries the articles at a high speed. Carrying out the parcel delivery, thereby improving the sorting efficiency of the article.
  • the mobile transport device 2 before the arrival of the security inspection machine 1, the mobile transport device 2 moves at a first speed, and arrives at the security inspection machine 1 Thereafter, the mobile transport device 2 moves at a second speed on the security drive.
  • the second speed may be determined by the controller after being determined according to the current resource, and may be sent to the mobile transport device 2, or the security checker 1 may determine according to the actual security check speed, or the mobile transport device 2 may specifically determine according to the received command. .
  • the mobile transport device 2 receives the speed command sent by the security checker 1 and determines the second speed based on the command.
  • the security check of the article has two methods, namely, a front security check and a post security check.
  • the security checker 1 is placed in front of or behind the article information identification device, and the mobile transport device 2 After receiving the item to be sorted from the supplier end, the security machine 1 is entered.
  • the security inspection machine 1 is arranged to detect whether the item to be sorted on the mobile transportation device 2 is safe and send the detection result to the mobile transportation device 2; when the item to be sorted is a security item, the The mobile transport device 2 continues to perform the sorting task; when the item to be sorted is a non-secure item, the mobile transport device 2 moves to the designated area.
  • the security inspection machine 1 sends the detection result to the mobile transportation device 2, and the security inspection machine 1 can directly send the detection result to the mobile transportation device 2, at which time the security inspection machine 1 and the mobile transportation device 2 are directly The status of the communication.
  • the security checker 1 can also send the detection result to the controller (for example, the dispatch server), and after the controller processes the detection result, the processed result (for example, the command mobile transport device 2 is moved to the designated The area is sent to the mobile transport device 2.
  • the controller for example, the dispatch server
  • the security checker 1 is placed before the drop end.
  • the supply end manually or automatically puts one or more items to be sorted onto the carrying device of the mobile transport device 2, and the mobile transport device 2 passes the item to be sorted at the item information identifying device.
  • the control system presets a correspondence between the destination of the item to be sorted and the drop end, and then the mobile transport device 2 carries the item to be sorted to the position of the security check machine, and the mobile transport device 2 Pass the security inspection machine at the speed required by the security inspection machine.
  • the mobile transportation The device 2 transports the item to be sorted to a designated place according to the principle of security inspection or delivers the item to be sorted to the designated drop end.
  • the security inspection machine 1 detects whether the item to be sorted on the mobile transportation device 2 is safe, and transmits the detection result to the mobile transportation device 2; when the item to be sorted is a security item, the mobile transportation The device 2 delivers the item to be sorted to the falling end; when the item to be sorted is a non-safe item, the moving transport device 2 moves to the designated area.
  • the security checker 1 sends the test result to the mobile transport device 2, and the security checker 1 can directly send the test result to the mobile transport device 2, at which time the security checker 1 and the mobile transport device 2 are directly The status of the communication.
  • the security checker 1 can also send the detection result to the controller (for example, the dispatch server), and after the controller processes the detection result, the processed result (for example, the command mobile transport device 2 is moved to the designated The area is sent to the mobile transport device 2.
  • the controller for example, the dispatch server
  • the mobile transport device 2 may further include a battery for driving the advancement of the mobile transport device 2, and in order to ensure that the mobile transport device 2 has sufficient power for the transport of the articles, according to a specific implementation of the embodiments, the control The device obtains the power usage information of the mobile transportation device 2, and when the remaining power of the mobile transportation device 2 satisfies a preset condition, the control system controls the mobile transportation device 2 to move to a preset area for charging.
  • the mobile transport device 2 can be navigated in a variety of ways. According to a specific implementation manner of the embodiment, the mobile transportation device 2 can perform navigation by recognizing a combination of graphics, and the graphic combination can be a two-dimensional code, and can be any combination of graphics combined by other graphics. The mobile transport device 2 determines the current geographic location information by identifying a combination of graphics. Alternatively, the mobile transport device 2 can be navigated by means of a Global Positioning System (GPS) or other means that can be used for positioning.
  • GPS Global Positioning System
  • the mobile transport device 2 can also adopt a system navigation manner, and the article sorting system with the security check function detects the current position coordinates of the mobile transport device 2 and passes the detected position coordinates of the mobile transport device 2
  • a common wired or wireless communication network e.g., Bluetooth, wifi, wireless communication, etc.
  • Bluetooth, wifi, wireless communication, etc. is sent to the mobile transportation device 2, and the navigation of the mobile transportation device 2 is guided by the movement tendency of the mobile transportation device 2 and related paths.
  • the mobile transport device 2 can also adopt autonomous navigation.
  • the mobile transport device 2 itself has a map reconstruction sensor (for example, a laser sensor). Through the map reconstruction sensor, the mobile transport device 2 can map the transportation environment. Reconstructing, and either moving the coordinate position of the transport device 2 in the map, by converting the destination coordinates received from the server to the position coordinates in the reconstructed map, the mobile transport device 2 transports the item to be sorted to the destination.
  • a map reconstruction sensor for example, a laser sensor.
  • the mobile transport device 2 can map the transportation environment. Reconstructing, and either moving the coordinate position of the transport device 2 in the map, by converting the destination coordinates received from the server to the position coordinates in the reconstructed map, the mobile transport device 2 transports the item to be sorted to the destination.
  • the security inspection machine 1 usually has a radiation protection security curtain.
