WO2019241906A1 - 自动分拣系统及分拣机器人 - Google Patents

自动分拣系统及分拣机器人 Download PDF

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Publication number
WO2019241906A1
WO2019241906A1 PCT/CN2018/091805 CN2018091805W WO2019241906A1 WO 2019241906 A1 WO2019241906 A1 WO 2019241906A1 CN 2018091805 W CN2018091805 W CN 2018091805W WO 2019241906 A1 WO2019241906 A1 WO 2019241906A1
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WO
WIPO (PCT)
Prior art keywords
sorting
goods
target
robot
sorted
Prior art date
Application number
PCT/CN2018/091805
Other languages
English (en)
French (fr)
Inventor
张�浩
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/CN2018/091805 priority Critical patent/WO2019241906A1/zh
Priority to CN201880002123.5A priority patent/CN109414731B/zh
Publication of WO2019241906A1 publication Critical patent/WO2019241906A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/10—Apparatus characterised by the means used for detection ofthe destination
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution

Definitions

  • the present application relates to the field of robotics, and in particular, to an automatic sorting system and an automatic sorting robot.
  • the existing sorting system in the freight or logistics industry often uses vertical sorting cabinets to sort the sorted goods.
  • the robot arm only plays the vertical range of sorting activities, and the robot arm When sorting goods, the path planning takes a long time and the sorting efficiency is low.
  • Another way is to use a separate sorting port, the robotic arm can only play down the range of sorting activities.
  • the present application provides an automatic sorting system and an automatic sorting robot, which can make full use of the movable range of the robotic arm, increase the use efficiency of the robotic arm, and improve the sorting efficiency of the robot to save sorting time.
  • a technical solution adopted in the present application is to provide an automatic sorting system, the system includes a robot, a sorting unit, and a sorting storage device, and the sorting unit includes a plurality of sorting ports,
  • the sorting storage device includes a plurality of sorting cabinets, and a frequency of occurrence of a target sorting place corresponding to the sorting port is higher than a frequency of occurrence of a target sorting place corresponding to the sorting cabinet; wherein the robot is used for Acquiring the goods to be sorted and placing the goods to be sorted into a corresponding target sorting port or a target sorting cabinet according to the target sorting place information of the goods to be sorted, and the robot places the goods to be sorted
  • the complexity of planning the movement path of the target sorting port is lower than the complexity of planning the movement path of the robot placing the goods to be sorted into the target sorting cabinet.
  • an automatic sorting robot including at least a robot arm; the robot arm is used to sort the pending robot according to the target sorting information of the goods to be sorted.
  • the sorting goods are placed in the corresponding target sorting port or target sorting cabinet, wherein the movement path planning complexity of the robotic arm placing the goods to be sorted into the target sorting port is lower than that of the robotic arm The complexity of planning the movement path of the goods to be sorted into the target sorting cabinet.
  • an automatic sorting system and a robot are provided.
  • the information of the target sorting place of the goods to be sorted is divided into high-frequency regions and In low frequency areas, the information of the target sorting place with high frequency and the sorting port in the sorting unit are bound, and the information of the target sorting place with low frequency and the sorting port in the sorting cabinet are bound.
  • the complexity of path planning is lower than the complexity of the motion path planning of the robot placing the goods to be sorted into the target sorting cabinet, and at the same time, it can improve the robot's sorting efficiency and save the sorting time.
  • FIG. 1 is a schematic structural diagram of a first embodiment of an automatic sorting system of the present application
  • FIG. 2 is a schematic structural diagram of a first embodiment of a robot according to the present application.
  • FIG. 3 is a schematic top view of an embodiment of the automatic sorting system of the present application.
  • FIG. 4 is a schematic structural diagram of a second embodiment of the automatic sorting system of the present application.
  • FIG. 5 is a schematic structural diagram of a second embodiment of an automatic sorting robot of the present application.
  • FIG. 6 is a schematic structural diagram of a third embodiment of an automatic sorting system of the present application.
  • FIG. 7 is a schematic structural diagram of a second embodiment of a sorting unit of the present application.
  • FIG. 8 is a schematic structural diagram of a third embodiment of a sorting unit of the present application.
  • the first embodiment of the automatic sorting system of the present application includes a robot 10, a sorting unit 20, and a sorting storage device 30.
  • the sorting unit 20 includes a plurality of sorting ports 201.
  • the sorting storage device 30 includes Multiple sorting cabinets 301. The occurrence frequency of the target sorting place corresponding to the sorting port 201 is greater than the occurrence frequency of the target sorting place corresponding to the sorting cabinet 301.
  • the robot 10 is used for acquiring the goods to be sorted and placing the goods to be sorted into the corresponding target sorting port 201 or the target sorting cabinet 301 according to the target sorting location information of the goods to be sorted.
  • the complexity of the motion path planning of the robot 10 putting the goods to be sorted into the target sorting port 201 is lower than the complexity of the motion path planning of the robot 10 putting the goods to be sorted into the target sorting cabinet 301.
  • a plurality of sorting cabinets 301 surround to form a cargo sorting space.
  • the robot 10 and the sorting unit 20 are disposed in the cargo sorting space, and the cargo is sorted.
  • the space includes at least one receiving surface B.
  • the number of sorting cabinets 301 around each robot 10 is set to three.
  • the number of sorting cabinets can also be set to 4, 5, 6, and so on. Further qualified.
  • the loading surface B can be docked with a conveyor mechanism, such as a conveyor belt.
  • the conveyor belt can be directly docked with the cargo or directly docked with the cargo processing center to transport the unloaded goods from the cargo compartment to the robot 10 through the conveyor belt.
  • the robot 10 further unloads The goods to be sorted are sorted automatically.
  • 2 is a schematic structural diagram of a first embodiment of a robot of the present application.
  • the robot 10 includes a robot arm 101 and a rotatable base 104.
  • An identification device 1011 is provided on an end effector 102 of the robot arm 101.
  • the identification device 1011 includes, but is not limited to, a radio frequency identification device, a barcode identification device, a two-dimensional code identification device, a visual sensor, and an optical character identification device.
  • the identification device 1011 may be provided on the robot arm 101.
  • the operation range of the robot arm 101 is extended by using the rotation of the rotatable base 104, and it can also be used in cooperation with the robot arm 101 to assist the rotation in the executable range of the robot arm 101 to reduce the Mechanical movement.
  • the machine 10 may not include a rotatable base, and the goods are moved to the corresponding target sorting port 201 or sorting cabinet 301 by controlling the rotation of the joints of the mechanical arm.
  • the robot 10 uses the identification device 1011 to identify the identification of the goods, such as identifying a barcode, a two-dimensional code or a character, etc., and obtains the information of the goods to be sorted through the identification, including the current position and / or the current posture, the target position and / Or at least one of a target attitude, a held position and / or a held position, a placement position and / or a placement posture, a type, a description, a size, a weight, a first path, a first trajectory, a second trajectory, and a second path .
  • identify the identification of the goods such as identifying a barcode, a two-dimensional code or a character, etc.
  • the robot 10 is disposed at the bottom of the cargo sorting space through a fixing mechanism, such as a fixed pile or a fixed post.
  • the sorting unit 20 surrounds the robot 10 and is formed at the bottom of the cargo sorting space. Among them, a sorting surface (not shown) of each sorting cabinet 301 is set facing the robot 10, and a picking surface (not shown) of each sorting cabinet 301 is set away from the robot 10 or toward the ground.
  • the automatic sorting system may include a plurality of small cargo sorting units composed of a robot 10, a sorting unit 20, and a sorting storage device 30, and the loading surface B of each small cargo sorting unit is at least one phase.
  • the receiving surface B of the adjacent cargo sorting unit is oppositely disposed.
  • the loading surface B of the cargo sorting unit 1 of the automatic sorting system shown in FIG. 3 is opposite to the loading surface B of the cargo sorting unit 2 and adjacent to the loading surface. There is a safe passage between them.
  • the pickup surface other than the loading surface B of the cargo sorting unit 1 or 2 is opposite to the pickup surface of the adjacent cargo sorting unit, and the adjacent pickup surface There is also a secure channel between them.
  • a safety channel is provided between adjacent sorting units, which can prevent the robot from accidentally injuring staff due to excessive speed during the sorting process, thereby ensuring safety during the sorting process.
  • the sorting cabinet in each sorting storage device in this application may be configured as a pipe structure bent downward, and may specifically be one of a sloped pipe, a multi-plane bent pipe, or a bent pipe,
  • a storage structure or a baffle structure may be provided at the bottom of each sorting cabinet.
  • a sensing device (not shown in the figure) may be provided at a connection between the storage structure or the baffle structure and the pipeline structure in this embodiment. )
  • the storage structure may specifically be a packing bag. When the sensing device senses that the sorting cabinet is full of goods, the packing bag automatically packs the goods in the sorting cabinet, and the packed goods to be sorted directly fall into the corresponding ones after packing. Pickup device.
