WO2019134673A1 - 包裹识别装置和包裹分拣装置 - Google Patents

包裹识别装置和包裹分拣装置 Download PDF

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Publication number
WO2019134673A1
WO2019134673A1 PCT/CN2019/070391 CN2019070391W WO2019134673A1 WO 2019134673 A1 WO2019134673 A1 WO 2019134673A1 CN 2019070391 W CN2019070391 W CN 2019070391W WO 2019134673 A1 WO2019134673 A1 WO 2019134673A1
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WO
WIPO (PCT)
Prior art keywords
package
parcel
identification
identification device
sorting
Prior art date
Application number
PCT/CN2019/070391
Other languages
English (en)
French (fr)
Inventor
朱恒斌
Original Assignee
北京京东尚科信息技术有限公司
北京京东世纪贸易有限公司
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 北京京东尚科信息技术有限公司, 北京京东世纪贸易有限公司 filed Critical 北京京东尚科信息技术有限公司
Priority to JP2020537172A priority Critical patent/JP7418335B2/ja
Priority to US16/959,902 priority patent/US20210078045A1/en
Publication of WO2019134673A1 publication Critical patent/WO2019134673A1/zh

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    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • B07C3/10—Apparatus characterised by the means used for detection ofthe destination
    • B07C3/14—Apparatus characterised by the means used for detection ofthe destination using light-responsive detecting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation

Definitions

  • the present disclosure relates to the field of parcel identification and sorting technology, and in particular to a parcel identification device and a parcel sorting device.
  • the designer finds that the prior art package identification device can only scan the package that has already been placed, and needs to manually place the package, so that the barcode is oriented to the scanning code device, and the efficiency is low.
  • the present disclosure provides a package identification device and a package sorting device, which are intended to automatically identify package information in a package information identification session.
  • a first aspect of the present disclosure discloses a package identifying device, the package identifying device comprising: a picking device, including a picking portion for taking and holding a package to be identified, and a first portion disposed on the picking portion An identification device, wherein the first identification device is configured to at least identify package information on a side of the to-be-identified package facing the pick-up portion; and a second identification device, the second identification device is disposed on the The exterior of the device is taken and used to identify at least the package information on the remaining sides of the package to be identified that face the side of the access portion.
  • the pick-up device is capable of causing the portion of the package to be identified held by the pick-up to change position so that the package information on the remaining sides can be recognized by the second identification device.
  • the pick-up portion is rotatable about its own axis and/or the pick-up portion is rotatable about the outer axis as a whole to cause the pick-up portion to change the position of the package to be identified.
  • the first identifying device is holding the holding position of the to-be-identified package for the pick-up portion; and/or the first identifying device is disposed at a middle portion of the pick-up portion .
  • the pick-up device includes a robot, and the pick-up portion is a robot that is coupled to an arm end of the robot.
  • the robot is a six-axis robot.
  • the second identification device comprises two external identification units, each of the external identification units being capable of separately identifying the package information, the first identification device and the two external identification units forming an acute angle The three vertices of the triangle.
  • the first identification device and/or the second identification device comprise a scanner for scanning an identification code.
  • a second aspect of the present disclosure provides a parcel sorting apparatus, comprising the parcel identification apparatus according to any one of the first aspect of the present disclosure, wherein the parcel identification apparatus is disposed at a sorting inlet of the parcel sorting apparatus to The sorting inlet takes the parcel and identifies the parcel information.
  • the parcel sorting apparatus includes a sorting platform and an automated guided transport cart disposed on the sorting platform, the sorting platform including the sorting inlet and a plurality of sorting outlets,
  • the automated guided transport vehicle receives the parcel taken by the pick-up device, and according to the above, the parcel information of the received parcel identified by the first identifying device and/or the second identifying device will be received
  • the package is shipped to a sorting outlet corresponding to the package information.
  • the first identification device disposed on the take-up portion of the take-up device of the package identification device can automatically identify the package on the side of the package to be identified facing the take-up portion.
  • the information, the second identification device disposed outside the pick-up device can automatically identify the package information on the remaining side of the package to be identified facing the side of the take-up portion, and therefore, the package identification device enables the package information during the package sorting process.
  • the identification process does not require manual participation to face the identification code of the package to the identification device, thereby realizing automatic identification of the package information.