  • the mobile transportation device 2 increases the anti-package sliding auxiliary device such as a fence on one side or multiple sides of the carrying device.
  • the embodiment of the present invention provides an item sorting method with a security check function, including steps S301 and S302.
  • a security inspection machine 1 having a security function is provided, and the security inspection machine 1 is provided with a detector, a security driving device and a security inspection channel.
  • a mobile transport device 2 is provided that is matched with the security check channel space, and the mobile transport device 2 uses the security drive device to move the received item to be sorted through the security check channel, and in the security check channel. Receiving a safe detection of the item to be sorted by the detector.
  • the security inspection machine 1 may include a detector that detects the sorted items waiting for the sorted items passing through the security baggage inspection machine to determine whether the articles transported on the mobile transportation device 2 are safe.
  • the mobile transport device 2 can be a wheeled robot of various types and shapes, each of which is used to load one or more items to be separated (eg, packages).
  • the destination information related to the item is carried in the destination address information code, and the destination address information code is set on the item to be inspected.
  • the mobile transport device 2 in the embodiment of the present invention is modified so that the mobile transport device 2 matches the security inspection channel, so that the mobile transport device can still be loaded with the article. Pass the security device 1.
  • the security inspection machine 1 is communicably connected to the mobile transportation device 2, and the mobile transportation device 2 sends its own identification to the security inspection machine before entering the security inspection channel. 1.
  • the item to be sorted on the mobile transport device is provided with an address information code related to the destination of the item to be sorted.
  • the method further includes:
  • a supply end is provided, and the item to be sorted is placed on the mobile transport device 2 at the supply end in a manual or automatic manner.
  • the mobile transport device 2 includes a carrying platform for receiving one or more items to be sorted.
  • the carrying platform is any one of a flap, a belt, a cross belt, and a drum.
  • the method further includes:
  • An article information identifying device is provided, the article information identifying device being provided with an article inspecting device capable of acquiring item information of the item to be sorted entering the article information identifying device.
  • the mobile transportation device 2 acquires the item information by the item inspection device at the item information identification device.
  • the item information includes a destination of the item to be sorted.
  • the item information identifying device is located at the supplier end.
  • the method further includes:
  • a transport walking platform is provided that provides a mobile support platform for the mobile transport device.
  • the transportation walking platform is any one of a ground, a track, and a platform.
  • the method further includes:
  • a drop end is provided, and the drop end is provided with an article storage device that receives the item to be sorted delivered by the mobile transport device 2.
  • the item delivery point of the mobile transport device 2 and the drop end have a preset height difference.
  • the mobile transport device 2 is in the same plane as the drop end.
  • the mobile transport device 2 and the drop end are located in different planes.
  • the correspondence between the destination and the drop end may be any one of one-to-one, many-to-one, one-to-many, and many-to-many.
  • the method further includes:
  • a controller is provided, the controller being in communication with the item detecting device and the mobile transport device 2.
  • the controller acquires the item information of the item to be sorted, and assigns task or scheduling information to the mobile transportation device 2 based on the item information.
  • the mobile transport device 2 moves at a first speed before reaching the security checker 1.
  • the mobile transport device 2 moves at a second speed on the security drive.
  • the mobile transport device 2 receives the speed command sent by the security checker 1 and determines the second speed based on the command.
  • the security inspection machine 1 is placed in front of or behind the item information identification device, and the mobile transportation device 2 enters the security inspection after receiving the item to be sorted from the supplier end. Machine 1.
  • the security inspection machine 1 detects whether the item to be sorted on the mobile transportation device 2 is safe, and sends the detection result to the mobile transportation device 2;
  • the mobile transport device 2 continues to perform the sorting task
  • the mobile transport device 2 moves to a designated area.
  • the security machine 1 is placed before the drop end.
  • the security inspection machine 1 detects whether the item to be sorted on the mobile transportation device 2 is safe, and sends the detection result to the mobile transportation device 2;
  • the mobile transport device 2 delivers the item to be sorted to the falling end;
  • the mobile transport device 2 moves to a designated area.
  • the controller acquires the power usage information of the mobile transportation device 2, and when the remaining power of the mobile transportation device 2 meets a preset condition, the control method controls the The mobile transport device 2 moves to a preset area for charging.
  • the mobile transport device 2 navigates by recognizing a graphical combination or system or an autonomous manner.
  • an anti-package slip assist device is disposed on one or more sides of the outer side of the carrying platform.
  • 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.