  • the sensing device is one of a ranging sensor, a vision sensor, a near-field sensor, a tactile sensor, a proximity sensor, and a pressure sensor.
  • the sensing device can be a ranging sensor that can recognize the quantity of the incoming goods, or a near-field sensing device that can sense the tags on the goods and obtain information about the goods, such as the weight and volume of the goods, so that it can know the total weight of the incoming goods, The total volume is used as a condition for determining whether to pack. It can be understood that the obtained cargo information can be flexibly set according to the judgment conditions set in the application scenario requirements.
  • the pickup device may be a pickup robot, for example, it includes a mobile chassis and a storage mechanism for carrying goods.
  • the sensing device can be a ranging sensor that can recognize the quantity of the incoming goods, or a near-field sensing device that can sense the tags on the goods and obtain information about the goods, such as the weight and volume of the goods, so that it can know the total weight of the incoming goods, The total volume is used as a condition for determining whether to pack. It can be understood that the obtained cargo information can be flexibly set according to the judgment conditions set in the application scenario requirements.
  • the picking device After sensing that the goods to be sorted are placed in the sorting cabinet or the accumulated goods to be sorted meet the packing conditions, the picking device is immediately notified to pick up the goods, and the robot performs a full-loaded packing bag such as drawstring sealing, hot-pressing sealing,
  • a full-loaded packing bag such as drawstring sealing, hot-pressing sealing,
  • the operation of zipper sealing, packing for packing with a custom seal, and the like are not further limited herein.
  • the sorting unit 20 in this embodiment includes multiple sorting ports 201.
  • the multiple sorting ports 201 may be circular or square openings, or other regular / irregular shaped openings.
  • the sorting unit 20 may be as shown in FIG.
  • the square shown in 1 may be a circle or other regular and irregular shapes, which are not specifically limited here.
  • a storage mechanism (not shown), such as a storage bag, is provided at each sorting port 201. When the storage organization is fully loaded, such as when the weight and / or volume of the goods to be sorted reaches the weight and / or volume allowed by the storage organization, the cargo is automatically packed.
  • the specific operation method of packing depends on the type of the storage mechanism.
  • the storage mechanism is a storage bag
  • any method such as drawstring sealing, heat sealing, zipper sealing, and custom sealing can be used.
  • the pickup robot is notified to further remove the goods.
  • the transportation to be sorted and obtained in the above system can also be performed manually, which is not further limited here.
  • a control center may also be included.
  • FIG. 4 is a second embodiment of an automatic sorting system of the present application.
  • the automatic sorting system includes a robot 10, a sorting unit 20, a sorting storage device 30, and a control center 50.
  • the sorting unit 20 includes a plurality of sorting ports 201
  • the sorting storage device 30 includes a plurality of sorting cabinets 301.
  • the control center 50 stores the corresponding relationship between the target sorting place information corresponding to each sorting port 201 and each sorting cabinet 301, and the target sorting of the goods to be sorted. ⁇ ⁇ Local information.
  • the control center 50 may be used to set the sorting port 201 and the target sorting place information corresponding to each sorting cabinet 301.
  • the control center 50 may divide the target sorting place corresponding to the goods to be sorted into a high-frequency area and a low-frequency area by using preset rules according to the target sorting place information of all the goods to be sorted.
  • the control center 50 may set a target sorting place where the quantity of goods to be sorted corresponding to the target sorting place information detected is greater than a first threshold (eg, 300) as a high-frequency region where the goods appear.
  • a first threshold eg, 300
  • the target sorting place where the quantity of goods to be sorted corresponding to the information of the target sorting place detected is less than the first threshold is set as a low frequency area where the goods appear.
  • the first threshold in this application is only a schematic illustration.
  • a certain target sorting place may also be directly set as a high frequency area or a low frequency area where the goods appear, which is not specifically limited herein.
  • the control center 50 further adjusts and / or sets a target sorting port or a sorting cabinet corresponding to the target sorting place.
  • the control center 50 sets the occurrence frequency of the target sorting place corresponding to the sorting port 201 to be greater than the occurrence frequency of the target sorting place corresponding to the sorting cabinet 301. That is to say, this application binds the target sorting place information of the goods to be sorted in the high frequency area with the sorting port 201 in the sorting unit 20, and combines the target sorting place information of the goods to be sorted in the low frequency area with The sorting cabinet 301 is bound.
  • each sorting cabinet 301 also includes multiple sorting ports m, and each sorting port m can respectively correspond to different target sorting place information, or multiple sorting ports m can simultaneously correspond to one target sorting place information .
  • the control center 50 detects that Guangzhou, Shenzhen, Shanghai, Beijing, and other regions are high-frequency regions where the goods to be sorted are sorted. Then, the control center 50 sets a sorting port 201 corresponding to the high-frequency region. , And adjust the target sorting place information corresponding to the sorting port 201 to the respective target sorting place information (ie, Guangzhou, Shenzhen, Shanghai, Beijing).
  • the number of sorting ports 201 corresponding to each high-frequency region may be one, or a plurality of sorting ports 201 corresponding to a high-frequency region may be set. The number of sorting ports 201 to be adjusted may be determined according to actual needs. Be specific.
  • the control center 50 sets the remaining target sorting place of the goods to be sorted as a low frequency area, and further performs the target sorting place information corresponding to the low frequency area and the sorting port m in the corresponding sorting cabinet 301.
  • Binding where the number of sorting ports m in the sorting cabinet 301 corresponding to each low-frequency region can be one, or a plurality of sorting ports m in a low-frequency region can be set to adjust the sorting port m in the sorting cabinet 301 to be adjusted The number can be determined according to actual needs, and is not specifically limited here.
  • control center 50 is further configured to update the appearance frequency of the target sorting place corresponding to the target sorting port 201 and the sorting cabinet 301 in real time. That is, the setting of the high and low frequency regions corresponding to the target sorting location information of the goods to be sorted can be updated in real time. For example, at a certain time, the target sorting locations that meet the high frequency regions are a, b, c, and d. The number of goods to be sorted increases or decreases, and the target sorting place that meets the high frequency area is a, b, c, e. At this time, the control center 50 adjusts the real-time corresponding to the sorting port 201 according to the occurrence frequency of the target sorting place.
  • the target sorting place information is a, b, c, and e.
  • the control center 50 will also adjust the target sorting place information corresponding to each sorting port m in the sorting cabinet 301 in real time.
  • the target picking place information of the goods to be sorted meets the preset conditions (the target picking place information meets high-frequency or low-frequency areas)
  • the target picking place information corresponding to the sorting port and / or the sorting cabinet is adjusted, thereby being flexible Allocating sorting ports can improve the utilization rate and sorting efficiency of sorting ports and sorting cabinets.
  • FIG. 5 is a schematic structural diagram of a second embodiment of an automatic sorting robot of the present application.
  • the automatic sorting robot 10 includes at least a robot arm 101 for placing the goods to be sorted into the corresponding target sorting port 201 or the target sorting cabinet 301 according to the target sorting location information of the goods to be sorted.
  • the target sorting place information of the goods to be sorted can be obtained through the control center 50, or can be obtained through the cargo data obtained by an identification device communicably connected with the robot 10.
  • the identification device may be provided in the sorting unit 20
  • the sorting storage device 30 can be used to obtain the location of the goods, such as a conveyor belt that transports the goods to the sorting unit 20 and the sorting storage device 30, or it can be arranged on the robot 10, such as an end effector, a robot arm, or The joint where the end effector is connected to the end effector.
  • a combination of the above-mentioned different setting methods may also be included.
  • the cargo information of the goods to be sorted can also be obtained through the identification device and the control center 50, for example, the identification device identifies the identification of the cargo, and the control center 50 is used to obtain the corresponding cargo information according to the identification, and then provide it to the robot. 10. It can be understood that when the control center and the identification device are both disposed on the robot 10, the robot can execute the method steps corresponding to the control center and the identification device.
  • the robot 10 further includes an end effector 102 connected to the robot arm 101.
  • the end effector 102 may be a vacuum chuck, a mechanical gripper, a clamping mechanism, and the like.
  • the robot 10 is further configured to obtain cargo information of the cargo to be sorted, and the cargo information further includes the current position and / or current posture of the cargo, the target position and / or target posture, the held position and / or held posture, At least one of a placement position and / or placement posture, type, description information, size, weight, first path, first track, second track, and second path.
  • the robot 10 determines a holding position and / or a holding attitude of the end effector 102 for holding the goods to be sorted according to the cargo information of the goods to be sorted, so as to control the end effector 102 to obtain the holding position and / or
  • the holding attitude is to hold the goods to be sorted, or to determine the target position and / or the target attitude of the end effector 102 for placing the goods, so as to control the end effector 102 to place the goods in the target position and / or the target attitude.