  • the parcel sorting device applying the above-mentioned parcel identification device can realize automatic identification of parcel information, thereby facilitating automation of parcel sorting.
  • FIG. 1 is a schematic structural diagram of a package identification device according to an embodiment of the present disclosure.
  • spatially relative terms such as “above”, “above”, “on top”, “above”, etc., may be used herein to describe as in the drawings.
  • the exemplary term “above” can include both “over” and "under”.
  • the device can also be positioned in other different ways (rotated 90 degrees or at other orientations) and the corresponding description of the space used here is interpreted accordingly.
  • Embodiments of the present disclosure provide a package identification device and a package sorting device.
  • the package identification device comprises a pick-up device comprising a pick-up portion 4 for taking and holding the package 3 to be identified and a first identification device 2a disposed on the pick-up portion 4,
  • the first identification device 2a is for identifying at least the package information on the side of the package to be identified facing the take-up portion 4.
  • the package identification device further includes a second identification device disposed outside the pickup device and configured to at least identify package information on the remaining sides of the package to be identified that face the side of the take-up portion 4.
  • the first identification device 2a disposed on the take-up portion of the pick-up device of the package identification device can automatically identify the package information on the side of the package 3 to be identified facing the take-up portion 4, and is disposed outside the take-up device.
  • the second identification device can automatically identify the package information on the remaining side of the package 3 to be identified other than the side of the take-up portion, and the package identification device enables the package to be placed by the first identification device 2a in any manner in the package information identification step. And the second identification device recognizes that no manual participation is required to face the identification code of the package to the identification device, thereby realizing automatic identification of the package information.
  • the pick-up device is capable of changing the position of the package 3 to be identified held by the pick-up 4 so that the package information on the remaining sides can be recognized by the second identification device.
  • This setting facilitates the first recognition device 2a and the second identification device to achieve no dead angle scanning, thereby improving the success rate of the package information identification.
  • the parcel sorting apparatus of the embodiment of the present disclosure includes the foregoing parcel identification device, which can realize automatic identification of parcel information, thereby facilitating automation of parcel sorting.
  • the package identification device and the package sorting device of the present embodiment will be further described below with reference to FIG.
  • the pick-up device comprises a pick-up portion 4 for taking and holding the package 3 to be identified and a first identification device 2a.
  • the first identification device 2a is disposed on the take-up portion 4.
  • the first identification device 2a is capable of identifying the package information on the side of the package to be identified facing the take-up portion.
  • the take-up portion 4 is a robot. It may also be other devices having the function of taking and holding a package, such as a claw device, a hook device, a suction device, and the like.
  • an identification code for identification on the package 3 to be identified such as a two-dimensional code, a barcode, or the like.
  • the first identification device 2a can identify the package information on the side of the package 3 to be identified facing the take-up portion 4.
  • the second identification device can identify the package information of the remaining side on the package 3.
  • the pick-up device can change the position of the package 3 to be identified held by the take-up portion 4 so that the package information on the remaining sides can be recognized by the second identification device.
  • the identification information can be recognized by the first identification device 2a and the second identification device regardless of which side of the package 3 to be identified.
  • the identified package information can be sent to the controller, and the controller controls the subsequent steps of the package sorting corresponding to the package information according to the package information.
  • the first identification device 2a is holding the holding position of the package 3 to be identified for the take-up portion 4.
  • the take-up portion 4 takes the contact and holds the parcel 3 to be identified through contact, and the portion of the take-up portion 4 that is in contact with the parcel forms a holding place, and the holding position is a range of areas enclosed by the plurality of holding places.
  • the first identification device 2a is facilitating the recognition accuracy and recognition efficiency of the package information for the first recognition device 2a to identify the side of the package 3 to be identified that is opposite to the take-up portion 4.
  • the first identification device 2a is disposed in the middle of the take-up portion 4. This setting enables the first identification device 2a to recognize the package information of the package 3 to be identified, and the angle with the position of the identification code is within an appropriate range, preventing excessive deviation from the identification code, which is advantageous for improving recognition accuracy and recognition efficiency.
  • the pick-up portion 4 is rotatable about its own axis and/or the pick-up portion 4 is rotatable about the outer axis as a whole to change the position of the wrapper 3 to be identified held by the pick-up portion 4.
