WO2019218271A1 - Appareil de mise en cache, appareil de tri de marchandises et système de tri de marchandises - Google Patents

Appareil de mise en cache, appareil de tri de marchandises et système de tri de marchandises Download PDF

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Publication number
WO2019218271A1
WO2019218271A1 PCT/CN2018/087096 CN2018087096W WO2019218271A1 WO 2019218271 A1 WO2019218271 A1 WO 2019218271A1 CN 2018087096 W CN2018087096 W CN 2018087096W WO 2019218271 A1 WO2019218271 A1 WO 2019218271A1
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WO
WIPO (PCT)
Prior art keywords
cargo
goods
sorting
cache
compartment
Prior art date
Application number
PCT/CN2018/087096
Other languages
English (en)
Chinese (zh)
Inventor
马圣源
徐熠
周丹旦
内奇波连科·纳塔莉亚
苏比迪·迪潘达
瓦西列夫·伊利亚
Original Assignee
深圳蓝胖子机器人有限公司
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 深圳蓝胖子机器人有限公司 filed Critical 深圳蓝胖子机器人有限公司
Priority to PCT/CN2018/087096 priority Critical patent/WO2019218271A1/fr
Priority to CN201880071865.3A priority patent/CN111344073B/zh
Publication of WO2019218271A1 publication Critical patent/WO2019218271A1/fr

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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
    • 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
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/50—Stacking one article, or group of articles, upon another before packaging

Definitions

  • the present application relates to the field of logistics, and in particular to a cache device, a cargo sorting device and a cargo sorting system.
  • the application provides a buffer device, a cargo sorting device and a cargo sorting system to solve the problem that the cargo placement posture is not conducive to picking up.
  • the buffer device comprises a buffer compartment, a dialing device, a visual recognition system and a control system.
  • the dialing device is arranged in the buffer compartment for adjusting the posture of the cargo loaded in the buffer cabin; the visual recognition system is used for loading the cache compartment
  • the goods inside are image-collected; the dialing device and the visual recognition system are all connected with the control system signal, and the control system determines whether the cargo posture in the cache cabin is in a pickable state according to the image collected by the visual recognition system, and the cargo posture is not picked up.
  • the control toggle device adjusts the posture of the cargo in the cache compartment so that the cargo posture is in a pickable state.
  • the cargo sorting device includes a rack, a cache bay, an industrial robot, a visual recognition system, and a control system; the cache bay is disposed on the rack; the industrial robot is used to pick up the cargo from the cache cabin, carry and unload to a preset position;
  • the identification system is used for image collection of goods in the cache cabin; the industrial robot and the visual recognition system are all connected with the control system signal, and the control system determines the picking position of the goods and the classified information of the goods according to the image collected by the visual recognition system, and controls the industry.
  • the robot transports the goods to the corresponding location.
  • the cargo sorting system includes the above-described cargo sorting device, a first cargo transport device, and a plurality of second cargo transport devices.
  • the beneficial effects of the present application are: different from the prior art, the present application discloses a buffer device, a cargo sorting device and a cargo sorting system.
  • the buffer device comprises a buffer compartment, a dialing device, a visual recognition system and a control system.
  • the dialing device is arranged in the buffer compartment for adjusting the posture of the cargo loaded in the buffer cabin; the visual recognition system is used for loading the cache compartment The goods inside are image-collected; the dialing device and the visual recognition system are all connected with the control system signal, and the control system determines whether the cargo posture in the cache cabin is in a pickable state according to the image collected by the visual recognition system, and the cargo posture is not picked up.
  • the control toggle device adjusts the posture of the cargo in the cache compartment so that the cargo posture is in a pickable state.
  • the visual recognition system is arranged to collect images of the goods in the buffer cabin, and the control system determines whether the cargo is in a pickable state according to the collected image, and then selectively controls the dialing device to adjust the posture of the cargo.
  • the cargo posture is in a pickable state, which effectively reduces the difficulty of picking up the goods and improves the transportation efficiency of the goods.
  • FIG. 1 is a schematic structural diagram of an embodiment of a cache device provided by the present application.