  • the automatic sorting robot of the present application further includes a communication circuit 103 connected to the robot arm 101, and the communication circuit 103 is configured to communicate with an external device.
  • the communication circuit 103 is configured to receive notification information from the control center 50, the notification information including at least one of a held position and / or a held posture of the held cargo, and a target position and / or a target posture where the cargo is placed
  • the robot 10 is further used to control the end effector 102 to hold the cargo in the holding position and / or the holding posture, or control the end effector 102 to place the cargo in the target position and / or the target posture.
  • the shape and size of the sorting port 201 of the sorting unit 20 so that it can satisfy the arbitrary placement of the goods to be sorted in all forms in the high-frequency area, there is no need to obtain and consider the goods to be sorted.
  • Posture it is not necessary to calculate the holding attitude, placement posture of the robot according to the posture of the goods to be sorted, and the first path planning and first trajectory based on the posture of the goods to be sorted and the first posture of the end effector of the robot arm , And a second path plan and a second trajectory for placing goods to be sorted.
  • a target sorting place is set to a high-frequency area (assuming Guangdong province), then the sorting port 201 of the corresponding sorting unit 20 can be set to one, and the control center 50 can sort the target.
  • the land picking and the sorting port 201 are bound, and the posture information of the sorting port 201 is fixed.
  • the robot 10 When the robot 10 obtains the target sorting place information of the goods to be sorted belongs to the high-frequency area, it performs a query from the correspondence between the saved target sorting place information and the sorting port to obtain the target corresponding to the goods to be sorted
  • the sorting port 201 calculates the position of the end effector 102 of the robot arm 101 and the rotatable base 104 of the robot 10 according to the position information of the target sorting port 201 and the position information of the current robot 10 Rotation angle.
  • the position of the operating end of the robot arm 101 can be achieved by controlling the rotation angle of each joint of the robot arm 101 to the position.
  • the robot 10 can also control the rotation angle of the rotatable base 104, and control the state of the robot arm 101 based on the rotation of the rotatable base 104.
  • the joint rotation angle makes the operating end of the robotic arm 101 to a position corresponding to the target sorting port 201, and the corresponding position may be such that the goods held by the end effector 102 connected to the operating end can be placed in the target sorting port, and finally The end effector 102 which controls the end connection of the robot arm 101 directly puts the goods into the target sorting port 201.
  • a plurality of high-frequency regions may be set according to the above-mentioned preset rule, and corresponding target sorting ports 201 may also be set.
  • the robot 10 uses the target picking place information to query the sorting port in the sorting cabinet 301 that matches the target picking place information.
  • m posture and based on the current posture information of the goods to be sorted and the current posture of the robot arm 101, the robot arm 101 obtains the held posture of the goods to be sorted, the first path planning, and the first execution Trajectory, and then calculate the placement posture for placing the goods to be sorted, the second path planning, the second execution trajectory, and the like according to the posture of the sorting port m.
  • the robot 10 when the robot 10 places the goods to be sorted into the corresponding sorting cabinet 301, the robot 10 not only needs to control the rotation angle of the rotatable base 104, but also controls the robotic arm 101 based on the rotation angle of the rotatable base 104. State, it is also necessary to control the rotation angle of each joint so that the operating end of the robotic arm 101 reaches the position corresponding to the sorting port m in the target sorting cabinet 301, and finally control the end effector 102 to put the goods into the target corresponding to the target sorting cabinet 301 Sorting port m.
  • the robot 10 can identify each sorting port 201 and sorting cabinet 301 during initial use, and store the positions or postures of each sorting port 201 and sorting cabinet 301 in advance, or set them in advance before using the robot 10
  • the sorting port 201 and the sorting cabinet 301 in the sorting unit 20 are fixedly set. Therefore, the positions or posture control centers 50 of the respective sorting ports 201 and the sorting cabinet 301 can be known in advance.
  • the first time that the robot 10 places the goods to be sorted into the target sorting port 201 is shorter than the second time that the robot 10 places the goods to be sorted into the target sorting cabinet 301.
  • the first time includes the planning time for the robot 10 to put the goods to be sorted into the target sorting port 201 and the movement time of the robot 10 (that is, after the path planning of the robot 10 is completed, the goods to be sorted are put into the target sorting port 201 Exercise time).
  • the second time includes the planning time of the robot 10 putting the goods to be sorted into the target sorting cabinet 301 and the movement time of the robot (that is, the movement time of putting the goods to be sorted into the target sorting cabinet 301 after the robot 10's path planning is completed ), Can improve the sorting efficiency of the robot.
  • the target sorting place information of the goods to be sorted in the high frequency area and the sorting port 201 in the sorting unit 20 are bound in advance to bind the target sorting place information of the goods to be sorted in the low frequency area.
  • Binding with the sorting cabinet 301 so that the movement path planning complexity of the robotic arm 101 of the robot 10 when placing the goods to be sorted into the target sorting port 201 is lower than that of the robotic arm 101 that puts the goods to be sorted into the target sorting cabinet
  • the complexity of the motion path planning of 301 can improve the sorting efficiency of the robot 10.
  • the control center 50 controls the baffle structure at the sorting cabinet 301 to open so that the goods enter a sorting bag.
  • the picking device can further pack the sorting bag, such as drawstring sealing, heat-pressing sealing, zipper sealing, custom sealing, etc., or the control center 50 notifies the picking device, where the picking robot will sort the opening
  • the storage bags at 201 are packed, and after being packed, they are transported to different target sorting places through a picking device.
  • the sensing device can be a ranging sensor that can identify the quantity of the incoming goods, or a near-field sensing device that can sense the tags on the goods and obtain information about the goods, such as the weight and volume of the goods. Weight, total volume, etc., as conditions for determining whether to pack. It can be understood that the obtained cargo information can be flexibly set according to the judgment conditions set in the application scenario requirements. After sensing that the goods to be sorted are placed in the sorting cabinet or the accumulated goods to be sorted that meet the packing conditions, immediately notify the picking device to pick up the goods.
  • the packing information of the goods to be sorted can be pasted on the sorting bag or the storage bag, and the packing information includes at least the unified identification of the packed goods and the goods to be sorted.
  • the packing information includes at least the unified identification of the packed goods and the goods to be sorted.
  • One of the quantity information, the destination sorting information of the goods to be sorted, the vehicle identification code information, the transportation time information, and the identification of the goods to be sorted, the identification of the goods to be sorted, and the order number information of the goods to be sorted In order to provide subsequent operations such as tracking or re-sorting at least one of the goods that are uniformly packed together.
  • the target sorting place information of the goods to be sorted is divided into a high frequency area and a low frequency area, and the target sorting place information with a high frequency of occurrence is bound to the sorting port in the sorting unit. Binding the information of the low-frequency target sorting place with the sorting port in the sorting cabinet can give full play to the range of motion of the robot manipulator and increase the use efficiency of the manipulator.
  • the movement path planning complexity of placing the goods to be sorted into the target sorting port is lower than that of the robot to place the goods to be sorted into the target.
  • the complexity of the movement path planning of the picking cabinet can improve the sorting efficiency of the robot and save the sorting time.
  • FIG. 6 is a schematic structural diagram of a third embodiment of the automatic sorting system of the present application. As shown in FIG. 6, this embodiment is a further extension of the first embodiment of the automatic sorting system of the present application. No longer described.
  • the automatic sorting system in this embodiment further includes a lifting mechanism 60.
  • the sorting unit 20 and the robot 10 are fixed in the cargo sorting space through the lifting mechanism 60.
  • the lifting mechanism 60 may be an electric lift, a hydraulic lift, a self-propelled lift, or a fixed pile or a fixed pile, etc., which is not further limited herein.
  • the lifting mechanism 60 can adjust the height of the robot 10 and the sorting unit 20 relative to each sorting port or sorting cabinet, so that the robot 10 can sort the goods to be sorted.
  • a plurality of sorting ports 201 of the sorting unit 20 correspond to a sorting port 202.
  • a storage mechanism 203 is provided at the sorting port 202.
  • the robot 10 puts the goods to be sorted into the target. After the sorting port 201, the goods enter the sorting storage port 203 for storage from the sorting and shipping port 202, where the sorting mechanism 203 includes, but is not limited to, a storage box or a storage bag.
  • the sorting mechanism 203 includes, but is not limited to, a storage box or a storage bag.
  • the specific operation method of packing depends on the type of the storage mechanism 203. For example, when the storage mechanism 203 is a storage bag, any method such as drawstring sealing, heat sealing, zipper sealing, and custom sealing can be adopted. It is not specifically limited here.
  • multiple sorting ports 201 may correspond to one sorting port 202, and a sorting port 202 is provided with a storage bag 203.
  • the robot 10 puts the received goods into the corresponding ports. After the target sorting port 201, the goods enter the storage bag 203 from the sorting port 202 corresponding to the sorting port 201.