  • the pick-up device includes a robot, and the pick-up portion 4 is a robot that is coupled to the arm end of the robot.
  • the robot is a six-axis robot 1 in some embodiments.
  • the robot can rotate about its own axis at the arm end of the robot, or can rotate integrally around the external axis as the joints of the six-axis robot 1 rotate.
  • the six-axis robot 1 has a plurality of rotation axes, and the movement in the space has a plurality of degrees of freedom.
  • the taking part 4 adopts the manipulator of the six-axis robot 1, and when the parcel 3 to be recognized is taken, the manipulator can perform rotation and displacement in different directions to adapt to the need to take the direction and angle of the parcel 3 to be recognized, so that the taking is accurate Flexible; at the same time, the position of the package to be identified is flexibly changed, and the second identification device can be well adapted to detect multiple sides of the package 3 to be identified.
  • the second identification device comprises two external identification units 2b.
  • Each of the external identification units 2b can individually identify the package information.
  • the first identification device 2a and the two external recognition units 2b constitute three vertices of an acute triangle. Arranging the first identification device 2a and the external recognition unit 2b in this way enables a larger range of the identified regions, which facilitates the realization of no dead angle recognition.
  • After the take-up portion 4 takes the package 3 to be identified each side of the package 3 to be identified can be recognized by the first identification device 2a and the two external recognition units 2b, and the take-up portion 4 does not need to change position or only a small amount. The position change enables the package 3 to be identified to complete the package information identification, which is beneficial to further improve work efficiency.
  • the second identification device may include only one external identification unit or may include three or more external identification units.
  • the first identification device 2a and/or the second identification device comprise a scanner for scanning the identification code.
  • the scanner can identify the two-dimensional code or barcode and other identification codes covered on the package 3 to be identified, so as to facilitate the efficiency and accuracy of the package information identification.
  • the identification code of the package 3 to be identified is located before recognition, and which position on the side is located, it can be automatically taken and recognized by the package identification device.
  • the use of the parcel identification device can avoid the technical problem of manually reversing the parcel and making the identification code face up in the prior art to identify the parcel information, and can realize that no manual participation is required in the parcel information identification link, which facilitates the automatic sorting of the parcel.
  • the embodiment further provides a parcel sorting device, including the parcel identification device described above.
  • the parcel identification device is disposed at a sorting inlet of the parcel sorting apparatus, and the automatic sorting apparatus can pick up the parcel to be identified and identify the parcel information at the sorting inlet.
  • the take-up portion 4 of the pick-up device is used for taking and holding the package 3, and the first identification device 2a and the second identification device are used to identify the package information of the package.
  • the pick-up device places the parcel 3 on the sorting device after the parcel information identification link, such as an automated guided transport vehicle.
  • the process of identifying the package information of the package 3 to be identified can be performed as follows:
  • the first identification device 2a on the pick-up portion 4 identifies the side of the package 3 to be identified facing the pick-up portion 4, identifying whether the side is present. Corresponding package information that needs to be identified. If it exists, the identification is completed, the taking part 4 takes the parcel 3 to be identified, and transfers it to the next step; if it does not exist, the taking part 4 takes the parcel 3 to be recognized and holds, and then the action is taken.
  • the change of the parcel 3 position for example, the rotation, thereby adjusting the direction, so that the parcel to be identified 3 is recognized by the second identification device, and the next step is performed.
  • the parcel sorting apparatus includes a sorting platform and an automated guided transport vehicle
  • the sorting platform includes the sorting inlet and the plurality of sorting outlets
  • the parcel identification device is taken at the sorting inlet and After the identification package is completed, the taking portion 4 places the completed package on the automatic guided transport vehicle.
  • the automated guided transport vehicle then transports the received parcel to the sorting exit corresponding to the parcel information based on the parcel information that is identified.
  • the package identification device of the embodiment of the present disclosure can identify objects in all directions, and the identification marks located at different positions on the surface of the package to be identified can be recognized, and the prior art requires manual assistance to flip the package, so that the package barcode faces the scanning device. More accurate and efficient, which is conducive to the automation and unmannedization of the parcel sorting process.
  • the parcel identification device is easy to cooperate with other devices, and is integrated with modern network technology to realize the modern intelligent logistics system.