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Abstract

一种带有安检功能的物品分拣系统，包括：安检机（1），安检机（1）上设置有探测器、安检驱动装置及安检通道；与安检通道空间匹配的移动运输装置（2），移动运输装置（2）设置为利用安检驱动装置将接收到的待分拣物品移动通过安检通道，并在安检通道内接受探测器对待分拣物品的安全探测。

Description

带有安检功能的物品分拣系统
本申请要求在2017年12月06日提交中国专利局、申请号为201711283191.7的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本文涉及智能物流技术领域，例如涉及带有安检功能的物品分拣系统。
背景技术
随着电子商务快速发展，网络购物日益火爆，跨地域日益频繁的快递物流存在众多安全隐患，犯罪分子利用快递物流行业管理缺陷进行犯罪的案件数量也呈逐年攀升趋势。因此，如何加强城区域快递物流业的治安管理已成为了社会管理关注的重点。
安检机是借助于皮带输送机将被检查行李送入X射线检查通道而完成检查的电子设备，已被广泛应用于火车站、汽车站、机场、海关、港口、物流、仓库等重要场所，对行李包裹，大中型箱包、手提箱、托运物品等较大物品进行检测。相关技术中将市面上常见的安检机用于快递物流等场景，无法实现包裹分拣的功能，且行李包裹较多时会造成输送过程中堆积；堆积的行李包裹一起涌入检测通道内，若发现不符合安全要求的行李包裹，不易查找。相关技术还存在将交叉带分拣机等包裹分拣系统与安检设备相结合，在包裹入口处或特定点位安装安检设备，可同时实现包裹分拣和包裹安检两大功能。然而交差带分拣机等包裹分拣系统属于串行系统，因此其与安检机结合的系统为保证安检质量，包裹需低速通过安检机，这使得整个交叉带分拣机等包裹分拣系统运行速度大大降低，包裹分拣效率大大折扣；若某个包裹不符合安全要求需要人员处理时，整个系统都会暂停。
因此，如何高效率、低成本、灵活准确的进行包裹分拣，且同时实现安检功能，一直是快递物流等行业关注的重点。
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。
本文实施例提供一种带有安检功能的物品分拣系统。
本文实施例提供了一种带有安检功能的物品分拣系统，包括：安检机，所述安检机上设置有探测器、安检驱动装置及安检通道；与所述安检通道空间匹配的移动运输装置，所述移动运输装置利用所述安检驱动装置将接收到的待分拣物品移动通过所述安检通道，并在所述安检通道内接受所述探测器对所述待分拣物品的安全探测或者，所述物品分拣系统包括：安检机，所述安检机设置有探测器及安检通道；与所述安检通道的空间匹配的移动运输装置，所述移动运输装置设置为将接收到的待分拣物品移动通过所述安检通道，并在所述安检通道内接受所述探测器对所述待分拣物品的安全探测。
根据本文实施例的一种具体实现方式，所述安检机与所述移动运输装置通信连接，所述移动运输装置在进入所述安检通道之前，将自身的标识发送给所述安检机。
根据本文实施例的一种具体实现方式，所述移动运输装置上的待分拣物品上设有与所述待分拣物品的目的地相关的地址信息码。
根据本文实施例的一种具体实现方式，所述系统还包括：
供件端，所述待分拣物品在所述供件端以手动或自动的方式放置在所述移动运输装置上。
根据本文实施例的一种具体实现方式，所述移动运输装置包括承载平台，所述承载平台用于接收一个或多个待分拣物品。
根据本文实施例的一种具体实现方式，所述承载平台为翻板、皮带、交叉带、滚筒中的任意一种。
根据本文实施例的一种具体实现方式，所述系统还包括：
物品信息识别装置，所述物品信息识别装置设置有物品检验装置，所述物品检验装置能够获取所述物品信息识别装置的待分拣物品的物品信息。
根据本文实施例的一种具体实现方式，所述移动运输装置在所述物品信息识别装置通过所述物品检验装置获取所述物品信息。
根据本文实施例的一种具体实现方式，所述物品信息包括待分拣物品的目的地。
根据本文实施例的一种具体实现方式，所述物品信息识别装置位于所述供件端。
根据本文实施例的一种具体实现方式，所述系统还包括：
运输行走平台，所述运输行走平台为所述移动运输装置提供移动支撑平台。
根据本文实施例的一种具体实现方式，所述运输行走平台为地面、轨道或搭建平台中的任意一种。
根据本文实施例的一种具体实现方式，所述系统还包括：
落件端，所述落件端设有物品收纳装置，所述物品收纳装置接收所述移动运输装置投递的待分拣物品。
根据本文实施例的一种具体实现方式，所述移动运输装置的物品投递点与所述落件端之间具有预设高度差。
根据本文实施例的一种具体实现方式，所述移动运输装置与所述落件端位于同一平面。
根据本文实施例的一种具体实现方式，所述移动运输装置与所述落件端位于不同平面。
根据本文实施例的一种具体实现方式，所述目的地与落件端的对应关系可以为一对一、多对一、一对多和多对多中任意一种。
根据本文实施例的一种具体实现方式，所述系统还包括：
控制器，所述控制器与所述物品检测装置及所述移动运输装置通信连接。
根据本文实施例的一种具体实现方式，所述控制器获取所述待分拣物品的物品信息，并基于所述物品信息向所述移动运输装置分配任务或调度信息。