  • the sorting port 202 is provided with a sensing device 204, such as a proximity sensor, when there is a cargo B
  • a sensing device 204 such as a proximity sensor
  • the proximity sensor 204 senses the goods B, and when it senses that the storage bag 203 is full, if the stored goods have been piled up to approach or contact the sorting
  • the storage bag 203 is automatically packed, and the packed storage bag 203 can be dropped downwards, and transported to the target sorting place by using a manual, a conveyor or a picking device.
  • multiple sorting ports can respectively correspond to different types of goods, and one sorting port corresponds to one type of goods, but the same sorting destination information corresponding to the same sorting outlet is the same, so as to achieve the same target sorting location information Different types of goods enter storage facilities through different sorting ports.
  • multiple sorting ports can also correspond to different target sorting place information.
  • the target sorting place positions corresponding to multiple sorting ports of the same sorting outlet are adjacent, so that the same subsequent conveyance can be used to The goods of the same sorting outlet are sequentially transferred to the adjacent target sorting place, so as to avoid the need for multiple conveyances such as a picking device or a conveyor belt.
  • a baffle may also be provided between the sorting outlet and the storage mechanism.
  • the baffle is provided with a sensing device, and the sensing device may be a pressure sensor, etc., for sensing the baffle.
  • the weight of the cargo carried by the board can be used to open the baffle when the weight of the cargo reaches a preset weight, such as when the weight of the storage box is allowed to be carried, so that the cargo enters the storage mechanism so that the storage mechanism can perform packing operations.
  • the structure of the sorting storage device in this embodiment is the same as that of the sorting storage device in the first embodiment.
  • the target sorting place information of the goods to be sorted is divided into high-frequency regions and low-frequency regions according to preset rules.
  • the target sorting place information is bound to the sorting port in the sorting unit, and the target sorting place information with a low frequency is bound to the sorting port in the sorting cabinet.
  • the complexity of the motion path planning of the robot placing the goods to be sorted into the target sorting port is lower than the complexity of the motion path planning of the robot placing the goods to be sorted into the target sorting cabinet, which can further improve the robot's sorting efficiency.
  • the sorting cabinet and the sorting unit are used to sort the goods, which can make full use of the movable range of the robot mechanical arm and increase the use efficiency of the mechanical arm.
  • the first time when the robot 10 puts the goods to be sorted into the target sorting port 201 is shorter than the second time when the robot 10 puts the goods to be sorted into the target sorting cabinet 301.
  • the first time includes the planning time for the robot 10 to put the goods to be sorted into the target sorting port 201 and the movement time of the robot 10 (that is, after the path planning of the robot 10 is completed, the goods to be sorted are put into the target sorting port 201 Exercise time).
  • the second time includes the planning time of the robot 10 putting the goods to be sorted into the target sorting cabinet 301 and the movement time of the robot (that is, the movement time of putting the goods to be sorted into the target sorting cabinet 301 after the robot 10's path planning is completed ), Can further improve the sorting efficiency of the robot.
  • each sorting port can also be used as a sorting port, and each sorting port can be provided with a storage mechanism.
  • FIG. 7 a schematic structural diagram of a second embodiment of a sorting unit of the present application.
  • At least one sorting port is correspondingly provided with a storage mechanism.
  • the storage mechanism is used to store goods and automatically loads the goods when the goods are fully loaded. Packing is performed so that goods with the same target sorting place information can be sorted and packed according to the type of goods, and delivered to the target sorting place through the same sorting port.
  • the storage organization includes, but is not limited to, a storage box or a storage bag.
  • the four sorting ports 201a, 201b, 201c, and 201d correspond to one sorting port 202, and the four sorting ports are respectively provided with a storage bag 204, and each sorting port Corresponding to different types of goods, so that goods with the same target sorting location information are classified and packed according to different types of goods, and output through the same sorting port 202, which can be transported uniformly.
  • classification according to the type of goods includes large parcels, small parcels, letters, etc. according to different sizes; rigid objects, rigid deformable objects, liquids, etc. according to the shape of the cargo; fragile objects, ordinary objects, and high objects according to the security level. Supporting objects, etc.
  • a storage unit 203 such as a storage box, may be provided at each sorting port, and a corresponding storage bag 204 is packed in a storage unit. 203 for subsequent delivery.
  • FIG. 8 a schematic structural diagram of a third embodiment of a sorting unit of the present application.
  • Each sorting port 201 of the sorting unit 20 is a sorting bag closed at one end, and the opening of the sorting bag is used as a sorting port 201. Cargo entrance. After the robot 10 obtains the target sorting port 201a corresponding to the target sorting place information of the goods, the robot 10 puts the goods into the sorting bag 201a through the opening of the sorting bag 201a.
  • a pressure sensor provided at the bottom of the sorting bag 201a senses that the weight of the goods loaded in the sorting bag 201a reaches the maximum allowable weight of the sorting bag 201a, then automatically sorts the sorting bag 201a 201a is packed.
  • a specific packaging method of the sorting bag reference may be made to the packaging method of the storage bag in the second embodiment of the automatic sorting system of the present application, which will not be repeated here.
  • the picking device 40 in the automatic sorting system may be a conveying mechanism.
  • the conveying mechanism 40 includes a slideway 401 and a conveying belt 402.
  • the conveying mechanism 40 may also directly include a conveying belt.
  • the conveying mechanism 40 is disposed below the sorting port 201 and the sorting cabinet 301. After the packed sorting bags enter the conveying mechanism 40, they are transported to the corresponding target sorting place through the conveying mechanism 40.
  • the target sorting place information can be distinguished by different colors, different patterns (such as bar codes, two-dimensional codes, etc.) or signs such as text.
  • the transmission mechanism 40 can The identification is subsequently identified, and the sorting bags of different target sorting places are transported to the corresponding sorting places.
  • the identification may be pasted or printed on the sorting bag before or at the same time as the packaging bag, or the packaging bag may have the above identification and correspond to different target sorting location information.
  • bags of different colors or textures correspond to different target sorting ports.
  • the corresponding relationship can be a predefined setting, or an association can be dynamically assigned to the system.
  • this solution may include the above-mentioned step of pasting or printing a label, or may not include this step.
  • the transport point of the sorting bag corresponding to the target sorting place information is obtained through the association relationship between the label and the target sorting place information.
  • the conveying point may be a cargo bay finally output by the sorting center, or may be a transit point for re-sorting and conveying.
  • the target sorting place information of the goods to be sorted is divided into high-frequency regions and low-frequency regions according to preset rules.
  • the target sorting place information is bound to the sorting port in the sorting unit, and the target sorting place information with a low frequency is bound to the sorting port in the sorting cabinet.
  • the complexity of the motion path planning of the robot placing the goods to be sorted into the target sorting port is lower than the complexity of the motion path planning of the robot placing the goods to be sorted into the target sorting cabinet, which can further improve the robot's sorting efficiency.
  • the sorting cabinet and the sorting unit are used to sort the goods, which can give full play to the range of motion of the robotic arm and increase the efficiency of the use of the robotic arm.