  • the parcel sorting device of the present disclosure can realize fully automatic sorting parcels, and improve sorting efficiency and intelligence level.

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  • Robotics (AREA)
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Abstract

一种包裹识别装置和包裹分拣装置。包裹识别装置包括：拿取装置，包括用于拿取并持有待识别包裹（3）的拿取部（4）和设置于拿取部（4）上的第一识别装置（2a），第一识别装置（2a）用于至少识别待识别包裹（3）的面对拿取部（4）的侧面上的包裹信息；第二识别装置，第二识别装置设置于拿取装置的外部并用于至少识别待识别包裹（3）的面对拿取部（4）的侧面以外的其余侧面上的包裹信息。

Description

包裹识别装置和包裹分拣装置
交叉引用
本申请是以中国申请号为201820011616.2，申请日为2018年1月4日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及包裹识别和分拣技术领域，特别涉及一种包裹识别装置和包裹分拣装置。
背景技术
在现代化的智能物流系统中，使用自动化技术提高生产效率一直是主流发展趋势。包裹分拣中心目前最新的分拣模式是使用自动导引运输车(AGV，Automated Guided Vehicle)替代人工搬运和投递包裹，这种分拣模式效率很高，大量节省了人力成本。
由于只有识别码朝上的包裹才能通过龙门架上的扫描器扫到识别码，从而读取识别码对应的分拣站点信息，因此，分拣过程中一个很重要的环节是用人工来从输送线上取下包裹，然后由人工将包裹具有识别码的侧面朝上放到自动导引运输车上，以便在自动导引运输车通过扫描器时自动扫描识别码，获取包裹信息，然后根据包裹信息将包裹输送到相应的分拣出口。
在实现本公开的过程中，设计人员发现：现有技术的包裹识别装置只能做到扫描已经摆好的包裹，需要人工对包裹进行摆放，从而让条码面向扫码装置，效率低下。
发明内容
本公开提供一种包裹识别装置和包裹分拣装置，旨在实现在包裹信息识别环节自动识别包裹信息。
本公开第一方面公开了一种包裹识别装置，所述包裹识别装置包括：拿取装置，包括用于拿取并持有待识别包裹的拿取部和设置于所述拿取部上的第一识别装置，所述第一识别装置用于至少识别所述待识别包裹的面对所述拿取部的侧面上的包裹信息；第二识别装置，所述第二识别装置设置于所述拿取装置的外部并用于至少识别待识别包裹的面对所述拿取部的侧面以外的其余侧面上的所述包裹信息。
在一些实施例中，所述拿取装置能够使所述拿取部持有的待识别包裹变换位置以使所述其余侧面上的所述包裹信息均能被所述第二识别装置识别。
在一些实施例中，所述拿取部能够绕自身轴线转动和/或所述拿取部能够整体绕外部轴线转动以使所述拿取部持有的待识别包裹变换位置。
在一些实施例中，所述第一识别装置正对所述拿取部持有所述待识别包裹的持有位置；和/或，所述第一识别装置设置于所述拿取部的中部。
在一些实施例中，所述拿取装置包括机器人，所述拿取部为与所述机器人的臂端连接的机械手。
在一些实施例中，所述机器人为六轴机器人。
在一些实施例中，所述第二识别装置包括两个外部识别单元，每个所述外部识别单元能够单独识别所述包裹信息，所述第一识别装置和所述两个外部识别单元构成锐角三角形的三个顶点。
在一些实施例中，所述第一识别装置和/或所述第二识别装置包括用于扫描识别码的扫描器。
本公开第二方面提供一种包裹分拣装置，包括本公开第一方面中任一项所述的包裹识别装置，所述包裹识别装置设置于所述包裹分拣装置的分拣入口以在所述分拣入口拿取所述包裹并识别所述包裹信息。