  • Figure 2 is a schematic side view showing the structure of the buffer compartment and the dialing device of the buffer device of Figure 1;
  • FIG. 3 is a side view showing the structure of the buffer compartment and the dialing device in the buffer device of FIG. 1;
  • FIG. 4 is a schematic structural view of an embodiment of a cargo sorting apparatus provided by the present application.
  • Figure 5 is a schematic structural view of an embodiment of the cargo sorting system provided by the present application.
  • FIG. 6 is a schematic structural view of another embodiment of the cargo sorting system provided by the present application.
  • FIG. 1 a schematic structural diagram of an embodiment of a cache device provided by the present application is provided.
  • the cache device includes a cache bay 10, a toggle device 20, a visual recognition system 30, and a control system 40.
  • the dialing device 20 is disposed in the buffer compartment 10 for adjusting the posture of the cargo loaded into the buffer compartment 10; the visual recognition system 30 is for image capturing of the cargo loaded into the buffer compartment 10; the dialing device 20 and the vision
  • the identification system 30 is all in signal connection with the control system 40.
  • the control system 40 determines whether the cargo posture in the cache compartment 10 is in a pickable state based on the image acquired by the visual recognition system 30, and controls the toggle device when the cargo posture is in a non-pickup state. 20 Adjusting the posture of the cargo in the cache compartment 10 so that the cargo posture is in a pickable state so that the cargo is picked up.
  • the buffer compartment 10 includes a bottom wall 11, a front inclined wall 12 and a rear inclined wall 13, and the front inclined wall 12 and the rear inclined wall 13 are disposed opposite to each other and are connected to the bottom wall 11, and the buffer compartment 10 can be It is a one-piece structure.
  • the buffer compartment 10 may have a bucket-like structure, and the opening consists of the front inclined wall 12, the rear inclined wall 13 and the other two opposite side walls 14. From the top of the front inclined wall 12 and the rear inclined wall 13 to the bottom wall 11, the opening is gradually reduced. small.
  • the buffer compartment 10 is provided with a rear sloped wall 13 of a first slope and a front inclined wall 12 of a second slope, and the rear inclined wall 13 is adapted to receive the cargo slipping into the buffer compartment 10, that is, the cargo falls on the bottom wall 11, the cargo
  • the orientation in which the front inclined wall 12 is located is picked up, and the arrangement of the front inclined wall 12 greatly increases the operation space in which the goods are picked up, and the space of the bottom wall 11 can be fully utilized to facilitate the pickup of the goods.
  • the first slope ranges from 35 degrees to 45 degrees, including 35 degrees and 45 degrees; the second slope ranges from 40 degrees to 50 degrees, including 40 degrees and 50 degrees.
  • the height of the top of the front inclined wall 12 is lower than the height of the top of the rear inclined wall 13, further facilitating the picking up of goods by an industrial robot or other picking device.
  • the width of the front inclined wall 12 and the width of the rear inclined wall 13 gradually decrease from the top thereof to the bottom connected to the bottom wall 11, and thus the side wall 14 connected to the front inclined wall 12, the rear inclined wall 13 and the bottom wall 11 has a
  • the slope further increases the operating space of the cache bay 10, enabling the industrial robot or other pick-up device to pick up the cargo in a variety of poses.
  • the operating space within the cache bay 10 is within the range of activity of the industrial robot.
  • the cargo is transported by a conveying device to the rear inclined wall 13 and enters the rear inclined wall 13 under the action of the power of the conveying device and the inertia of the cargo itself, and slides along the rear inclined wall 13 toward the bottom wall 11 and falls into the bottom wall 11 or
  • the cargo accumulated in the bottom wall 11 enters the buffer compartment 10, and the front inclined wall 12 also blocks the cargo.
  • the posture of the cargo falling in the buffer compartment 10 is uncontrollable, and the cargo has a plurality of surfaces, and the corresponding pickup surface of the cargo in some postures is not suitable for being picked up, for example, the current pickup surface of the cargo is too narrow, resulting in the suction device pair
  • the current pick-up surface has insufficient adsorption force, and it is difficult to pick up goods and the like.
  • the posture of the cargo needs to be adjusted so that the corresponding pickup surface in the adjusted posture is suitable for being picked up.
  • the toggle device 20 is disposed at the bottom of the cache compartment 10 to adjust the attitude of the cargo loaded into the cache compartment 10.