Abstract

一种自动分拣系统及自动分拣机器人，该系统包括机器人（10）、分拣单元（20）以及分拣存储装置（30），机器人（10）用于获取待分拣货物，并根据待分拣货物的目标分拣地信息将所述待分拣货物放入对应的目标分拣口（201）或目标分拣柜（301），机器人（10）将待分拣货物放入目标分拣口（201）的运动路径规划复杂度低于所述机器人（10）将待分拣货物放入目标分拣柜（301）的运动路径规划复杂度。

Description

自动分拣系统及分拣机器人
【技术领域】
本申请涉及机器人技术领域，特别是涉及一种自动分拣系统及自动分拣机器人。
【背景技术】
现有的货运或物流行业中的分拣系统常采用竖直分拣柜来对待分拣货物进行分拣，其中机械臂只发挥了竖直方向上的分拣活动范围，且机械臂在放置待分拣货物时其路径规划的耗时较长，分拣效率低。另一种方式是采用单独的分拣口，机械臂只能发挥向下的分拣活动范围。
【发明内容】
本申请提供一种自动分拣系统及自动分拣机器人，能够能够充分发挥机器人机械臂的活动范围，增加机械臂的使用效率以及提高机器人的分拣效率节省分拣时间。
为解决上述技术问题，本申请采用的一个技术方案是：提供一种自动分拣系统，所述系统包括机器人、分拣单元以及分拣存储装置，所述分拣单元包括多个分拣口，所述分拣存储装置包括多个分拣柜，所述分拣口对应的目标分拣地的出现频率大于所述分拣柜对应的目标分拣地的出现频率；其中，所述机器人用于获取待分拣货物并根据所述待分拣货物的目标分拣地信息将所述待分拣货物放入对应的目标分拣口或目标分拣柜，所述机器人将所述待分拣货物放入所述目标分拣口的运动路径规划复杂度低于所述机器人将所述待分拣货物放入所述目标分拣柜的运动路径规划复杂度。
为解决上述技术问题，本申请采用的又一个技术方案是：提供一种自动分拣机器人，至少包括机械臂；所述机械臂用于根据待分拣货物的目标分拣地信息将所述待分拣货物放入对应的目标分拣口或目标分拣柜，其中，所述机械臂将所述待分拣货物放入所述目标分拣口的运动路径规划复杂度低于所述机械臂将所述待分拣货物放入所述目标分拣柜的运动路径规划复杂度。
本申请的有益效果是：区别于现有技术的情况，本申请的实施例中，提供一种自动分拣系统及机器人，通过将待分拣货物的目标分拣地信息分为高频地区和低频地区，并将出现频率高的目标分拣地信息和分拣单元中的分拣口进行绑定，将出现频率低的目标分拣地信息和分拣柜中的分拣口进行绑定，可以充分发挥机器人机械臂的活动范围，增加机械臂的使用效率，且在机器人根据待分拣货物的目标分拣地信息进行路径规划时，其将待分拣货物放入目标分拣口的运动路径规划复杂度低于机器人将待分拣货物放入目标分拣柜的运动路径规划复杂度，同时可以提高机器人的分拣效率节省分拣时间。
【附图说明】
图1是本申请自动分拣系统第一实施方式的结构示意图；
图2是本申请机器人第一实施方式的结构示意图；
图3是本申请自动分拣系统一实施方式的俯视示意图；
图4是本申请自动分拣系统的第二实施方式的结构示意图；
图5是本申请自动分拣机器人第二实施方式的结构示意图；
图6是本申请自动分拣系统第三实施方式的结构示意图；
图7是本申请分拣单元第二实施方式的结构示意图；
图8是本申请分拣单元第三实施方式的结构示意图。
【具体实施方式】
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
如图1所示，本申请自动分拣系统第一实施例包括：机器人10、分拣单元20以及分拣存储装置30，分拣单元20包括多个分拣口201，分拣存储装置30包括多个分拣柜301。其中，分拣口201对应的目标分拣地的出现频率大于分拣柜301对应的目标分拣地的出现频率。
机器人10用于获取待分拣货物并根据待分拣货物的目标分拣地信息将待分拣货物放入对应的目标分拣口201或目标分拣柜301。其中，机器人10将待分拣货物放入目标分拣口201的运动路径规划复杂度低于机器人10将待分拣货物放入目标分拣柜301的运动路径规划复杂度。
具体地，结合图1，在本实施例一应用场景中，多个分拣柜301环绕以形成货物分拣空间，机器人10及分拣单元20设置于货物分拣空间内，且该货物分拣空间至少包括一入货面B。本实施例中每一机器人１0周围的分拣柜301设置为３个，在其它实施例中，分拣柜的个数还可以设置为4个、5个、6个等等，此处不做进一步限定。其中，入货面B可以和传送机构，例如传送带对接，传送带可以直接对接装载货物的或与货物的处理中心直接对接以便将货舱中卸载的货物通过传送带输送至机器人10处，机器人10进一步将卸载的待分拣货物进行自动分拣。其中，参阅图2，图2为本申请机器人第一实施方式的结构示意图，如图2机器人10包括机械臂101和可旋转底座104，该机械臂101的末端执行器102上设置有一识别装置1011，其中，该识别装置1011包括但不限于射频识别装置、条码识别装置、二维码识别装置、视觉传感器、和光学字符识别装置。识别装置1011也可以设置于机械臂101。本实施例中，利用可旋转底座104的旋转，扩展了机械臂101的操作范围，也可以用于与机械臂101的协作，在机械臂101可执行范围中辅助转动，以减少机械臂101的机械运动。在其他实施例中，该机器10人也可以不包括可旋转底座，通过控制机械臂各关节的转动，将货物移动到对应的目标分拣口201或分拣柜301。
机器人10利用识别装置1011识别货物的标识，例如识别条形码、二维码或字符等，通过标识获取待分拣货物的货物信息，包括待分拣货物当前位置和/或当前姿态、目标位置和/或目标姿态、获持位置和/或获持姿态、放置位置和/或放置姿态、类型、描述信息、尺寸、重量、第一路径、第一轨迹、第二轨迹及第二路径中的至少一个。
本实施例中，机器人10通过一固定机构设置于货物分拣空间的底部，例如固定桩或固定柱，分拣单元20环绕机器人10形成于货物分拣空间的底部。其中，每一分拣柜301的分拣面（图未示）面向机器人10设置，每一分拣柜301的取货面（图未示）背向机器人10设置或朝向地面方向设置。
自动分拣系统可以包括多个由机器人10、分拣单元20以及分拣存储装置30组成的小的货物分拣单元组成，且每一小的货物分拣单元的入货面B至少与一个相邻货物分拣单元的入货面B相对设置。举例来说，请参见图3，图3所示的自动分拣系统的货物分拣单元1的入货面B与货物分拣单元2的入货面B相对设置，且相邻入货面之间留有安全通道。进一步，如图3，与货物分拣单元1或2的除入货面B之外的取货面均和其相邻设置货物分拣单元的取货面相对设置，且相邻的取货面之间也设置安全通道。
本实施例中，在相邻的分拣单元间设置安全通道，可以防止机器人在分拣的过程中由于速度过大误伤到工作人员，保证分拣过程中的安全性。
可选地，本申请中每一分拣存储装置中的分拣柜可以设置为向下弯折的管道结构，且具体可以是为斜面管道、多平面弯折管道或弯曲管道中的一种，且每一分拣柜的底部可以设置有储货结构或者挡板结构，可选地，本实施例中的储货结构或挡板结构与管道结构的连接处可以设置有感知装置（图未示），用于感知所述待分拣货物是否装满分拣柜。其中，储货结构具体可以是打包袋，在感知装置感应到分拣柜装满货物时，打包袋自行将分拣柜中的货物打包，且打包完后的待分拣货物直接落入对应的取货装置中。
可选地，感知装置为测距传感器、视觉传感器、近场感应器、触觉传感器、接近传感器及压力传感器中的一种。感知装置可以为测距传感器可以识别进入货物的数量，也可以为近场感应装置可以感应货物上的标签，获取货物信息，例如货物的重量、体积等，从而可以获知累积进入货物的总重量、总体积等，以作为是否打包的判断条件。可以理解的而是，获取的货物信息可以依据应用场景需求设定的判断条件灵活设置。在感应到分拣柜中放置有待分拣货物后或累积进入的待分拣货物满足打包条件，立刻通知取货装置（图未示）进行取货，且该取货装置上可以放置对待分拣货物进行打包的分拣袋或者打包袋。本实施例中，该取货装置可以为取货机器人，例如包括移动底盘以及用于承载货物的储货机构。
感知装置可以为测距传感器可以识别进入货物的数量，也可以为近场感应装置可以感应货物上的标签，获取货物信息，例如货物的重量、体积等，从而可以获知累积进入货物的总重量、总体积等，以作为是否打包的判断条件。可以理解的而是，获取的货物信息可以依据应用场景需求设定的判断条件灵活设置。在感应到分拣柜中放置有待分拣货物后或累积进入的待分拣货物满足打包条件，立刻通知取货装置进行取货，机器人把满载的打包袋进行如抽绳封口，热压封口、拉链封口、订装封口打包操作等等，此处本申请不做进一步限定。