在一些实施例中，所述包裹分拣装置包括分拣平台和设置于所述分拣平台的自动导引运输车，所述分拣平台包括所述分拣入口和多个分拣出口，所述自动导引运输车接收所述拿取装置拿取的包裹，并根据所述，所述第一识别装置和/或所述第二识别装置识别的所接收包裹的所述包裹信息将所接收包裹运送至与所述包裹信息对应的分拣出口。
基于本公开提供的包裹识别装置和包裹分拣装置，包裹识别装置中设置于拿取装置的拿取部上的第一识别装置能够自动识别待识别包裹的面对拿取部的侧面上的包裹信息，设置于拿取装置外部的第二识别装置能够自动识别待识别包裹的面对拿取部侧面以外的其余侧面上的包裹信息，因此，该包裹识别装置使得在包裹分拣过程中包裹信息识别环节无需人工参与以将包裹的识别码面向识别装置，从而实现包裹信息自动识别。应用了上述包裹识别装置的包裹分拣装置，能够实现自动识别包裹信息，从而利于实现包裹分拣的自动化。
通过以下参照附图对本公开的示例性实施例的详细描述，本公开的其它特征及其 优点将会变得清楚。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本申请的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为本公开实施例的包裹识别装置的结构示意图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。基于本公开中的实施例，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他实施例，都属于本公开保护的范围。
除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本公开的范围。同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
为了便于描述，在这里可以使用空间相对术语，如“在……之上”、“在……上方”、“在……上表面”、“上面的”等，用来描述如在图中所示的一个器件或特征与其他器件或特征的空间位置关系。应当理解的是，空间相对术语旨在包含除了器件在图中所描述的方位之外的在使用或操作中的不同方位。例如，如果附图中的器件被倒置，则描述为“在其他器件或构造上方”或“在其他器件或构造之上”的器件之后将被定位为“在其他器件或构造下方”或“在其他器件或构造之下”。因而，示例性术语“在……上方”可以包括“在……上方”和“在……下方”两种方位。该器件也可以其他不同方式定位(旋转90度或处于其他方位)，并且对这里所使用的空间相 对描述作出相应解释。
本公开实施例提供一种包裹识别装置和包裹分拣装置。
如图1所示，该包裹识别装置包括拿取装置，拿取装置包括用于拿取并持有待识别包裹3的拿取部4和设置于拿取部4上的第一识别装置2a，第一识别装置2a用于至少识别待识别包裹的面对拿取部4的侧面上的包裹信息。包裹识别装置还包括第二识别装置，第二识别装置设置于拿取装置的外部并用于至少识别待识别包裹的面对拿取部4侧面以外的其余侧面上的包裹信息。
该包裹识别装置中设置于拿取装置的拿取部上的第一识别装置2a能够自动识别待识别包裹3的面对拿取部4的侧面上的包裹信息，设置于拿取装置外部的第二识别装置能够自动识别待识别包裹3的面对拿取部侧面以外的其余侧面上的包裹信息，该包裹识别装置使得在包裹信息识别环节中包裹无论如何摆放均能被第一识别装置2a和第二识别装置识别到，无需人工参与以将包裹的识码面向识别装置，从而实现包裹信息自动识别。
在一些优选的实施例中，拿取装置能够使拿取部4持有的待识别包裹3变换位置以使其余侧面上的包裹信息均能被第二识别装置识别。该设置利于使第一识别装置2a和第二识别装置实现无死角扫描，从而提高包裹信息识别的成功率。
本公开实施例的包裹分拣装置包括前述包裹识别装置，能够实现自动识别包裹信息，从而利于实现包裹分拣的自动化。
以下结合图1进一步说明本实施例的包裹识别装置和包裹分拣装置。
如图1所示，该实施例中，拿取装置包括用于拿取和持有待识别包裹3的拿取部4和第一识别装置2a。第一识别装置2a设置于拿取部4上。第一识别装置2a能够识别待识别包裹的面对拿取部的侧面上的包裹信息。