根据本文实施例的一种具体实现方式，在到达所述安检机之前，所述移动运输装置以第一速度移动。
根据本文实施例的一种具体实现方式，在到达所述安检机之后，所述移动运输装置在所述安检驱动装置上以第二速度移动。
根据本文实施例的一种具体实现方式，所述移动运输装置接收所述安检机发送的速度指令，并基于所述指令来确定所述第二速度。
根据本文实施例的一种具体实现方式，所述安检机放置于所述物品信息识别装置的前面或后面，所述移动运输装置从供件端接收待分拣物品之后，进入所述安检机。
根据本文实施例的一种具体实现方式，所述安检机检测所述移动运输装置上的待分拣物品是否安全，并将检测结果发送至所述移动运输装置；
当所述待分拣物品为安全物品时，所述移动运输装置继续执行分拣任务；
当所述待分拣物品为非安全物品时，所述移动运输装置移动至指定区域。
根据本文实施例的一种具体实现方式，所述安检机放置于所述落件端之前。
根据本文实施例的一种具体实现方式，所述安检机检测所述移动运输装置上的待分拣物品是否安全，并将检测结果发送至所述移动运输装置；
当所述待分拣物品为安全物品时，所述移动运输装置将待分拣物品投递至所述落件端；
当所述待分拣物品为非安全物品时，所述移动运输装置移动至指定区域。
根据本文实施例的一种具体实现方式，所述控制器获取所述移动运输装置的电量使用信息，当所述移动运输装置的剩余电量满足预设条件时，所述控制系统控制所述移动运输装置移动至预设区域进行充电。
根据本文实施例的一种具体实现方式，所述移动运输装置通过识别图形组合进行导航。
根据本文实施例的一种具体实现方式，所述移动运输装置通过系统或自主方式进行导航。
根据本文实施例的一种具体实现方式，所述承载平台的外围一侧或多侧设置有防包裹滑落辅助装置。
本文实施例提供的带有安检功能的物品分拣系统，该物品分拣系统本质上是并行的分拣系统，可以避免因个别物品(如包裹)安检不合格造成系统暂停；此外移动运输装置(如机器人)承载包裹经过安检机和实现包裹分拣任务时采用差速运行方式(移动运输装置承载包裹以低速通过安检机，从而保证安检质量；移动运输装置承载包裹以高速进行包裹投递，从而提高包裹分拣效率)可有效保证安检质量且大幅提高包裹分拣效率。
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。
图1为相关技术中的物品分拣系统示意图；
图2为本文一实施例提供的一种带有安检功能的物品分拣系统的示意图；
图3为本文一实施例提供的一种带有安检功能的物品分拣流程示意图。
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。
图1为相关技术中物品分拣系统的示意图，参见图1，该系统中交叉带分拣机等包裹分拣系统与安检设备相结合，在包裹入口处或特定点位安装安检设备，可同时实现包裹分拣和包裹安检两大功能。然而交差带分拣机等包裹分拣系统属于串行系统，其与安检机结合的系统为保证安检质量，包裹需低速通过安检机，这使得整个交叉带分拣机等包裹分拣系统运行速度大大降低，包裹分拣效率大大折扣；若某个包裹不符合安全要求需要人员处理时，整个系统都会暂停。
基于此，如何高效率、低成本、灵活准确的进行包裹分拣，且同时实现安检功能，一直是快递物流等行业关注的重点。
本文将提出一种包裹分拣及安检的机器人系统和方法，该包裹分拣机器人系统本质上是并行的分拣系统，可以避免因个别包裹不符合安全要求造成系统暂停；此外包裹分拣机器人承载包裹经过安检机和实现包裹分拣任务时采用差速运行方式(包裹分拣机器人承载包裹以低速通过安检机，从而保证安检质量；包裹分拣机器人承载包裹以高速进行包裹投递，从而提高包裹分拣效率)，可有效保证安检质量且大幅提高包裹分拣效率。本文提供的全新的、包裹分拣及安检的机器人系统和方法，可有效实现包裹安检、高效分拣的功能，且兼具柔性包裹分拣机器人系统的优点。
参见图2，本文实施例提供了一种带有安检功能的物品分拣系统，包括：安检机1，所述安检机1上设置有探测器、安检驱动装置及安检通道；与所述安检通道空间匹配的移动运输装置2，所述移动运输装置2利用所述安检驱动装置将接收到的待分拣物品移动通过所述安检通道，并在所述安检通道内接受所述探测器对所述待分拣物品的安全探测。
安检机1可以包括探测器，所述探测器对经过安检机的行李包裹等待分拣 物品进行探测，进而判断移动运输装置2上面运送的物品是否安全。
移动运输装置2可以是各种类型和形状的轮式机器人，所述移动运输装置2用于装载一个或多个待分捡物品(例如，包裹)。与物品相关的所述目的地信息承载在目的地址信息码中，目的地址信息码设置在所述待分检物品上。与传统的通过安检设备的移动运输装置不同的是，本文实施例中的移动运输装置2经过改造，使得移动运输装置2与安检通道相匹配，这样移动运输装置在装载物品的情况下，仍能够通过安检设备1。
系统中可以存在多个安检机1及多个移动运输装置2，为了保证安检机1和移动运输设备2能够有效的配合，根据本文实施例的一种具体实现方式，所述安检机1与所述移动运输装置2通信连接，所述移动运输装置2在进入所述安检通道之前，将自身的标识发送给所述安检机1。这样一来，安检机能够通过网络3来调用或识别通过或即将通过其自身的移动运输装置2。