本实施例中的分拣单元20包括多个分拣口201，多个分拣口201可以是圆形开口或者方形开口，又或者其他规则/不规则形状开口，分拣单元20可以是如图1所示的方形，也可以是圆形，还可以是其他规则不规则形状，此处不做具体限定。本实施例中，每一分拣口201处对应设置一储货机构（图未示），例如储货袋等。当储货机构在货物满载时，例如待分拣货物的重量和/或体积达到该储货机构容许承载的重量和/或体积时，自动对该货物进行打包。其中，打包的具体操作方式视储货机构的类型而定，例如储货机构是储货袋时，可以采用抽绳封口、热压封口、拉链封口、订装封口等任一种方式，此处不做具体限定。在打包完成后，通知取货机器人进一步将货物取走。当然，上述系统待分拣获取的运输也可以采用人工进行运输，此处不做进一步限定。
在其他实施方式中，还可以包括控制中心。
具体参见图4，图4为本申请自动分拣系统的第二实施方式。该自动分拣系统包括机器人10、分拣单元20、分拣存储装置30及控制中心50。其中，分拣单元20包括多个分拣口201，分拣存储装置30包括多个分拣柜301。
具体地，该自动分拣系统中，控制中心50存储有和每个分拣口201及和每个分拣柜301对应的目标分拣地信息的对应关系，以及待分拣货物的目标分拣地信息。本实施例中，控制中心50可以用于设置分拣口201及每个分拣柜301对应的目标分拣地信息。
可选地，本实施例中控制中心50可以根据所有待分拣货物的目标分拣地信息，通过预设规则，将待分拣货物对应的目标分拣地分为高频地区和低频地区。在一应用场景中，控制中心50可以将检测到目标分拣地信息对应的待分拣货物数量大于第一阈值（如300）的目标分拣地设置为货物出现的高频地区。同理，在检测到目标分拣地信息对应的待分拣货物数量小于该第一阈值的目标分拣地设置为货物出现的低频地区。当然本申请中的第一阈值只是示意性的举例说明，在具体应用场景中，也可以设置为其他数值范围，且该第一阈值其具体取值视实际情况而定，此处不做具体限定。此外，在其他实施方式中，还可以直接将某一目标分拣地设置为货物出现的高频地区或者低频地区，此处不作具体限定。
进一步，在将待分拣货物的目标分拣地信息按照上述预设规则划分完成后，控制中心50进一步调整和/或设置上述目标分拣地所对应的目标分拣口或分拣柜。本实施例中，控制中心50设置分拣口201对应的目标分拣地的出现频率大于分拣柜301对应的目标分拣地的出现频率。也即是说，本申请将高频地区待分拣货物的目标分拣地信息和分拣单元20中的分拣口201进行绑定，将低频地区待分拣货物的目标分拣地信息和分拣柜301进行绑定。其中，每一分拣柜301还包括多个分拣口m，每一分拣口m可以分别对应不同的目标分拣地信息，也可以多个分拣口m同时对应一个目标分拣地信息。
在具体实施方式中，控制中心50检测到广州、深圳、上海、北京等地区为待分拣货物目标分拣地的高频地区，则控制中心50分别设置对应该高频地区的分拣口201，并将该分拣口201对应的目标分拣地信息调整为各自的目标分拣地信息（即广州、深圳、上海、北京）。其中，每一高频地区对应分拣口201的数目可以为一个，也可以设置一个高频地区对应多个分拣口201，调整的分拣口201数量可以根据实际需求而定，此处不做具体限定。同理，控制中心50将剩下的待分拣货物目标分拣地设置为低频地区，进一步将该低频地区对应的目标分拣地信息和其对应的分拣柜301中的分拣口m进行绑定，其中，每一低频地区对应分拣柜301中分拣口m的数目可以为一个，也可以设置一个低频地区对应多个分拣口m，调整的分拣柜301中分拣口m的数量可以根据实际需求而定，此处不做具体限定。
可选地，该控制中心50还用于实时更新目标分拣口201及分拣柜301对应的目标分拣地的出现频率。即该待分拣货物对应目标分拣地信息高低频地区的设定可以实时更新，例如在某一时刻，满足高频地区的目标分拣地为a、b、c、d，下一时刻因待分拣货物数量的增加或减少，满足高频地区的目标分拣地为a、b、c、e，此时控制中心50根据该目标分拣地的出现频率实时调整分拣口201对应的目标分拣地信息为a、b、c、e。同理，当低频地区的目标分拣地改变时，控制中心50也会实时调整分拣柜301中每一分拣口m对应的目标分拣地信息。
在待分拣货物的目标分拣地信息符合预设条件（目标分拣地信息满足高频或低频地区）时，调整分拣口和/或分拣柜对应的目标分拣地信息，从而灵活调配分拣口，可以提高分拣口及分拣柜的利用率和分拣效率。
进一步参阅图5，图5为本申请自动分拣机器人第二实施方式的结构示意图。本实施例中，自动分拣机器人10至少包括机械臂101，用于根据待分拣货物的目标分拣地信息将待分拣货物放入对应的目标分拣口201或目标分拣柜301。本实施例中，待分拣货物的目标分拣地信息可以通过控制中心50获得，也可以通过与机器人10通信连接的识别装置获取的货物数据得到，该识别装置可以为设置于分拣单元20或分拣存储装置30可用于获取货物的位置，如设置于向分拣单元20和分拣存储装置30输送货物的传送带，也可以设置于机器人10上，例如设置于末端执行器、机械臂或末端执行器与末端执行器相连接的关节处。也可以包括上述不同设置方式的组合。如前述实施方式所述，待分拣货物的货物信息也可以通过识别装置与控制中心50获取，例如识别装置识别货物的标识，控制中心50用于根据标识获取对应的货物信息，进而提供给机器人10。可以理解的是，当控制中心、识别装置均设置于机器人10，则机器人可执行上述控制中心、识别装置对应的方法步骤。
如上述所述，一并结合图2，机器人10还包括连接于机械臂101的末端执行器102，该末端执行器102可以是真空吸盘、机械抓手、夹持机构等。其中，所述机器人10还用于获取待分拣货物的货物信息，该货物信息进一步包括货物当前位置和/或当前姿态、目标位置和/或目标姿态、获持位置和/或获持姿态、放置位置和/或放置姿态、类型、描述信息、尺寸、重量、第一路径、第一轨迹、第二轨迹及第二路径中的至少一个。进一步，机器人10根据该待分拣货物的货物信息确定末端执行器102用于获持待分拣货物的获持位置和/或获持姿态，以控制末端执行器102以获持位置和/或获持姿态获持待分拣货物，或，确定末端执行器102用于放置货物的目标位置和／或目标姿态，以控制末端执行器102以目标位置和／或目标姿态放置货物。
进一步参见图5，本申请自动分拣机器人进一步包括连接于机械臂101的通信电路103，该通信电路103用于与外部设备进行通信。具体地，通信电路103用于接收来自控制中心50的通知信息，该通知信息包括获持货物的获持位置和/或获持姿态，以及放置货物的目标位置和/或目标姿态中的至少一个，接收到该通知信息后，机器人10进一步用于控制末端执行器102以获持位置和/或获持姿态获持货物，或者控制末端执行器102以目标位置和/或目标姿态放置货物。
具体地，本实施例中通过合理设置分拣单元20分拣口201的形状及尺寸，使其可以满足高频地区所有形态待分拣货物的任意放置，则无需获取以及考虑待分拣货物的姿态，也无需根据待分拣货物的姿态计算机器人的获持姿态、放置姿态以及根据待分拣货物的位姿及机械臂末端执行器的第一位姿进行的第一路径规划、第一轨迹、及放置待分拣货物的第二路径规划及第二轨迹。在一具体分拣场景中，设置一个目标分拣地为高频地区（假设广东省），则对应的分拣单元20的分拣口201可以设置为一个，则控制中心50可以将该目标分拣地和分拣口201进行绑定，且分拣口201的位姿信息固定。机器人10在获取到待分拣货物的目标分拣地信息属于该高频地区时，从保存的目标分拣地信息与分拣口的对应关系中进行查询，获得该待分拣货物对应的目标分拣口201，根据该目标分拣口201的位置信息和当前机器人10的位置信息，计算放置该待分拣货物所需的机械臂101末端执行器102的位置以及机器人10可旋转底座104的旋转角度。其中，该机械臂101操作末端的位置，可以通过控制该机械臂101各关节的转动角度实现该操作末端到达该位置。当该位置在机器人10当前状态可执行范围之外时，机器人10还可以控制该可旋转底座104旋转所需角度，并控制该机械臂101基于可旋转底座104旋转所需角度后的状态，各关节转动角度使得机械臂101操作末端到该目标分拣口201对应的位置，该对应的位置可以为使得连接于操作末端的末端执行器102获持的货物可置入该目标分拣口，最后控制该机械臂101操作末端连接的末端执行器102直接将该货物放入该目标分拣口201。同理，在具体实施方式中，高频地区可以根据上述的预设规则设置为多个，且对应的目标分拣口201也可以设置为多个。