本实施例中，拿取部4是机械手。也可以是其他具有拿取和持有包裹的功能的装置，例如卡爪装置、勾手装置、吸盘装置等。
待识别包裹3上可以有用于识别的识别码，例如二维码、条形码等。
拿取装置在拿取或持有待识别包裹3时，第一识别装置2a可识别待识别包裹3的面对拿取部4的侧面上的包裹信息。在拿取装置拿取及持有待识别包裹3的过程中，第二识别装置可以对待识别包裹3上的其余侧面的包裹信息进行识别。
本实施例中，拿取装置可以使拿取部4持有的待识别包裹3变换位置以使其余侧面上的包裹信息均能被第二识别装置识别。
由于通过第一识别装置2a和第二识别装置可以对包裹的各个侧面进行识别，从而无论包裹信息在待识别包裹3的哪个侧面上，均可以被第一识别装置2a和第二识别装置识别到。识别到的包裹信息可以输送至控制器，控制器根据包裹信息控制包裹信息对应的包裹分拣的后续环节。
在一些实施例中，第一识别装置2a正对拿取部4持有待识别包裹3的持有位置。拿取部4通过接触拿取并持有待识别包裹3，拿取部4与包裹接触的部分形成持有处，持有位置为多个持有处所围成的区域范围。第一识别装置2a正对该持有位置利于提高第一识别装置2a识别待识别包裹3的与拿取部4相对的侧面的包裹信息的识别准确率和识别效率。
在一些实施例中，第一识别装置2a设置于拿取部4的中部。该设置使第一识别装置2a识别待识别包裹3的包裹信息时，与识别码所在位置的角度处于合适的范围内，防止过于偏离识别码，利于提高识别准确率和识别效率。
在一些优选的实施例中，拿取部4能够绕自身轴线转动和/或拿取部4能够整体绕外部轴线转动以使拿取部4持有的待识别包裹3变换位置。
本实施例中，
在一些实施例中，拿取装置包括机器人，拿取部4为与机器人的臂端连接的机械手。其中机器人在一些实施例中为六轴机器人1。
本实施例中，机械手即可以在机器人的臂端绕其自身轴线转动，也可以随着六轴机器人1的各个关节的转动而整体绕外部轴线转动。
六轴机器人1具有多个旋转轴，在空间当中的活动具有多个自由度。拿取部4采用六轴机器人1的机械手，在拿取待识别包裹3时，机械手能够进行不同方向的旋转和位移，以适应拿取待识别包裹3的方向和角度的需要，使得拿取准确灵活；同时，待识别包裹的位置变换灵活，可以很好地适应第二识别装置检测待识别包裹3的多个侧面。
在一些实施例中，第二识别装置包括两个外部识别单元2b。每个外部识别单元2b可以单独识别包裹信息。第一识别装置2a和两个外部识别单元2b构成锐角三角形的三个顶点。这样布置第一识别装置2a和外部识别单元2b能够使识别的区域范围较大，利于实现无死角识别。这样拿取部4拿取待识别包裹3后，待识别包裹3的各个侧面均能被第一识别装置2a和两个外部识别单元2b识别，拿取部4不用变换位置或仅做很少的位置变换就能够使得待识别包裹3完成包裹信息识别，有利于进一步提 高工作效率。
当然，在其它未图示的实施例中，第二识别装置可以仅包括一个外部识别单元，或者可以包括三个或以上的外部识别单元。
在一些实施例中，第一识别装置2a和/或第二识别装置包括用于扫描识别码的扫描器。利用扫描器可以识别待识别包裹3上覆盖的二维码或者条形码等识别码，便于包裹信息识别的高效性和准确性。
根据以上描述可知，无论待识别包裹3的识别码在识别前位于待识别包裹3的哪一侧面上，以及位于侧面的哪一位置，均能够通过该包裹识别装置自动拿取和识别。采用该包裹识别装置能够避免现有技术中人工翻转包裹使识别码朝上才能识别包裹信息的技术问题，能够真正实现在包裹信息识别环节中不需要人工参与，利于包裹实现自动分拣。
本实施例还提供一种包裹分拣装置，包括上述包裹识别装置。在该包裹分拣装置中，包裹识别装置设置在包裹分拣装置的分拣入口，上述自动分拣装置能够在分拣入口对要识别的包裹进行拿取并识别包裹信息。拿取装置的拿取部4用于拿取、持有包裹3，第一识别装置2a和第二识别装置用于识别包裹的包裹信息。在包裹信息识别完成之后，拿取装置将包裹3放置于包裹信息识别环节后的分拣设备，例如自动导引运输车上。
本实施例的包裹识别装置运用于包裹分拣装置时，识别待识别包裹3的包裹信息的识别过程可以如下进行：