  • the toggle device 20 includes a pusher lever 21 and a power unit 22 that drives the pusher lever 21 to adjust the attitude of the cargo within the cache compartment 10.
  • the power unit 22 is a cylinder
  • the power unit 22 is disposed at the bottom of the buffer compartment 10
  • the push rod 21 is connected to the power unit 22 through the bottom wall 11
  • the power unit 22 drives the push rod 21 to perform a telescopic movement in the buffer chamber 10
  • the attitude of the cargo is adjusted from the bottom wall 11 of the cache compartment 10.
  • the present application is only an exemplary example of the dialing device 20, and a plurality of other devices can also implement the same functions as the dialing device 20 in the embodiment, which is not limited in this application.
  • a plurality of dialing devices 20 can be reasonably disposed according to the size of the bottom wall 11, and the plurality of dialing devices 20 are evenly distributed on the bottom wall 11, so that the goods located in the buffer compartment 10 can be adjusted by the dialing device 20.
  • the bottom wall 11 is provided with four dialing devices 20, and the distance between the push rods 21 and the distance between the push rods 21 and the edges of the bottom wall 11 are smaller than the size of the smallest side of the cargo to ensure that it is located in the cache compartment 10. The goods can be adjusted by the dialing device 20.
  • the dialing device 20 may be disposed on the side wall 14, the front inclined wall 12 or the rear inclined wall 13, or in the bottom wall 11, the side wall 14, the front inclined wall 12, and the rear inclined wall 13 One.
  • the dialing device 20 is disposed on the opposite side walls 14. That is, as long as the setting position of the dialing device 20 can be adjusted to adjust the posture of the cargo in the cache compartment 10, the present application does not limit this.
  • a visual recognition system 30 is provided on the cradle for image acquisition of cargo within the cache compartment 10.
  • the control system 40 determines whether the posture of the cargo in the cache compartment 10 is in a pickable state based on the image acquired by the visual recognition system 30.
  • the dialing device 20 is controlled to adjust the inside of the cache compartment 10.
  • the gesture of the cargo is continuously performed by the visual recognition system 30.
  • the dialing device 20 is controlled to stop working.
  • the dialing device 20 automatically stops after the set time period, and the control system 40 determines whether the posture of the cargo in the cache compartment 10 is in a pickable state according to the screen collected by the visual recognition system 30, and if otherwise, controls the dialing device 20 to operate.
  • the length of time is set until the posture of at least one cargo in the cache compartment 10 is in a pickable state.
  • the visual recognition system 30 includes an imaging device 31 for image acquisition of cargo within the cache compartment 10.
  • the imaging device 31 includes, for example, one or more of a plurality of RGBD sensors, a three-dimensional camera, a binocular camera, and a depth camera.
  • the visual range of the camera device 31 covers at least the cache compartment 10, for example, a binocular camera is disposed directly above the cache compartment 10, or a plurality of three-dimensional cameras are disposed above and to the side of the cache compartment 10 to cross-acquire the cache compartment from multiple angles.
  • the visual recognition system 30 further includes a scan code device 32 for identifying the identification code of the goods in the cache bay 10 to obtain the cargo information.
  • the identification code attached to the goods includes various information such as shipping address, delivery address, cargo weight, cargo category, cargo grade, etc.
  • the goods can be initially classified according to different delivery addresses of the goods, and then according to different cargo categories. Finely classify, or control the picking strength of industrial robots according to the different weights of the goods, or carry out different picking strategies according to different grades of the goods. For example, if the goods are brittle or vulnerable to extreme external impact, the industrial robot needs to be lightly relieved. put.
  • the identification code is attached to the pick-up surface of the goods, and the image capturing device 31 and the scanning code device 32 can double determine whether the cargo posture is in a pickable state, and the recognition speed of the scanning code device 32 is fast, and a preliminary determination can be made first. In turn, the efficiency of the cache device can be improved.
  • the control system 40 further determines whether there is cargo in the cache compartment 10 based on the acquired image, and the inside of the cache compartment 10 is provided with a specific logo to distinguish it from the cargo, from the misjudgment by the control system 40, and as a reference to determine Whether there is cargo in the cache compartment 10.