可以知晓的是，机器人10在识别待分拣货物的目标分拣地信息属于低频地区时，通过该目标分拣地信息查询和该目标分拣地信息匹配的分拣柜301中的分拣口m的位姿，并根据该待分拣货物的当前位姿信息和机械臂101的当前位姿，得到机械臂101获取该待分拣货物的获持位姿、第一路径规划及第一执行轨迹，再根据分拣口m的位姿计算放置待分拣货物的放置位姿、第二路径规划以及第二执行轨迹等等。且机器人10在放置待分拣货物进入对应的分拣柜301中时，机器人10不仅需要控制该可旋转底座104旋转所需角度，控制该机械臂101基于可旋转底座104旋转所需角度后的状态，还需要控制各关节转动角度使得机械臂101操作末端到该目标分拣柜301中对应分拣口m的位置高度，最后控制末端执行器102将货物放入目标分拣柜301对应的目标分拣口m。其中，机器人10可以在初始使用时，识别各个分拣口201及分拣柜301，将各个分拣口201和分拣柜301的位置或位姿预先存储，或者在机器人10使用前预先设定各个分拣口201及分拣柜301的位置或位姿。在其它实施例中，分拣单元20中分拣口201以及分拣柜301是固定设置的，因此，各个分拣口201及分拣柜301的位置或位姿控制中心50可以预先获知。
可选地，本申请中机器人10将待分拣货物放入目标分拣口201的第一时间小于机器人10将待分拣货物放入目标分拣柜301的第二时间。其中，第一时间包括机器人10将待分拣货物放入目标分拣口201的规划时间及机器人10的运动时间（即机器人10路径规划完毕后，将待分拣货物放入目标分拣口201的运动时间）。第二时间包括机器人10将待分拣货物放入目标分拣柜301的规划时间及机器人的运动时间（即机器人10路径规划完毕后，将待分拣货物放入目标分拣柜301的运动时间），可以提高机器人的分拣效率。本申请中通过预先设置将高频地区的待分拣货物的目标分拣地信息和分拣单元20中的分拣口201进行绑定，将低频地区的待分拣货物的目标分拣地信息和分拣柜301绑定，使得机器人10的机械臂101在将待分拣货物放入目标分拣口201的运动路径规划复杂度低于机械臂101将待分拣货物放入目标分拣柜301的运动路径规划复杂度，可以提高机器人10的分拣效率。
进一步，当感知装置在感知到分拣口201或分拣柜301装满待分拣货物后，控制中心50控制分拣柜301处的挡板结构打开，以使得货物进入一分拣袋，取货装置可以进一步将该分拣袋进行打包，例如抽绳封口，热压封口、拉链封口、订装封口等等，或者控制中心50通知取货装置，此处可以是取货机器人将分拣口201处的储货袋进行打包，打包完后通过取货装置将其运送至不同的目标分拣地。其中，感知装置可以为测距传感器可以识别进入货物的数量，也可以为近场感应装置可以感应货物上的标签，获取货物信息，例如货物的重量、体积等，从而可以获知累积进入货物的总重量、总体积等，以作为是否打包的判断条件。可以理解的而是，获取的货物信息可以依据应用场景需求设定的判断条件灵活设置。在感应到分拣柜中放置有待分拣货物后或累积进入的待分拣货物满足打包条件，立刻通知取货装置进行取货。
可选地，根据整个运输体系的需求，可以在上述的分拣袋或者储货袋上粘贴待分拣货物的打包信息，且该打包信息至少包括该被打包货物的统一标识、待分拣货物数量信息、待分拣货物的目标分拣地信息、运输工具标识码信息、运输时间信息以及待分拣货物的标识、待分拣货物的标识、待分拣货物的单号信息中的一种。以便提供后续操作对该统一打包在一起的至少一个货物进行跟踪或再次分拣等操作。
上述实施例中，通过将待分拣货物的目标分拣地信息分为高频地区和低频地区，并将出现频率高的目标分拣地信息和分拣单元中的分拣口进行绑定，将出现频率低的目标分拣地信息和分拣柜中的分拣口进行绑定，可以充分发挥机器人机械臂的活动范围，增加机械臂的使用效率。此外，在机器人根据待分拣货物的目标分拣地信息进行路径规划时，其将待分拣货物放入目标分拣口的运动路径规划复杂度低于机器人将待分拣货物放入目标分拣柜的运动路径规划复杂度，同时可以提高机器人的分拣效率节省分拣时间。
请参阅图6，图6为本申请自动分拣系统第三实施方式的结构示意图，如图6，本实施例是在本申自动分拣系统第一实施方式的基础上的进一步扩展，相同之处不再描述。
参见图6，本实施例中的自动分拣系统还包括一升降机构60，分拣单元20和机器人10通过升降机构60固定于货物分拣空间内。其该升降机构60可以为电动升降机、液压升降机、自行式升降机，也可以为固定桩或者固定桩等等，此处不做进一步限定。该升降机构60可以调节机器人10以及分拣单元20相对于各个分拣口或者分拣柜的高度，方便机器人10对待分拣货物的分拣。
本实施例中，分拣单元20的多个分拣口201对应一个分拣出货口202，该分拣出货口202处设置有储货机构203，机器人10将待分拣货物放入目标分拣口201后，货物从分拣出货口202进入该储货机构203中存储，其中，该储货机构203包括但不限于储货箱或储货袋。储货机构203在货物满载时，例如货物的重量和/或体积达到该储货机构203容许承载的重量和/或体积时，自动对该货物进行打包。其中，打包的具体操作方式视储货机构203的类型而定，例如储货机构203是储货袋时，可以采用抽绳封口、热压封口、拉链封口、订装封口等任一种方式，此处不做具体限定。
例如，进一步参阅图6，图6中可以多个分拣口201对应一个分拣出货口202，分拣出货口202处设置有储货袋203，机器人10将获持的货物放入对应的目标分拣口201后，该货物则从分拣口201对应的分拣出货口202进入储货袋203，分拣出货口202设置有感应装置204，如接近传感器，当有货物B通过该分拣出货口202进入该储货袋203时，该接近传感器204感测到该货物B，在感应到储货袋203满载，如存储的货物已堆积到接近或接触到该分拣出货口202时，该储货袋203自动打包，打包后的储货袋203可以向下掉落，使用人工、传送带或取货装置，运送到目标分拣地。其中，多个分拣口可以分别对应不同类型的货物，一个分拣口对应一种货物类型，但同一分拣出货口对应的目标分拣地信息相同，从而实现具有相同目标分拣地信息的不同类型货物分别通过不同分拣口进入储货机构。当然，多个分拣口也可以对应不同的目标分拣地信息，其中同一分拣出货口的多个分拣口对应的目标分拣地位置相邻，以便于后续同一次输送即可将该同一分拣出货口的货物依次运送到相邻的目标分拣地，以避免取货装置或传送带等需要进行多次输送。
在其他实施例中，该分拣出货口和该储货机构之间也可以设置一挡板，该挡板上设置有感应装置，该感应装置可以是压力传感器等，用于感测该挡板承载的货物重量，从而可以在承载的货物重量达到预设重量，如达到储货箱容许承载的重量时，打开该挡板，使得货物进入储货机构，以便储货机构进行打包操作。
本实施例中的分拣存储装置和第一实施方式中的分拣存储装置的结构相同，详见上述第一实施方式中的具体描述，此处不再赘述。
本实施例中，和第一实施方式中分拣方式类似，同样是根据预设规则，将将待分拣货物的目标分拣地信息分为高频地区和低频地区，并将出现频率高的目标分拣地信息和分拣单元中的分拣口进行绑定，将出现频率低的目标分拣地信息和分拣柜中的分拣口进行绑定。机器人在识别到待分拣货物的目标分拣地信息后，可以根据该目标分拣地信息的出现频率直接将货物放置入对应的目标分拣口或者目标分拣柜中对应分拣口。其中，机器人将待分拣货物放入目标分拣口的运动路径规划复杂度低于机器人将待分拣货物放入目标分拣柜的运动路径规划复杂度，可以进一步提高机器人的分拣效率，且将分拣柜和分拣单元结合进行货物的分拣，可以可以充分发挥机器人机械臂的活动范围，增加机械臂的使用效率。
此外，本申请中机器人10将待分拣货物放入目标分拣口201的第一时间小于机器人10将待分拣货物放入目标分拣柜301的第二时间。其中，第一时间包括机器人10将待分拣货物放入目标分拣口201的规划时间及机器人10的运动时间（即机器人10路径规划完毕后，将待分拣货物放入目标分拣口201的运动时间）。第二时间包括机器人10将待分拣货物放入目标分拣柜301的规划时间及机器人的运动时间（即机器人10路径规划完毕后，将待分拣货物放入目标分拣柜301的运动时间），可以进一步提高机器人的分拣效率。
在其他实施例中，每个分拣口也可以作为一个分拣出货口，每个分拣出货口处也可以设置一储货机构。
具体如图7所示，本申请分拣单元第二实施方式的结构示意图，至少一个分拣口对应设置一个储货机构，该储货机构用于存储货物，并在货物满载时，自动对货物进行打包，从而使得具有相同目标分拣地信息的货物可以根据货物类型进行分类打包，并通过同一分拣出货口同一运送到目标分拣地。其中，该储货机构包括但不限于储货箱或储货袋。