在拿取装置的拿取部4拿取待识别包裹3的过程中，拿取部4上的第一识别装置2a识别待识别包裹3的面对拿取部4的侧面，识别该侧面是否存在需要识别的相应包裹信息。如果存在，则识别完成，拿取部4拿取待识别包裹3，并将其移送至下一步骤中；如果不存在，拿取部4拿取待识别包裹3并持有，然后动作带动待识别包裹3变换位置例如旋转，从而调整方向，使待识别包裹3被第二识别装置识别完成，再进行下一步骤。
在一些实施例中，上述包裹分拣装置包括分拣平台和自动导引运输车，分拣平台包括上述的分拣入口和以及多个分拣出口，在包裹识别装置于分拣入口拿取并识别包裹完成后，拿取部4再将完成识别的包裹放置于自动导引运输车上。自动导引运输车再根据完成识别的包裹信息将接收的包裹运送到和包裹信息对应的分拣出口。
本公开实施例的包裹识别装置能够全方位的识别物体，位于待识别包裹表面不同 位置的识别标志均能被识别，与现有技术中需要人工辅助翻转包裹，使包裹条码面向扫描装置的技术相比更加准确高效，利于实现包裹分拣过程的自动化和无人化。该包裹识别装置易于与其他装置配合，结合现代网络技术实现在现代智能物流体系。本公开的包裹分拣装置，可以实现全自动分拣包裹，提高分拣效率和智能化水平。
最后应当说明的是：以上实施例仅用以说明本公开的技术方案而非对其限制；尽管参照较佳实施例对本公开进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本公开的具体实施方式进行修改或者对部分技术特征进行等同替换；而不脱离本公开技术方案的精神，其均应涵盖在本公开请求保护的技术方案范围当中。

Claims (10)

  1. 一种包裹识别装置，包括：
    拿取装置，包括用于拿取并持有待识别包裹(3)的拿取部(4)和设置于所述拿取部(4)上的第一识别装置(2a)，所述第一识别装置(2a)设置于所述拿取部(4)上并用于至少识别所述待识别包裹的面对所述拿取部(4)的侧面上的包裹信息；
    第二识别装置，所述第二识别装置设置于所述拿取装置的外部并用于至少识别待识别包裹的面对所述拿取部(4)的侧面以外的其余侧面上的所述包裹信息。
  2. 如权利要求1所述的包裹识别装置，其中所述拿取装置能够使所述拿取部(4)持有的待识别包裹(3)变换位置以使所述其余侧面上的所述包裹信息均能被所述第二识别装置识别。
  3. 如权利要求2所述的包裹识别装置，其中所述拿取部(4)能够绕自身轴线转动和/或所述拿取部(4)能够整体绕外部轴线转动以使所述拿取部(4)持有的待识别包裹(3)变换位置。
  4. 如权利要求1所述的包裹识别装置，其中所述第一识别装置(2a)正对所述拿取部(4)持有所述待识别包裹(3)的持有位置；和/或，所述第一识别装置(2a)设置于所述拿取部(4)的中部。
  5. 如权利要求1所述的包裹识别装置，其中所述拿取装置包括机器人，所述拿取部(4)为与所述机器人的臂端连接的机械手。
  6. 如权利要求5所述的包裹识别装置，其中所述机器人为六轴机器人(1)。
  7. 如权利要求1所述的包裹识别装置，其中所述第二识别装置包括两个外部识别单元(2b)，每个所述外部识别单元(2b)能够单独识别包裹信息，所述第一识别装置(2a)和所述两个外部识别单元(2b)构成锐角三角形的三个顶点。
  8. 如权利要求1所述的包裹识别装置，其中所述第一识别装置(2a)和/或所述第二识别装置包括用于扫描识别码的扫描器。
  9. 一种包裹分拣装置，其中包括权利要求1至8中任一项所述的包裹识别装置，所述包裹识别装置设置于所述包裹分拣装置的分拣入口以在所述分拣入口拿取所述包裹并识别所述包裹信息。
  10. 如权利要求9所述的包裹分拣装置，其中所述包裹分拣装置包括分拣平台和设置于所述分拣平台的自动导引运输车，所述分拣平台包括所述分拣入口和多个分 拣出口，所述自动导引运输车接收所述拿取装置持有的包裹，并根据所述第一识别装置(2a)和/或所述第二识别装置识别的所接收包裹的所述包裹信息将所接收包裹运送至与所述包裹信息对应的分拣出口。
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