  • a plurality of small holes, a specific pattern, or a specific texture or the like are provided on the bottom wall 11, the front inclined wall 12, the rear inclined wall 13, and the side wall 14, so that the bottom wall 11, the front inclined wall 12, and the rear oblique
  • the wall 13 and side walls 14 are easily captured by the visual recognition system 30 and are easily determined by the control system 40 to distinguish it from the cargo.
  • control system 40 determines that there is no cargo in cache bay 10 and can signal the conveyor to control the delivery of cargo to cache bay 10. Or the control system 40 determines, based on the acquired image, whether the cargo is in a pickable state, but can refer to the image of the bottom wall 11 or the side wall to determine that there is a cargo in the cache compartment 10, thereby controlling the dialing device 20 to adjust the posture of the cargo.
  • the cargo buffering device provided by the present application can determine whether the cargo in the cache compartment 10 is in a pickable state to selectively control the dialing device 20 to adjust the posture of the cargo so that the cargo is picked up, thereby reducing the difficulty of picking up the cargo.
  • the efficiency of the logistics transportation or sorting equipment provided with the cache device is effectively improved.
  • FIG. 4 a schematic structural diagram of an embodiment of a cargo sorting apparatus provided by the present application.
  • the cargo sorting device includes a frame 60, a cache bay 10, an industrial robot 50, a visual recognition system 30, and a control system 40.
  • the cache bay 10 is disposed on the frame 60; the industrial robot 50 is used to pick up the goods from the cache bay 10, and is transported and unloaded to a preset position; the visual recognition system 30 is used for image capturing of the goods in the cache bay 10; Both 50 and visual recognition system 30 are coupled to control system 40.
  • Control system 40 determines the picking location of the cargo and the classification information of the cargo based on the images captured by visual recognition system 30, and controls industrial robot 50 to transport the cargo to the corresponding location.
  • the components of the cache device embodiment have the same names and reference numerals, and the components have at least the same functions, structures, and connection relationships as the components of the same name and number in the cache device embodiment.
  • the buffer compartment 10 is provided with a first sloped rear inclined wall 13 and a second sloped front inclined wall 11 for receiving the cargo slipping into the buffer compartment 10, and the front inclined wall 12 is arranged such that the goods are picked up.
  • the operating space is greatly increased.
  • the first slope is less than the second slope.
  • the inside of the cache compartment 10 is provided with a specific logo to distinguish it from the cargo.
  • the cargo sorting device further includes a dialing device 20 that is in signal communication with a control system 40 that is disposed within the cache bin 10 for adjusting the attitude of the cargo loaded into the cache bay 10.
  • the dialing device 20 is disposed on the bottom wall 11 of the cache compartment 10, and the dialing device 20 includes a push rod 21 and a power unit 22 that drives the push rod 21 to adjust the attitude of the cargo within the cache compartment 10.
  • the visual recognition system 30 includes an imaging device 31 for image acquisition of cargo within the cache compartment 10.
  • the visual recognition system 30 also includes a code scanning device 32 for identifying an identification code on the cargo within the cache compartment 10 for obtaining cargo information.
  • the visual recognition system 30 is disposed on the frame 60 and/or the industrial robot 50.
  • the visual recognition system 30 is disposed on the gantry 60 with an image acquisition range that covers at least the range of motion of the cache bay 10 and the industrial robot 50.
  • the visual recognition system 30 is disposed on the industrial robot 50, and the initial position of the industrial robot 50 is set above the cache compartment 10 to facilitate the visual recognition system 30 to perform image acquisition on the cargo in the cache compartment 10, and then pick up the goods, and then return In the initial position, it is transported to the unloading location along a fixed movement path, and the cargo is released at the unloading location.
  • the visual recognition system 30 is partially disposed on the gantry 60 and partially disposed on the industrial robot 50.
  • the visual recognition system 30 includes a plurality of imaging devices 31 and a scanning device 32.
  • the imaging device 31 is provided on the industrial robot 50.
  • the picking position of the goods is accurately determined, thereby adjusting the picking posture of the industrial robot 50, or the scanning device 32 is disposed on the industrial robot 50 to acquire the cargo information, and the picking force or picking up of the industrial robot 50 is adjusted.