移动运输装置2上面可以运输一个或多个待分拣物品，为了保证待分拣物品能够有效的传送到目的地，根据本发明实施例的一种具体实现方式，所述移动运输装置2上的待分拣物品上设有与所述待分拣物品的目的地相关的地址信息码。例如该地址信息码所代表的信息可以是“北京市朝阳区xx街道xx小区，王小明收”。
为了便于移动运输装置获取待分拣物品，根据本文实施例的一种具体实现方式，系统还可以包括供件端，所述供件端提供一个或多个待分拣物品，所述供件端形成第一区域。供件端上装载了需要分拣的物品(待分拣物品)，此处的物品可以是需要运输的物流包裹，也可以是其他需要分拣和配送的物品或商品。在供件端，可以采用人工或自动化的方式将需要运输的待分拣物品放置到移动运输装置2上。
移动运输装置2上面可以设置承载平台，所述承载平台用于接收一个或多个待分拣物品。根据本文实施例的一种具体实现方式，所述承载平台为翻板、皮带、交叉带和滚筒中的任意一种，当然，也可以根据需要将承载平台设置为其他常见或需要的类型。除此之外，承载平台上还可以包括升降装置，通过该升降装置，移动运输装置2可以将需要运输的对象(例如，装有待分拣物品的货架)通过举升的方式放置在移动运输装置2的承载平台上，需要运输的对象被举升之后，能够离开原来放置的平面(例如，地面)，并随着移动运输装置2 一起移动。移动运输装置2可以通过举升的方式带着该对象通过安检机进行安检。
移动运输装置2从供件端获得待分拣物品时，需要告诉移动运输装置2所运输的待分拣物品的运输目的地，根据本文实施例的一种具体实现方式，物品信息识别装置还可以装有物品检验装置，所述物品检验装置用于获取进入与所述物品检验装置对应的所述物品信息识别装置中的待分捡物品的物品信息，所述物品信息包括所述待分捡物品的目的地。作为一个应用场景，物品信息识别装置置于供件端。
整个系统可以根据需要设置在不同的应用场景中，为了便于移动运输装置2进行物品运送，根据本文实施例的一种具体实现方式，所述系统还包括：运输行走平台，所述运输行走平台为所述移动运输装置2提供移动支撑平台。所述运输行走平台可以是为地面、轨道和搭建平台中的任意一种。当然运输行走平台也可以是其他类型的平台或装置。
为了便于移动运输装置2进行待分拣物品的运输，系统还可以包括落件端，所述落件端在接收所述移动运输装置2运送的待分拣物品，所述落件端的底部与所述移动运输装置2的底部可以是位于同一平面，也可以位于不同的平面。
根据本文实施例的一种具体实现方式，落件端可以是一个笼车，当然也可以是其他类型的能够接收待分拣物品的容器。例如在高平台方案中，落件端一般放置在平台落物口的下方，通过接收落物口的货物，进而完成待分拣货物的接收。或者作为另外一种方式，落件端的底部与移动运输装置2的底部在同一个平面，这样就不用再架设高平台，节约了建设成本。同时当需要调整落件端的位置时，落件端可以任意放置，这样灵活的放置方式，能够满足不同类型的安装场地的需要。
为了保证移动运输装置2能够找到对应的落件端，可以给每个落件端建立一个位置标识，这样移动运输装置2就可以根据其执行任务对应的目的地的位置信息来找到相应的落件端。在一实施例中，可以在带有安检功能的物品分拣平台的平面上设置矩阵式的二维码标识，不同的二维码代表不同的地理位置，移动运输装置2通过识别二维码来到达预设位置。或者，落件端内部安装有能够自动发射信号(例如无线信号)位置标签，移动运输装置2通过该无线信号，自动规划路径至落件端。
当移动运输装置2在落件端运输完货物后，会自动记录落件端的当前最新位置，并将该最新位置上报给任务服务器，或者以广播的方式将该最新位置传递给其余的移动运输装置2。
根据本文实施例的一种具体实现方式，所述移动运输装置2的物品投递点与所述落件端之间具有预设高度差。从而保证包裹等物品利用自身重力和上述高度差、通过向目的落件端投递包裹的方式实现包裹分拣任务。上述高度差的实现可以采用不同方式，例如可以采用搭建高平台(例如钢架平台)的方式，当移动运输装置2在平台上方运行，接驳包裹的落件端位于平台下方。
为了便于调度及优化运输资源，待分拣物品的目的地与落件端的对应关系可以为一对一、多对一、一对多和多对多中的任意一种。
在系统中存在多个安检机和移动运输装置的情况下，为了优化运输资源以及提高物品分拣效率，根据本文实施例的一种具体实现方式，所述系统还包括：控制器，所述控制器与所述物品检验装置及所述移动运输装置2通信连接。该控制器可以是一个具有调度及控制功能的服务器，也可以是其他具有控制功能的设备。控制器获取系统中所有设备的运行状态，并统一进行资源的调配。根据本文实施例的一种具体实现方式，所述控制器获取所述待分拣物品的物品信息，并基于所述物品信息向所述移动运输装置2分配任务或调度信息。
移动运输装置2承载物品经过安检机和实现物品分拣任务时采用差速运行方式，即：移动运输装置2承载物品时以低速通过安检机，从而保证安检质量，移动运输装置2承载物品以高速进行包裹投递，从而提高物品分拣效率，根据本文实施例的一种具体实现方式，在到达所述安检机1之前，所述移动运输装置2以第一速度移动，在到达所述安检机1之后，所述移动运输装置2在所述安检驱动装置上以第二速度移动。
第二速度可以是控制器根据当前的资源确定后，发送给移动运输装置2，也可以是安检机1根据实际的安检速度来确定，也可以是移动运输装置2根据接收到的指令来具体确定。根据本文实施例的一种具体实现方式，所述移动运输装置2接收所述安检机1发送的速度指令，并基于所述指令来确定所述第二速度。
