WO2019184608A1 - Système de transport et procédé de transport - Google Patents

Système de transport et procédé de transport Download PDF

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Publication number
WO2019184608A1
WO2019184608A1 PCT/CN2019/074904 CN2019074904W WO2019184608A1 WO 2019184608 A1 WO2019184608 A1 WO 2019184608A1 CN 2019074904 W CN2019074904 W CN 2019074904W WO 2019184608 A1 WO2019184608 A1 WO 2019184608A1
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WIPO (PCT)
Prior art keywords
sorting
conveying
sorting device
conveying device
preset
Prior art date
Application number
PCT/CN2019/074904
Other languages
English (en)
Chinese (zh)
Inventor
徐丹
王振辉
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.)
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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
Publication of WO2019184608A1 publication Critical patent/WO2019184608A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • 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
    • B07C5/36—Sorting 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
    • B07C3/02—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
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • 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
    • B65G65/00—Loading or unloading
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0285—Postal items, e.g. letters, parcels

Definitions

  • the present disclosure relates to the field of logistics technology, and in particular to a transportation system and a transportation method.
  • a parcel conveyor line transports parcels from a production area to a sorting area. There are multiple sorting robots waiting in line at the station in the sorting area. The parcel is then removed from the parcel conveyor line by the six-axis robot at the station and placed on the sorting robot. The sorting robot transports the parcel from the platform to the corresponding sorting compartment to complete the sorting.
  • a transport system comprising: a transport device for transporting an item; a sorting device, the sorting device being located below the transport device for passing over the end of the transport device Receiving items dropped from the end of the conveying device in a moving state.
  • the transportation system further includes: a controller, configured to acquire operation setting information of at least one of the conveying device and the sorting device; determine operation control information according to the operation setting information; and send to the conveying device and the sorting device At least one of the transmission run control information is such that the item on the transport device and the sorting device simultaneously reach the end of the transport device.
  • the controller is further configured to calculate a delivery time of the article on the delivery device based on a distance from the position at which the article is placed to the delivery device to the end of the delivery device, and an operating speed of the delivery device; The distance from the preset starting position to the end of the conveying device and the conveying time, the driving information of the sorting device is calculated; the driving information and the preset starting position are transmitted to the sorting device.
  • the controller is further configured to determine a difference between the transport duration of the item and the preset duration that the sorting device waits at the preset start position as the travel time of the sorting device, according to the start position and the transport device.
  • the distance between the ends and the travel time of the sorting device determine the travel information and send the start position, the travel information, the preset duration waiting at the start position to the sorting device; the sorting device is also used to reach the preset start After the position, it waits for a preset duration and starts, and moves according to the preset driving information to reach the end of the conveying device at the same time as the item on the conveying device.
  • the controller is further configured to calculate the travel speed of the sorting device or the initial travel speed of the sorting device according to the distance between the preset starting position of the sorting device and the end of the conveying device and the conveying time. Acceleration.
  • the controller is further for obtaining a first speed of the transport device for transporting the item; determining a second speed of the sorting device as it passes over the end of the transport device, wherein the first speed and the second speed The gap is less than the preset range.
  • the transportation system includes a plurality of sorting devices
  • the controller is further configured to send the plurality of sorting devices a preset time interval so that the plurality of sorting devices are sequentially started and transported at preset time intervals.
  • the end of the device, the preset time interval is the time interval between adjacent items being placed on the delivery device.
  • the conveying area of the conveying device has a plurality of sub-areas divided along the conveying direction; each sub-area corresponds to a column of sorting devices, and the sorting device in each column is used at the end of the respective sub-area passing through the conveying device At the time, the item dropped from the end of the conveying device is received.
  • the transport system further includes a gripping device for placing the items on the item transport line onto the transport device at a predetermined frequency.
  • the delivery area of the delivery device has a plurality of sub-areas divided along the direction of transport, and the gripping device is used to place the item in a sub-area of the delivery device.
  • the sorting device is a flapper or sorter.
  • the gripping device is a delta robot.
  • a transportation method comprising: acquiring operation setting information of at least one of a conveying device and a sorting device; determining operation control information according to operation setting information; At least one of the sorting devices transmits control information such that the items on the transport device and the sorting device simultaneously reach the end of the transport device.