  • the control system 40 further determines whether the cargo posture in the cache compartment 10 is in a pickable state based on the image acquired by the visual recognition system 30, and controls the dialing device 20 to adjust the posture of the cargo in the cache compartment when the cargo posture is in the non-pickup state. , so that the cargo posture is in a pickable state.
  • the control system 40 also determines whether the classification information of the goods in the cache compartment 10 is in an acquireable state according to the image acquired by the visual recognition system 30, and controls the dialing device 20 to adjust the posture of the cargo in the cache compartment when the classification information is in the non-acquisition state. In order to make the classification information of the goods available. Control system 40 may further determine whether cargo is present in cache compartment 10 against a particular identification on the inside of cache compartment 10 based on the acquired image.
  • the visual recognition system 30 may further include a depth camera 33 disposed on the gantry 60 and located between the industrial robot 50 and the cache bay 10 for obtaining depth information of the picked up goods when the industrial robot 50 picks up the goods.
  • the depth camera 33 acquires the three-dimensional size of the cargo
  • the control system 40 controls the industrial robot 50 to carry the cargo to the corresponding sorting port for release according to the three-dimensional size of the cargo, at least the size of the corresponding sorting port can accommodate the cargo. .
  • the industrial robot 50 is provided with an air pressure sensor 53 that is in signal connection with the control system 40.
  • the control system 40 determines whether the industrial robot 50 picks up the cargo based on the magnitude of the pressure detected by the air pressure sensor 53.
  • the control system 40 further determines whether the cargo posture in the cache compartment 10 is in a pickable state based on the magnitude of the pressure value detected by the air pressure sensor 53, and controls the dialing device 20 to adjust the posture of the cargo in the cache compartment 10 when the cargo posture is in the non-pickup state. , so that the cargo posture is in a pickable state.
  • the industrial robot 50 includes a robot arm 51 and an end effector 52 disposed on the robot arm 51.
  • the control system 40 controls the end effector 52 to pick up or release the cargo, and the control system 40 also controls the robot arm 51 to move the end effector 52 to Carrying goods.
  • the end effector 52 is a suction cup device that adsorbs or releases cargo by controlling air pressure.
  • the air pressure sensor 53 is disposed on the end effector 52, and when the industrial robot 50 performs picking up the goods, the end effector 52 is moved to the picking position of the goods, and is closely attached to the picking position of the goods, when the air pressure sensor 53 detects When the pressure value reaches a certain threshold, the control system 40 controls the end effector 52 to perform the picking action.
  • the control system 40 determines that the end effector 52 has not picked up the cargo, if the air pressure sensor 53 detects another pressure value, and the control system 40 determines that the end effector 52 picks up the cargo, thereby controlling the industrial robot 50 to perform the handling action.
  • the control system 40 determines that the end effector 52 has not picked up the cargo, the control system 40 further determines that the cargo posture within the cache bay 10 is in a non-pickup state, thereby controlling the dialing device 20 to adjust the attitude of the cargo within the cache bay 10.
  • the air pressure sensor 53 detects that the pressure value received by the end effector 52 reaches another value, the industrial robot 50 performs the release action; of course, the industrial robot 50 performs the release action and may also be independent of the air pressure sensor 53. Whether or not the picking or releasing action is performed is determined, for example, by the visual recognition system 30. Further, the control system 40 also dynamically adjusts the suction force or the gripping force of the end effector 52 on the cargo according to the cargo information acquired by the scanning device 32, such as the weight of the cargo, thereby saving energy consumption and overweight cargo can still be Pick up.
  • a lighting device 70 is also mounted on the frame 60.
  • the control system 40 is in signal communication with the lighting device 70.
  • the control system 40 controls the brightness of the lighting device 70 to be adjusted such that the visual recognition system 30 clearly images the goods.
  • the gantry 60 is provided with a sensing element for detecting the light intensity, and the control system 40 controls the brightness of the illuminating device 70 according to the detected light intensity; or, in combination with the ambient light brightness within 24 hours of collecting the cargo sorting device.
  • the brightness data and the brightness required by the visual recognition system 30 are varied, and a brightness timing control program of the illumination device 70 is provided in the control system 40, and the control system 40 controls the brightness of the illumination device 70 in accordance with the brightness timing control program.