实现物品安检有前置安检和后置安检两种方式，作为前置安检的一种具体实现方式，所述安检机1放置于所述物品信息识别装置的前面或后面，所述移 动运输装置2从供件端接收待分拣物品之后，进入所述安检机1。所述安检机1设置为检测所述移动运输装置2上的待分拣物品是否安全，并将检测结果发送至所述移动运输装置2；当所述待分拣物品为安全物品时，所述移动运输装置2继续执行分拣任务；当所述待分拣物品为非安全物品时，所述移动运输装置2移动至指定区域。
对于前置安检，安检机1将检测结果发送至所述移动运输装置2的过程中，安检机1可以直接将检测结果发送给移动运输装置2，此时安检机1和移动运输装置2处于直接通信的状态。除此之外，安检机1也可以将检测结果发送给控制器(例如，调度服务器)，控制器对该检测结果进行处理后，将处理后的结果(例如，命令移动运输装置2移动到指定区域)发送给移动运输装置2。
作为后置安检的一种具体实现方式，所述安检机1放置于所述落件端之前。此时，供件端采用人工方式或自动化方式将一个或多个待分拣物品放到移动运输装置2的承载装置上，移动运输装置2在物品信息识别装置处，通过待分拣物品检验装置获取目的地等待分拣物品相关信息；控制系统预设待分拣物品目的地与落件端的对应关系，之后，移动运输装置2将承载待分拣物品搬运至安检机所在位置，移动运输装置2以安检机要求的速度通过安检机，如果待分拣物品符合安全要求，则继续执行待分拣物品分拣功能；若该待分拣物品不符合安全要求或疑似不符合安全要求，则移动运输装置2根据安检处理原则将待分拣物品运送指定地点或将待分拣物品投递至指定落件端。所述安检机1检测所述移动运输装置2上的待分拣物品是否安全，并将检测结果发送至所述移动运输装置2；当所述待分拣物品为安全物品时，所述移动运输装置2将待分拣物品投递至所述落件端；当所述待分拣物品为非安全物品时，所述移动运输装置2移动至指定区域。
对于后置安检，安检机1将检测结果发送至所述移动运输装置2的过程中，安检机1可以直接将检测结果发送给移动运输装置2，此时安检机1和移动运输装置2处于直接通信的状态。除此之外，安检机1也可以将检测结果发送给控制器(例如，调度服务器)，控制器对该检测结果进行处理后，将处理后的结果(例如，命令移动运输装置2移动到指定区域)发送给移动运输装置2。
移动运输装置2上面还可以包括一个电池，用于驱动移动运输装置2的前进，为了保证移动运输装置2会有充足的电量进行物品运输，根据本文实施例 的一种具体实现方式，所述控制器获取所述移动运输装置2的电量使用信息，当所述移动运输装置2的剩余电量满足预设条件时，所述控制系统控制所述移动运输装置2移动至预设区域进行充电。
移动运输装置2可以采用多种方式进行导航。根据本文实施例的一种具体实现方式，移动运输装置2可以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。移动运输装置2通过识别图形组合来判断当前的地理位置信息。或者，移动运输装置2可以通过全球定位系统(Global Positioning System，GPS)或其他可以用来进行定位的方式来进行导航。
除此之外，移动运输装置2还可以采用系统导航的方式，带有安检功能的物品分拣系统通过检测移动运输装置2当前的位置坐标，并将检测到的移动运输装置2的位置坐标通过常见的有线或无线通信网络(例如蓝牙、wifi、无线通信等)发送给移动运输装置2，通过移动运输装置2的移动趋势及相关路径，引导移动运输装置2的导航。
在一些应用场景下，移动运输装置2还可以采用自主导航的方式，移动运输装置2自身带有地图重建传感器(例如，激光传感器)，通过地图重建传感器，移动运输装置2能够对运输环境进行地图重建，并或者移动运输装置2在该地图中的坐标位置，通过将从服务器接收到的目的地坐标转化为重建地图中的位置坐标，移动运输装置2将待分拣物品运送至目的地。
安检机1通常具有防辐射的安检帘，为防止移动运输装置2承载包裹通过安检帘时造成包裹滑落，移动运输装置2在承载装置外围一侧或多侧增加围栏等防包裹滑落辅助装置。
与上述系统相对应，参见图3，本文实施例提供了一种带有安检功能的物品分拣方法，包括步骤S301和步骤S302。
S301，设置具有安检功能的安检机1，所述安检机1上设置有探测器、安检驱动装置及安检通道。
S302，设置与所述安检通道空间匹配的移动运输装置2，所述移动运输装置2利用所述安检驱动装置将接收到的待分拣物品移动通过所述安检通道，并在所述安检通道内接受所述探测器对所述待分拣物品的安全探测。
安检机1可以包括探测器，所述探测器对经过安检机的行李包裹等待分拣 物品进行探测，进而判断移动运输装置2上面运送的物品是否安全。
移动运输装置2可以是各种类型和形状的轮式机器人，所述移动运输装置2均用于装载一个或多个待分捡物品(例如，包裹)。与物品相关的所述目的地信息承载在目的地址信息码中，目的地址信息码设置在所述待分检物品上。与传统的通过安检设备的移动运输装置不同的是，本文实施例中的移动运输装置2经过改造，使得移动运输装置2与安检通道相匹配，这样移动运输装置在装载物品的情况下，仍能够通过安检设备1。
根据本文实施例的一种具体实现方式，所述安检机1与所述移动运输装置2通信连接，所述移动运输装置2在进入所述安检通道之前，将自身的标识发送给所述安检机1。