  • determining the operation control information according to the operation setting information comprises: calculating a delivery time of the item on the conveying device according to a distance from the position at which the item is placed to the conveying device to the end of the conveying device, and the running speed of the conveying device
  • the travel information of the sorting device is calculated according to the distance from the preset starting position of the sorting device to the end of the conveying device and the conveying time.
  • determining the operation control information according to the operation setting information comprises: determining, by the difference between the delivery duration of the item and the preset duration of the sorting device at the preset activation position, as the travel time of the sorting device;
  • the driving information is determined by the distance between the starting position and the end of the conveying device and the driving time of the sorting device;
  • transmitting the control information to the at least one of the conveying device and the sorting device comprises: transmitting the starting position, driving information, The preset duration waiting at the starting position, so that after the sorting device reaches the preset starting position, it waits for the preset duration and starts, and moves according to the preset driving information to reach the conveying device at the same time as the articles on the conveying device. Ends.
  • the travel speed of the sorting device is calculated based on the distance of the preset starting position of the sorting device from the end of the transport device and the delivery time.
  • obtaining a first speed of the transport device for transporting the item determining a second speed of the sorting device as it passes over the end of the transport device, wherein the difference between the first speed and the second speed is less than a predetermined range .
  • the plurality of sorting devices are sent a preset time interval such that the plurality of sorting devices are sequentially activated at a predetermined time interval and pass through the end of the conveying device, the preset time interval being an adjacent item. The time interval that is placed on the conveyor.
  • a transport apparatus comprising: a memory; and a processor coupled to the memory, the processor being configured to perform any of the foregoing transports based on instructions stored in the memory method.
  • a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements any of the foregoing transportation methods.
  • FIGS. 1A and 1B are schematic diagrams of a transportation scenario in the related art.
  • 2A, 2B are exemplary structural diagrams of a transportation system in accordance with some embodiments of the present disclosure.
  • 3A and 3B are side schematic views of a flapping robot in accordance with some embodiments of the present disclosure.
  • FIG. 4A is an exemplary structural diagram of a transportation system in accordance with further embodiments of the present disclosure.
  • 4B is a top plan view of a delta robot in accordance with some embodiments of the present disclosure.
  • 5A, 5B are schematic illustrations of the operational process of a transport system in accordance with some embodiments of the present disclosure.
  • FIG. 6 is a top plan view of a transport sorting scene, in accordance with some embodiments of the present disclosure.
  • FIG. 7 is an exemplary flow diagram of a shipping method in accordance with some embodiments of the present disclosure.
  • 8A, 8B are exemplary flow diagrams of a shipping method in accordance with further embodiments of the present disclosure.
  • FIG. 9 is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure.
  • FIG. 10 is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure.
  • FIG. 11 is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure.
  • FIG. 12 is an exemplary structural diagram of a transport device in accordance with some embodiments of the present disclosure.
  • FIG. 13 is an exemplary structural diagram of a transport device in accordance with further embodiments of the present disclosure.
  • the inventors analyzed the related technology and found that the six-axis robot used in the related art has a slower tempo, and generally can complete the pick-and-place of a package in about 8 to 10 seconds, which seriously affects the efficiency of the supply.
  • One technical problem to be solved by the embodiments of the present disclosure is how to improve the efficiency of the supply.
  • the sorting robots 101, 102, 103, ... 10N are waiting in line, and the robot 11 places the package on the sorter who is at the head of the team.
  • the sorting robot 101 starts, accelerates, and travels forward after obtaining the package. Other problems may arise if you replace a six-axis robot with another robot that has a faster tempo.
  • the sorting robot 101 has obtained a package, which takes a while to start. When the robot 11 has prepared the next package, the sorting robot 101 still does not start to leave, thus seriously affecting the efficiency of the supply.
  • the transportation system 210 of this embodiment includes a conveying device 2110 and a sorting device 2120.
  • the sorting device 2120 is located below the transport device 2110, ie the work plane of the sorting device 2120 is located below the plane in which the transport device 2110 is located so that the sorting device 2120 can pass under the transport device 2110.