  • control system 40 further determines the amount of the goods in the cache compartment 10 according to the acquired image, and controls the brightness of the illumination device 70; for example, the number of goods in the cache compartment 10 is increased, and the brightness of the illumination device 70 is accordingly increased.
  • the number of items in the cache compartment 10 is small, and the brightness of the current lighting device 70 is accordingly lowered or maintained.
  • the cargo sorting device controls the industrial robot 50 to carry the goods to the corresponding preset position by the acquisition of the cargo posture and the classification information in the cache cabin 10, so as to classify the goods, so that the goods are provided.
  • the efficiency of the logistics transport or sorting system of the cargo sorting device is effectively improved.
  • FIG. 5 a schematic structural diagram of an embodiment of a cargo sorting system provided by the present application.
  • the cargo sorting system includes a cargo sorting device 100, a first cargo transport device 110, and a plurality of second cargo transport devices 120, as described above, the first cargo transport device 110 and the plurality of second cargo transport devices 120 being disposed in the cargo portion On the circumferential side of the sorting device 100, the cargo sorting device 100 picks up and transports the goods conveyed from the first cargo transport device 110 by sorting information to the corresponding second cargo transport device 120.
  • the control system 40 is also in signal connection with the first cargo transport device 110. During the picking up of the cargo by the industrial robot 50, the first cargo transport device 110 is controlled to stop working, preventing the industrial robot 50 from colliding with the slipped cargo when picking up the cargo.
  • the control system 40 also plans the movement path of the industrial robot 50 based on the pickup position of the cargo, the unloading position on the corresponding second cargo conveying device 120, and adjusts the posture of the industrial robot 50 so that the industrial robot 50 can smoothly carry the goods from The cache bay 10 is transported to a corresponding corresponding second cargo transport device 120.
  • the first cargo conveying device 110 and the second cargo conveying device 120 each include a conveyor belt, and the cargo is transported to the buffer compartment 10 via the conveyor belt, and the industrial robot 50 carries the cargo to the corresponding second cargo conveying according to the classification information of the cargo in the buffer compartment 10.
  • a conveyor belt on device 120 is included in the first cargo conveying device 110 and the second cargo conveying device 120.
  • the first cargo conveying device 110 includes a conveying device 112 for conveying goods, and a transition chute 113 disposed between the conveying device 112 and the buffer compartment 10 for conveying
  • the cargo conveyed by the device 112 smoothly slides down to the cache compartment 10.
  • a baffle is arranged on both sides of the slideway on the transitional slide 113 to ensure that the cargo slides into the buffer compartment 10.
  • the surface of the slide portion of the transition slide 113 is also waxed or coated with a Teflon coating to reduce the friction coefficient of the surface, so that the cargo can smoothly slide into the buffer chamber 10.
  • the plurality of second cargo conveying devices 120 include a plurality of sorting cabinets 121 disposed on the circumferential side of the industrial robot 50, and the sorting cabinet 121 is provided with a plurality of sorting ports 123, and the industrial robot 50 puts the picked goods into corresponding points. Inside the picking 123.
  • the plurality of second cargo conveying devices 120 may be arranged in rows along the two sides of the industrial robot 50, or the plurality of second cargo conveying devices 120 may be disposed around the industrial robot 50 around the circumference thereof.
  • the setting of the second cargo conveying device 120 of the present application is provided. Location is not restricted.
  • the second cargo conveying device 120 includes a sorting cabinet 121.
  • the sorting cabinet 121 is stacked with a plurality of sorting ports 123.
  • the sorting port 123 communicates with the inclined slide rails, so that the sorted goods are sorted through the sorting port. 123 is transported to a corresponding cargo distribution center or container or the like.
  • the sorting port 123 is usually set in the same size and is easy to manufacture.
  • the sorting port 123 can also be set in various specifications, which is not limited in this application.
  • the sorting port 123 is further provided with a cargo fall prevention device 125 for blocking the goods from being turned over to the outside of the sorting cabinet 121 when the industrial robot 50 puts the goods into the sorting port 123 and releases the goods.
  • the situation in which the picking port 123 is dropped outward occurs.