根据本文实施例的一种具体实现方式，所述移动运输装置上的待分拣物品上设有与所述待分拣物品的目的地相关的地址信息码。
根据本文实施例的一种具体实现方式，所述方法还包括：
设置供件端，所述待分拣物品在所述供件端以手动或自动的方式放置在所述移动运输装置2上。
根据本文实施例的一种具体实现方式，所述移动运输装置2包括承载平台，所述承载平台用于接收一个或多个待分拣物品。
根据本文实施例的一种具体实现方式，所述承载平台为翻板、皮带、交叉带、滚筒中的任意一种。
根据本文实施例的一种具体实现方式，所述方法还包括：
设置物品信息识别装置，所述物品信息识别装置设置有物品检验装置，所述物品检验装置能够获取进入所述物品信息识别装置的待分拣物品的物品信息。
根据本文实施例的一种具体实现方式，所述移动运输装置2在所述物品信息识别装置处，通过所述物品检验装置获取所述物品信息。
根据本文实施例的一种具体实现方式，所述物品信息包括待分拣物品的目的地。
根据本文实施例的一种具体实现方式，所述物品信息识别装置位于所述供件端。
根据本文实施例的一种具体实现方式，所述方法还包括：
设置运输行走平台，所述运输行走平台为所述移动运输装置提供移动支撑 平台。
根据本文实施例的一种具体实现方式，所述运输行走平台为地面、轨道和搭建平台中的任意一种。
根据本文实施例的一种具体实现方式，所述方法还包括：
设置落件端，所述落件端设有物品收纳装置，所述物品收纳装置接收所述移动运输装置2投递的待分拣物品。
根据本文实施例的一种具体实现方式，所述移动运输装置2的物品投递点与所述落件端之间具有预设高度差。
根据本文实施例的一种具体实现方式，所述移动运输装置2与所述落件端位于同一平面。
根据本文实施例的一种具体实现方式，所述移动运输装置2与所述落件端位于不同平面。
根据本文实施例的一种具体实现方式，所述目的地与落件端的对应关系可以为一对一、多对一、一对多和多对多中任意一种。
根据本文实施例的一种具体实现方式，所述方法还包括：
设置控制器，所述控制器与所述物品检测装置及所述移动运输装置2通信连接。
根据本文实施例的一种具体实现方式，所述控制器获取所述待分拣物品的物品信息，并基于所述物品信息向所述移动运输装置2分配任务或调度信息。
根据本文实施例的一种具体实现方式，在到达所述安检机1之前，所述移动运输装置2以第一速度移动。
根据本文实施例的一种具体实现方式，在到达所述安检机1之后，所述移动运输装置2在所述安检驱动装置上以第二速度移动。
根据本文实施例的一种具体实现方式，所述移动运输装置2接收所述安检机1发送的速度指令，并基于所述指令来确定所述第二速度。
根据本文实施例的一种具体实现方式，所述安检机1放置于所述物品信息识别装置的前面或后面，所述移动运输装置2从供件端接收待分拣物品之后，进入所述安检机1。
根据本文实施例的一种具体实现方式，所述安检机1检测所述移动运输装置2上的待分拣物品是否安全，并将检测结果发送至所述移动运输装置2；
当所述待分拣物品为安全物品时，所述移动运输装置2继续执行分拣任务；
当所述待分拣物品为非安全物品时，所述移动运输装置2移动至指定区域。
根据本文实施例的一种具体实现方式，所述安检机1放置于所述落件端之前。
根据本文实施例的一种具体实现方式，所述安检机1检测所述移动运输装置2上的待分拣物品是否安全，并将检测结果发送至所述移动运输装置2；
当所述待分拣物品为安全物品时，所述移动运输装置2将待分拣物品投递至所述落件端；
当所述待分拣物品为非安全物品时，所述移动运输装置2移动至指定区域。
根据本文实施例的一种具体实现方式，所述控制器获取所述移动运输装置2的电量使用信息，当所述移动运输装置2的剩余电量满足预设条件时，所述控制方法控制所述移动运输装置2移动至预设区域进行充电。
根据本文实施例的一种具体实现方式，所述移动运输装置2通过识别图形组合或系统或自主方式进行导航。
根据本文实施例的一种具体实现方式，所述承载平台的外围一侧或多侧设置有防包裹滑落辅助装置。
上述方法实施例及其实施方式中的内容与设备实施例中的内容相对应，在此不再赘述。
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。
包括技术和科学术语的在这里使用的术语具有与本领域技术人员通常理解的术语相同的含义，只要不是不同地限定该术语。应当理解在通常使用的词典中限定的术语具有与现有技术中的术语的含义一致的含义。
以上所述，仅为本文的具体实施方式，但本文的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本文揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本文的保护范围之内。因此，本文的保护范围应以权利要求的保护范围为准。

Claims (30)

  1. 一种带有安检功能的物品分拣系统，所述物品分拣系统包括：
    安检机，所述安检机上设置有探测器、安检驱动装置及安检通道；
    与所述安检通道的空间匹配的移动运输装置，所述移动运输装置设置为在所述安检驱动装置上将接收到的待分拣物品移动通过所述安检通道，并在所述安检通道内接受所述探测器对所述待分拣物品的安全探测；或者，
    所述物品分拣系统包括：
    安检机，所述安检机设置有探测器及安检通道；