  • One or more sorting devices may be included in system 210, and only one sorting device 2120 is shown by way of example in FIG. 2A.
  • the delivery device 2110 is used to deliver items, such as items that can be used to place the grasping device onto the delivery device 2110 to the end of the delivery device 2110.
  • the sorting device 2120 is configured to receive an item dropped from the end of the conveying device 2110 in a moving state when passing the end of the conveying device 2110, so that the sorting device 2120 sorts the carried items.
  • the sorting device 2120 can be a flapper or sorter.
  • the sorter may include, for example, a cross belt sorter, a bag sorter, and the like.
  • the sorting device can receive the item on the move, that is, can be activated before picking up the item, so that the efficiency of receiving the item of the sorting device can be adapted to the supply efficiency of the item, and the efficiency of the supply is improved. And further improve the sorting efficiency.
  • the transportation system 220 of this embodiment includes a conveying device 2210, a sorting device 2220, and a controller 2230.
  • the controller 2230 is communicatively coupled to at least one of the transport device 2210 and the sorting device 2220.
  • the controller 2230 is configured to acquire operation setting information of at least one of the conveying device 2210 and the sorting device 2220; determine operation operation information according to the operation setting information; and send operation control information to at least one of the conveying device 2210 and the sorting device 2220.
  • the article on the conveyor 2210 and the sorting device 2220 simultaneously reach the end of the conveyor 2210.
  • the conveying device 2210 and the sorting device 2220 operate in accordance with the operation information.
  • the running setting information in the running information is preset known information, and the running control information is unknown information, and the controller 2230 is required to perform calculation.
  • the controller can determine the operation control information according to the operation setting information of the conveying device and the sorting device, so as to realize the synchronization of the articles on the conveying device and the sorting device at the preset position.
  • This preset position is the end of the conveyor.
  • FIGS. 3A and 3B are side schematic views of a flapping robot in some embodiments.
  • the tray 321 of the flapping robot 320 carries the article 330.
  • the tray 321 of the flapping robot 320 can be rotated to cause the article 330 to fall into the sorting compartment 340 to complete the sorting.
  • FIGS. 3A and 3B are only used to exemplarily introduce the main structure and basic working principle of the flapping robot, and do not show all the components of the flapping robot, nor in other embodiments of the present disclosure.
  • the flapper robot has any limiting effect.
  • the transport system 40 of this embodiment includes a transport device 410 and a sorting device 420, and also includes a gripping device 430.
  • Grab device 430 is used to place items on the item transport line onto transport device 410 at a predetermined frequency.
  • the item transport line may be, for example, a parcel transport line for providing unordered packages, goods, and the like to be sorted.
  • the item transport line can be a conveyor belt.
  • the lower limit of the working height range of the gripping device 430 may not be lower than the upper surface of the conveying device 410 to reduce the likelihood of a mis-collision of the gripping device 430 and the conveying device 410.
  • the height of the article transport line is lower than the transport device 410, the height of the transport device 410 can also be within the working height range of the grasping device 430, and those skilled in the art can make selections as needed.
  • the plane elevation of the sorting equipment is 0m
  • the surface height of the body of the flapping robot can be 0.2m
  • the surface elevation of the conveying equipment can be 0.35m
  • the working surface range of the grabbing equipment is 0.35m ⁇ 0.55. m.
  • the gripping device 430 can be a delta robot, and a top view of the delta robot can refer to FIG. 4B.
  • the delta manipulator has strong bearing capacity, small self-weight load ratio, good dynamic performance and fast working tempo. Its working beat can reach one item for 2s, which improves the efficiency of the supply.
  • Figure 4A is merely one exemplary embodiment. Those skilled in the art can select other types of gripping devices as needed.
  • FIG. 5A, 5B are schematic illustrations of the operational process of a transport system in accordance with some embodiments of the present disclosure.
  • the delta robot 530 grabs the article 550 from the parcel conveyor 540 and places it onto the conveyor device 520.
  • the flapping robot 510 which is lined up at the head of the team, starts and moves forward.
  • the start timing of the flapping robot 510 may be the same as the placement time of the article 550 placed by the delta robot 530, or may be earlier or later than the placement time, as long as the flapper 510 and the article on the infeed conveyor belt 520 arrive at the conveyor end simultaneously. You can do it.