  • the cargo fall prevention device 125 is, for example, a moderately rigid brush fixed at the sorting port 123. The goods are not blocked by the brush under the handling of the industrial robot, and the brush prevents the goods from being turned over after the cargo is released. Moreover, the brush does not occupy the internal space at the sorting port 123.
  • the cargo fall prevention device 125 may also be a baffle hinged to the sorting port 123, for example, the baffle is hinged to the sorting port 123 by a torsion spring.
  • the sorting cabinet 121 is further provided with a plurality of identification codes 124, and the identification code 124 is disposed corresponding to the sorting port 123, so that the industrial robot 50 acquires the sorting port 123 information through the identification code 124, for example, the sorting port information includes the goods.
  • the transport destination, the size of the sorting port 123, and the like, the sorting device 100 sorts the goods to the corresponding sorting port 123 accordingly. That is, the control system 40 controls the industrial machine 50 people to place the goods into the corresponding sorting port 123 based on the sorting port information.
  • only one identification code 124 is provided on the sorting cabinet 121.
  • an identification code 124 includes information of all the sorting ports 123 thereon, and the sorting device 100 is sorted.
  • the position of the corresponding sorting port 123 can also be located according to the position of the identification code 124, thereby placing the goods into the corresponding sorting port 123.
  • the industrial robot 50 is provided with a visual sensor 54 for scanning the identification code 124 to obtain the sorting port information corresponding to the identification code 124.
  • the visual recognition system 30 scans the depth image of the second cargo transport device 120, and the control system 40 establishes a data model of the second cargo transport device 120 based on the obtained depth image, and positions the sorting cabinet 121 and the sorting port 123 at The coordinate mode is stored, and the sorting information is matched with the corresponding sorting port 123, so that the goods sorting device 100 can quickly put the picked up goods into the corresponding sorting port 123.
  • the buffer device comprises a buffer compartment, a dialing device, a visual recognition system and a control system.
  • the dialing device is arranged in the buffer compartment for adjusting the posture of the cargo loaded in the buffer cabin; the visual recognition system is used for loading the cache compartment The goods inside are image-collected; the dialing device and the visual recognition system are all connected with the control system signal, and the control system determines whether the cargo posture in the cache cabin is in a pickable state according to the image collected by the visual recognition system, and the cargo posture is not picked up.
  • the control toggle device adjusts the posture of the cargo in the cache compartment so that the cargo posture is in a pickable state.
  • the visual recognition system is arranged to collect images of the goods in the buffer cabin, and the control system determines whether the cargo is in a pickable state according to the collected image, and then selectively controls the dialing device to adjust the posture of the cargo.
  • the cargo posture is in a pickable state, which effectively reduces the difficulty of picking up the goods and improves the transportation efficiency of the goods.

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Abstract

L'invention concerne un appareil de mise en cache, un appareil de tri de marchandises et un système de tri de marchandises. L'appareil de mise en cache comprend une cabine de mise en cache (10), un appareil de déplacement (20), un système de reconnaissance visuelle (30) et un système de commande (40), l'appareil de déplacement (20) étant agencé au sein de la cabine de mise en cache (10) et étant utilisé pour régler la posture de marchandises à l'intérieur de la cabine de mise en cache (10); le système de reconnaissance visuelle (30) étant utilisé pour collecter des images des marchandises à l'intérieur de la cabine de mise en cache (10); et l'appareil de déplacement (20) et le système de reconnaissance visuelle (30) étant tous deux en connexion de signal avec le système de commande (40), le système de commande (40) déterminant, en fonction des images collectées par le système de reconnaissance visuelle (30), si la posture des marchandises à l'intérieur de la cabine de mise en cache (10) est dans un état dans lequel ces dernières peuvent être saisies, et commandant, lorsque la posture des marchandises est dans un état dans lequel ces dernières ne peuvent pas être saisies, l'appareil de déplacement (20) de telle sorte que ce dernier règle la posture des marchandises à l'intérieur de la cabine de mise en cache (10), de sorte que la posture des marchandises soit dans l'état dans lequel ces dernières peuvent être saisies.
PCT/CN2018/087096 2018-05-16 2018-05-16 Appareil de mise en cache, appareil de tri de marchandises et système de tri de marchandises WO2019218271A1 (fr)

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