具体地，如图7所示，四个分拣口201a、201b、201c、201d对应一个分拣出货口202，该四个分拣口分别对应设置有储货袋204，每个分拣口分别对应不同的货物类型，使得具有相同目标分拣地信息的货物依据货物类型的不同，分类打包，通过相同分拣出货口202输出，可以统一输送。其中，依据货物类型分类包括根据不同尺寸分为大包裹、小包裹、信件等；根据货物形态分为刚性物体、刚性可形变物体、液体等；根据安全级别分为易碎物体、普通物体、高支撑度物体，等等。
在其他实施例中，每个分拣出货口处还可以再设置一个储货机构203，例如储货箱，将对应的多个分拣口打包后的储货袋204打包在一个储货机构203中，以便进行后续运送。
如图8所示，本申请分拣单元第三实施方式的结构示意图，分拣单元20的每一分拣口201为一个一端封闭的分拣袋，该分拣袋的开口作为分拣口201的货物入口。机器人10获取货物的目标分拣地信息对应的目标分拣口201a后，从该分拣袋201a的开口将货物放入该分拣袋201a。在该分拣袋201a满载时，例如设置于分拣袋201a底部的压力传感器感应到该分拣袋201a装载的货物重量达到该分拣袋201a的最大容许重量时，则自动将该分拣袋201a打包。其中，该分拣袋的具体打包方法可以参考本申请自动分拣系统第二实施例中储货袋的打包方法，此处不再重复。
如图8所示，该自动分拣系统中的取货装置40可以为传送机构，其中，该传送机构40包括一滑道401和传送带402，该传送机构40也可以直接包括一传送带，此处不做具体限定。其中，该传送机构40设置于分拣口201及分拣柜301的下方，打包后的分拣袋进入该传送机构40后，通过该传送机构40被运送到对应的目标分拣地。
打包后的分拣袋上粘贴或打印有目标分拣地信息，该目标分拣地信息可以采用不同颜色、不同图案（如条码、二维码等）或者文字等标识区分，传送机构40可以在后续识别该标识，将不同目标分拣地的分拣袋运送到对应的分拣地。在其他应用例中，该标识也可以是在打包前或打包的同时进行粘贴或打印到分拣袋上，也可以为打包袋本身具有上述标识，分别对应不同目标分拣地信息。例如，不同颜色或纹理的到包袋对应不同目标分拣口。该对应关系可以为预定义设定，也可以为系统动态分配关联。可以理解的是，本方案可以包括上述粘贴或打印标识的步骤，也可以不包括该步骤，通过标识与目标分拣地信息的关联关系获知分拣袋对应目标分拣地信息的输送点。该输送点可以为该分拣中心最终输出的货舱，也可以为用于再次分拣输送的中转点。
本实施例中，和第一实施方式中分拣方式类似，同样是根据预设规则，将将待分拣货物的目标分拣地信息分为高频地区和低频地区，并将出现频率高的目标分拣地信息和分拣单元中的分拣口进行绑定，将出现频率低的目标分拣地信息和分拣柜中的分拣口进行绑定。机器人在识别到待分拣货物的目标分拣地信息后，可以根据该目标分拣地信息的出现频率直接将货物放置入对应的目标分拣口或者目标分拣柜中对应分拣口。其中，机器人将待分拣货物放入目标分拣口的运动路径规划复杂度低于机器人将待分拣货物放入目标分拣柜的运动路径规划复杂度，可以进一步提高机器人的分拣效率，且将分拣柜和分拣单元结合进行货物的分拣，可以充分发挥机器人机械臂的活动范围，增加机械臂的使用效率。
以上所述仅为本申请的实施方式，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (20)

  1. 一种自动分拣系统，其特征在于，所述系统包括机器人、分拣单元以及分拣存储装置，所述分拣单元包括多个分拣口，所述分拣存储装置包括多个分拣柜，所述分拣口对应的目标分拣地的出现频率大于所述分拣柜对应的目标分拣地的出现频率；
    其中，所述机器人用于获取待分拣货物并根据所述待分拣货物的目标分拣地信息将所述待分拣货物放入对应的目标分拣口或目标分拣柜，所述机器人将所述待分拣货物放入所述目标分拣口的运动路径规划复杂度低于所述机器人将所述待分拣货物放入所述目标分拣柜的运动路径规划复杂度。
  2. 根据权利要求1所述自动分拣系统，其特征在于，所述机器人将所述待分拣货物放入所述目标分拣口的第一时间小于所述机器人将所述待分拣货物放入所述目标分拣柜的第二时间。
  3. 根据权利要求2所述自动分拣系统，其特征在于，所述第一时间包括所述机器人将所述待分拣货物放入所述目标分拣口的规划时间及所述机器人的运动时间；
    所述第二时间包括所述机器人将所述待分拣货物放入所述目标分拣柜的规划时间及所述机器人的运动时间。
  4. 根据权利要求1所述自动分拣系统，其特征在于，所述系统进一步包括控制中心，所述控制中心用于实时更新所述目标分拣口及所述分拣柜对应的目标分拣地的出现频率，以及；
    根据所述目标分拣地的出现频率设置和/或调整所述分拣柜及所述分拣口对应的目标分拣地信息。
  5. 根据权利要求1所述自动分拣系统，其特征在于，所述机器人还用于获取所述待分拣货物的货物信息，所述货物信息的识别采用射频识别、条码识别、二维码识别、视觉识别及光学字符识别中的一种。
  6. 根据权利要求5所述自动分拣系统，其特征在于，所述货物信息包括所述待分拣货物当前位置和/或当前姿态、目标位置和/或目标姿态、获持位置和/或获持姿态、放置位置和/或放置姿态、类型、描述信息、尺寸、重量、第一路径、第一轨迹、第二轨迹及第二路径中的至少一个。
  7. 根据权利要求1所述自动分拣系统，其特征在于，所述多个分拣柜环绕以形成货物分拣空间，所述机器人及所述分拣单元设置于所述货物分拣空间内，所述货物分拣空间至少包括入货面。
  8. 根据权利要求7所述自动分拣系统，其特征在于，进一步包括升降机构，所述分拣单元和所述机器人通过所述升降机构固定于所述货物分拣空间内。
  9. 根据权利要求8所述自动分拣系统，其特征在于，所述分拣单元的至少一个所述分拣口对应一个分拣出货口，每一所述分拣出货口处对应设置取货装置，用于将所述货物运送至所述目标分拣地信息对应的目标分拣地。
  10. 根据权利要求8所述自动分拣系统，其特征在于，所述每一分拣单元的分拣出货口处设置有储货机构，所述储货机构用于存储所述货物并在所述货物满载时，自动对所述货物进行打包。
  11. 根据权利要求10所述自动分拣系统，其特征在于，每一所述储货机构处对应设置取货装置，以将所述打包后的所述货物运送至所述目标分拣地信息对应的目标分拣地。
  12. 根据权利要求10所述自动分拣系统，其特征在于，每一所述分拣单元上设置有感知装置，所述感知装置用于感应所述货物是否装满所述储货机构。
  13. 根据权利要求5所述自动分拣系统，其特征在于，每一所述分拣柜的分拣面朝向所述机器人设置，每一所述分拣柜的取货面背向所述机器人设置。
  14. 根据权利要求5所述自动分拣系统，其特征在于，每一所述货物分拣空间的入货面至少与一个相邻所述货物分拣空间的入货面相对设置，以形成安全通道。
  15. 根据权利要求5所述自动分拣系统，其特征在于，所述每一分拣柜设置为向下弯折的管道结构，且每一所述分拣柜的底部设置有储货结构或挡板结构。
  16. 根据权利要求15所述自动分拣系统，其特征在于，所述储货结构或所述挡板结构与所述管道结构的连接处设置有感知装置，所述感知装置用于感知待分拣货物。
  17. 根据权利要求12或16所述自动分拣系统，其特征在于，所述感知装置为测距传感器、视觉传感器、近场感应器、触觉传感器、接近传感器及压力传感器中的一种。
  18. 一种自动分拣机器人，其特征在于，至少包括机械臂；
    所述机械臂用于根据待分拣货物的目标分拣地信息将所述待分拣货物放入对应的目标分拣口或目标分拣柜，其中，所述机械臂将所述待分拣货物放入所述目标分拣口的运动路径规划复杂度低于所述机械臂将所述待分拣货物放入所述目标分拣柜的运动路径规划复杂度。
  19. 根据权利要求18所述的机器人，其特征在于，所述机器人包括连接于机械臂的末端执行器；
    所述机器人进一步用于获取待分拣货物的货物信息，并根据所述货物信息信息确定所述末端执行器用于获持所述待分拣货物的获持位置和/或获持姿态，以控制所述末端执行器以所述获持位置和/或获持姿态获持所述待分拣货物，或，确定所述末端执行器用于放置所述待分拣货物的目标位置和／或目标姿态，以控制所述末端执行器以所述目标位置和／或目标姿态放置所述待分拣货物。
  20. 根据权利要求18所述的机器人，其特征在于，所述机器人还包括连接于机械臂的末端执行器，以及通信电路；
    所述通信电路用于接收来自控制中心的通知信息，所述通知信息包括获持所述货物的获持位置和／或获持姿态，以及放置所述货物的目标位置和／或目标姿态中的至少一个；
    所述机器人进一步用于控制所述末端执行器以所述获持位置和／或获持姿态获持所述货物，或，以所述目标位置和／或目标姿态放置所述货物。
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