  • the infeed conveyor 520 has conveyed the article 550 to the end of the infeed conveyor 520, which has also reached the end of the infeed conveyor 520.
  • the article 550 When the article 550 is dropped from the end of the infeed conveyor 520, it can fall directly on the tray of the flipper 510.
  • the flapper 510 can carry the article 550 to continue moving forward.
  • the sorting device can also be used to detect the current position to determine the driving mode that should currently be employed.
  • the sorting device can determine the current position by scanning a two-dimensional code or the like on the ground, and can also determine the current position by using a positioning device such as a GPS (Global Positioning System), and details are not described herein.
  • GPS Global Positioning System
  • FIG. 6 is a top plan view of a feed sorting scene in accordance with some embodiments of the present disclosure, some of which are omitted in FIG. 6 for ease of viewing and description.
  • the application scenario may be divided into a queuing waiting area 61, a supply area 62, an identification area 63, and a sorting area 64 according to tasks of different stages of the sorting apparatus.
  • the sorting devices 610 are sequentially arranged and are in a low speed moving state to move forward slowly after the sorting device leaves the queuing waiting area 61.
  • the start position 611 is located at the junction of the queue waiting area 61 and the supply area 62.
  • the sorting device When the sorting device recognizes that it is currently in the starting position 611, it can enter the connector mode to start immediately after starting or staying for a preset time, and move to the end of the conveying device 621 according to the preset driving information to receive
  • the pick-up device 622 is placed at the same time and reaches the end of the transport device 621 and then falls off, and after receiving the item, travels at a high speed at a preset speed for long-distance transport.
  • the sorting device After reaching the identification area 63, the sorting device enters the recognition mode, and can be decelerated to run or stop, so that the visual recognition device recognizes the goods carried by the sorting device, and instructs the sorting device to go to the corresponding sorting port 640 according to the type of the cargo information. .
  • the sorting compartment 640 is located in the sorting area 64, and the sorting device can enter the sorting compartment 640 to inject the item. The sorting device then returns to the queue waiting area 61 to queue for
  • the preset travel information may be, for example, information such as speed, acceleration, etc., to indicate how the sorting device is traveling.
  • the controller may be configured to acquire operation setting information of at least one of the conveying device and the sorting device; determine operation control information according to the operation setting information; and send operation control information to at least one of the conveying device and the sorting device, so that The items on the conveyor and the sorting equipment arrive at the end of the conveyor simultaneously.
  • the controller may be further configured to calculate a delivery time of the article on the delivery device according to a distance from the position where the article is placed to the delivery device to the end of the delivery device, and the running speed of the delivery device; according to the preset of the sorting device
  • the distance from the starting position to the end of the conveying device and the conveying time, the driving information of the sorting device is calculated; the driving information and the preset starting position are transmitted to the sorting device.
  • the sorting device is adapted to be activated after waiting for a preset length of time after reaching the preset starting position and to move according to the preset driving information so as to reach the end of the conveying device at the same time as the item on the conveying device. It is assumed that the distance between the starting position and the end of the conveying device is S, and the time when the sorting device moves from the starting position to the end of the conveying device, that is, the running time is t, there is a relationship of formula (1).
  • c is the driving information and f is the distance calculation function. If the sorting device adopts a uniform acceleration motion, the formula (1) may specifically be the formula (2). At this time, c is acceleration information.
  • c 1 and t 1 respectively represent the acceleration and time of the acceleration running section, and c 2 and t 2 respectively represent the speed and time of the constant speed running section.
  • the value of t may be equal to the conveying time of the item, that is, the preset time waiting for the sorting device to wait at the starting position may be zero.
  • the controller may pre-send the driving information to each sorting device for storage, so that the sorting device can automatically work according to the one-time instruction in a uniform rhythm and manner, and the working condition is improved. Supply efficiency.
  • the controller may be further configured to calculate the travel speed of the sorting device or the initial travel speed of the sorting device according to the distance between the preset starting position of the sorting device and the end of the conveying device and the conveying time. And acceleration.