    与所述安检通道的空间匹配的移动运输装置，所述移动运输装置设置为将接收到的待分拣物品移动通过所述安检通道，并在所述安检通道内接受所述探测器对所述待分拣物品的安全探测。
  2. 根据权利要求1所述的系统，其中，
    所述安检机与所述移动运输装置通信连接，所述移动运输装置设置为在进入所述安检通道之前，将所述移动运输装置的标识发送给所述安检机。
  3. 根据权利要求1所述的系统，其中，
    所述移动运输装置上的所述待分拣物品上设有与所述待分拣物品的目的地相关的地址信息码。
  4. 根据权利要求1所述的系统，所述系统还包括：
    供件端，所述待分拣物品在所述供件端以手动或自动的方式放置在所述移动运输装置上。
  5. 根据权利要求4所述的系统，其中，
    所述移动运输装置包括承载平台，所述承载平台用于接收一个或多个待分拣物品。
  6. 根据权利要求5所述的系统，其中，
    所述承载平台为翻板、皮带、交叉带和滚筒中的任意一种。
  7. 根据权利要求4所述的系统，所述系统还包括：
    物品信息识别装置，所述物品信息识别装置设置有物品检验装置，所述物品检验装置设置为获取进入所述物品信息识别装置中的所述待分拣物品的物品信息。
  8. 根据权利要求7所述的系统，其中，所述移动运输装置设置为在所述物品信息识别装置处，通过所述物品检验装置获取所述物品信息。
  9. 根据权利要求7所述的系统，其中，
    所述物品信息包括待分拣物品的目的地。
  10. 根据权利要求7所述的系统，其中，所述物品信息识别装置位于所述供件端。
  11. 根据权利要求1所述的系统，所述系统还包括：
    运输行走平台，所述运输行走平台为所述移动运输装置提供移动支撑平台。
  12. 根据权利要求11所述的系统，其中，所述运输行走平台为地面、轨道和搭建平台中的任意一种。
  13. 根据权利要求9所述的系统，所述系统还包括：
    落件端，所述落件端设有物品收纳装置，所述物品收纳装置设置为接收所述移动运输装置投递的所述待分拣物品。
  14. 根据权利要求13所述的系统，其中，
    所述移动运输装置的物品投递点与所述落件端之间具有预设高度差。
  15. 根据权利要求13所述的系统，其中，
    所述移动运输装置与所述落件端位于同一平面。
  16. 根据权利要求13所述的系统，其中，
    所述移动运输装置与所述落件端位于不同平面。
  17. 根据权利要求13所述的系统，其中，
    所述目的地与所述落件端的对应关系为一对一、多对一、一对多和多对多中的任意一种。
  18. 根据权利要求1所述的系统，所述系统还包括：
    控制器，所述控制器与所述物品检测装置及所述移动运输装置分别通信连接。
  19. 根据权利要求18所述的系统，其中，
    所述控制器设置为获取所述待分拣物品的物品信息，并根据所述物品信息向所述移动运输装置分配任务或调度信息。
  20. 根据权利要求1所述的系统，其中，所述移动运输装置设置为在到达所述安检机之前，以第一速度移动。
  21. 根据权利要求20所述的系统，其中，
    所述移动运输装置还设置为在到达所述安检机之后，在所述安检驱动装置 上以第二速度移动。
  22. 根据权利要求21所述的系统，其中，
    所述移动运输装置设置为接收所述安检机发送的速度指令，并根据所述指令来确定所述第二速度。
  23. 根据权利要求7所述的系统，其中，所述安检机放置于所述物品信息识别装置的前面或后面，所述移动运输装置设置为从所述供件端接收所述待分拣物品之后，进入所述安检机。
  24. 根据权利要求23所述的系统，其中，
    所述安检机设置为检测所述移动运输装置上的待分拣物品是否安全，并将检测结果发送至所述移动运输装置；
    所述移动运输装置设置为当所述待分拣物品为安全物品时继续执行分拣任务；
    所述移动运输装置设置为当所述待分拣物品为非安全物品时移动至指定区域。
  25. 根据权利要求13所述的系统，其中，
    所述安检机放置于所述落件端之前。
  26. 根据权利要求25所述的系统，其中，其特征在于：
    所述安检机设置为检测所述移动运输装置上的待分拣物品是否安全，并将检测结果发送至所述移动运输装置；
    所述移动运输装置设置为当所述待分拣物品为安全物品时，所述移动运输装置将待分拣物品投递至所述落件端；
    所述移动运输装置设置为当所述待分拣物品为非安全物品时，所述移动运输装置将待分拣物品运送指定地点或将待分拣物品投递至指定落件端。
  27. 根据权利要求18所述的系统，其中，
    所述控制器设置为获取所述移动运输装置的电量使用信息，当所述移动运输装置的剩余电量满足预设条件时，控制所述移动运输装置移动至预设区域进行充电。
  28. 根据权利要求1所述的系统，其中，
    所述移动运输装置设置为通过识别图形组合进行导航。
  29. 根据权利要求1所述的系统，其中，
    所述移动运输装置设置为通过系统或自主方式进行导航。
  30. 根据权利要求5所述的系统，其中，
    所述承载平台的外围一侧或多侧设置有防包裹滑落辅助装置。
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