  • the sorting device can be further adapted to receive items that are dropped on the transport device when accelerating or uniformly passing the end of the transport device. That is, the sorting device can accelerate after starting, or travel at a constant speed after accelerating to a certain speed. Therefore, the sorting device can receive the items to be sorted without stopping or decelerating to obtain the items dropped on the conveying device, thereby improving the efficiency of the feeding, thereby further improving the sorting efficiency.
  • the controller may be further configured to obtain a first speed of the conveying device for conveying the item; determining a second speed of the sorting device as it passes the end of the conveying device, wherein the first speed The difference from the second speed is less than the preset range.
  • the conveying device can be used to convey the articles at the first speed to the end of the conveying device, the sorting device having a second speed when running through the end of the conveying device after starting.
  • the running speed of the item on the conveying device is close to the running speed of the sorting device. Thereby, the article can be dropped onto the sorting device more accurately and stably.
  • the controller may be further configured to send the plurality of sorting devices a preset time interval such that the plurality of sorting devices sequentially start at a preset time interval and pass through the end of the conveying device To receive items dropped from the conveyor.
  • the preset time interval is the time interval at which adjacent items are placed on the transport device, such as the time interval at which the grab device places the items.
  • the delivery area of the delivery device can be divided into a plurality of sub-areas along the conveying direction. As shown in Fig. 6, the surface of the conveyor belt in Fig. 6 is divided into two sub-areas by a broken line. Each sub-area corresponds to a column of sorting devices, and the sorting device in each column is used to receive items that are dropped from the end of the conveying device as they pass the ends of the respective sub-areas of the conveying device. Thereby, other devices in the system can be operated in conjunction with the beats in the case where the beat of the gripping device is very fast, improving the efficiency of the supply.
  • the grasping device can be used to place an item in a sub-area of the delivery device, for example, such that the items can be staggered in tandem.
  • FIG. 7 is an exemplary flow diagram of a shipping method in accordance with some embodiments of the present disclosure. As shown in FIG. 7, the transportation method of this embodiment includes steps S702 to S706.
  • step S702 operation setting information of at least one of the conveying device and the sorting device is acquired.
  • the delivery device can be a conveyor belt.
  • step S704 the operation control information is determined based on the operation setting information.
  • control information is transmitted to at least one of the conveying device and the sorting device such that the articles on the conveying device and the sorting device simultaneously reach the end of the conveying device.
  • the sorting device can receive the item on the move, that is, can be activated before picking up the item, so that the efficiency of receiving the item of the sorting device can be adapted to the working efficiency of the grasping device, and the supply is improved. Efficiency and further improved sorting efficiency.
  • FIG. 8A is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure. As shown in FIG. 8A, the transportation method of this embodiment includes steps S802 to S806.
  • step S802 the conveyance time of the article on the conveying device is calculated based on the distance from the position where the article is placed to the conveying device to the end of the conveying device, and the running speed of the conveying device.
  • step S804 the travel information of the sorting device is calculated according to the distance from the preset starting position of the sorting device to the end of the conveying device and the conveying time.
  • step S806 the travel information and the preset start position are transmitted to the sorting device.
  • FIG. 8B is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure. As shown in FIG. 8B, the transportation method of this embodiment includes steps S812 to S816.
  • step S812 the difference between the delivery duration of the article and the preset duration that the sorting device waits at the preset activation position is determined as the travel duration of the sorting device.
  • step S814 the travel information is determined based on the distance between the start position and the end of the transport device and the travel time of the sorting device.
  • step S816 the starting position, the driving information, and the preset duration waiting at the starting position are sent to the sorting device, so that the sorting device waits for the preset time and starts after reaching the preset starting position, and according to the preset The travel information is moved to arrive at the end of the transport device simultaneously with the items on the transport device.
  • the travel information of the sorting device can be determined according to the running time of the article and the travel distance of the sorting device, so that the article and the sorting device reach the end of the transport device at the same time.
  • the travel speed of the sorting device is calculated based on the distance of the preset starting position of the sorting device from the end of the transport device and the delivery time.
  • the sorting device can receive the items dropped on the conveying device when accelerating or passing through the end of the conveying device at a constant speed. Therefore, when the sorting device receives the item to be sorted, the item dropped on the conveying device can be obtained without additionally adjusting its own driving plan, thereby improving the efficiency of the feeding, thereby further improving the sorting efficiency.
  • FIG. 9 is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure. As shown in FIG. 9, the transportation method of this embodiment includes steps S902 to S908.
  • step S902 a first speed at which the conveying device is used to convey the item is acquired.
  • step S904 determining a second speed of the sorting device when passing the end of the conveying device, and transmitting the second speed to the sorting device, wherein the difference between the first speed and the second speed is less than a preset range .
  • step S906 the conveying device conveys the article at a first speed so that the article on which the gripping device is placed on the conveying device is uniformly conveyed to the end of the conveying device.
  • step S908 the sorting device has a second speed when running through the end of the conveying device after starting, and receives an item dropped from the end of the conveying device.
  • the article can be dropped onto the sorting device more accurately and stably.
  • the gripping device can place items on the item transport line onto the transport device at a predetermined frequency.
  • Sorting equipment can also be used to complete a regular, automated supply and sorting process. An embodiment of the transport method of the present disclosure is described below with reference to FIG.
  • FIG. 10 is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure. As shown in FIG. 10, the transportation method of this embodiment includes steps S1002 to S1006.
  • step S1002 the grabbing device places the articles on the article transport line onto the transport device at predetermined time intervals.
  • step S1004 a preset time interval is transmitted to the plurality of sorting devices.
  • step S1006 a plurality of sorting devices are sequentially activated at preset time intervals to receive articles dropped from the end of the conveying device.
  • the feeding process can be automated, and the sorting device can also accurately acquire each item in an efficient feeding process.
  • the delivery device can also deliver multiple rows of items simultaneously.
  • the conveying area of the conveying device is divided into a plurality of sub-areas in the conveying direction, and a row of waiting sorting devices is arranged in a corresponding direction of each sub-area.
  • FIG. 11 is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure. As shown in FIG. 11, the transportation method of this embodiment includes steps S1102 to S1104.
  • step S1102 the gripping device places the articles in turn in respective sub-areas divided by the conveying direction of the conveying device.
  • step S1104 the sorting device receives the item dropped on the conveying device as it passes through the end of the sub-area of the conveying device.
  • Figure 12 is a schematic view showing the structure of a transport apparatus according to other embodiments of the present invention.
  • the transport device 120 of this embodiment includes a memory 1210 and a processor 1220 coupled to the memory 1210, the processor 1220 being configured to perform any of the foregoing embodiments based on instructions stored in the memory 1210. Transportation method.
  • the memory 1210 may include, for example, a system memory, a fixed non-volatile storage medium, or the like.
  • the system memory stores, for example, an operating system, an application, a boot loader, and other programs.
  • Figure 13 is a schematic view showing the structure of a transport apparatus according to still another embodiment of the present invention.
  • the transport device 130 of this embodiment includes a memory 1310 and a processor 1320, and may further include an input/output interface 1330, a network interface 1340, a storage interface 1350, and the like. These interfaces 1330, 1340, 1350 and the memory 1310 and the processor 1320 can be connected, for example, via a bus 1360.
  • the input/output interface 1330 provides a connection interface for input and output devices such as a display, a mouse, a keyboard, and a touch screen.
  • Network interface 1340 provides a connection interface for various networked devices.
  • the storage interface 1350 provides a connection interface for an external storage device such as an SD card or a USB flash drive.
  • Embodiments of the present invention also provide a computer readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor to implement any of the foregoing transportation methods.
  • embodiments of the present disclosure can be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware aspects. Moreover, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code. .
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

Abstract

L'invention concerne un système de transport et un procédé de transport, qui se rapportent au domaine technique de la logistique. Le système de transport (210) comprend un appareil de transport (2110) pour transporter des objets ; et un appareil de tri (2120), l'appareil de tri (2120) étant situé en dessous de l'appareil de transport (2110) pour recevoir, dans un état de déplacement et lors du passage à travers l'extrémité de l'appareil de transport (2110), des objets tombant d'une extrémité de l'appareil de transport (2110).
PCT/CN2019/074904 2018-03-27 2019-02-13 Système de transport et procédé de transport WO2019184608A1 (fr)

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