WO2020078224A1 - 一种物流对象分拨系统及方法 - Google Patents

一种物流对象分拨系统及方法 Download PDF

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Publication number
WO2020078224A1
WO2020078224A1 PCT/CN2019/109889 CN2019109889W WO2020078224A1 WO 2020078224 A1 WO2020078224 A1 WO 2020078224A1 CN 2019109889 W CN2019109889 W CN 2019109889W WO 2020078224 A1 WO2020078224 A1 WO 2020078224A1
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WIPO (PCT)
Prior art keywords
logistics object
logistics
handling equipment
grid
delivery device
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PCT/CN2019/109889
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English (en)
French (fr)
Inventor
李建军
周琴
钟翔
葛辰
胡东辉
Original Assignee
菜鸟智能物流控股有限公司
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Publication of WO2020078224A1 publication Critical patent/WO2020078224A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0464—Storage devices mechanical with access from above
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0478—Storage devices mechanical for matrix-arrangements

Definitions

  • the invention relates to logistics automation equipment management technology, in particular to a logistics object distribution system and method, and belongs to the technical field of logistics automation equipment management.
  • the existing method is that the parcel is concentrated to a large distribution center, and is sent to the distribution centers of major cities through the coarse distribution flow, and then subdivided into the administrative area, and then to the regional distribution network, and distributed to the employees of various sizes, and Finally distributed to end users.
  • the distribution of the package has been repeated many times, especially through regional distribution outlets.
  • the workload of distribution has increased a lot, and the time efficiency has been reduced. Repeated handling of the package multiple times also increases the loss of the package and the mistake of the address. , Damage, etc.
  • the parcels when allocating and categorizing parcels, the parcels should be sorted into smaller regional distribution centers as much as possible, so as to reduce the workload of parcel distribution and reduce the number of repeated handling and distribution of packages .
  • the distribution method in the prior art generally uses the omnidirectional truck to run on the logistics object bearing structure.
  • the logistics object bearing structure needs to reserve the running track of the truck, which results in the logistics object bearing structure.
  • the physical reserved slots are limited, which leads to a limited number of distribution flows, and it is difficult to directly subdivide to the level that small members such as communities can deliver.
  • the distribution center in the prior art on the premise of ensuring the number of grids, the space required for distribution is correspondingly larger, and the larger space also leads to a reduction in the distribution speed, which indirectly reduces the distribution s efficiency.
  • the present invention provides a new logistics object distribution system.
  • the handling equipment can run freely, and each grid unit can be set into a grid design to solve the problems in the prior art.
  • the logistics object distribution system of the embodiment of the present invention includes: a logistics object bearing structure, and at least one handling device operating on the logistics object bearing structure;
  • the logistics object bearing structure body includes a plurality of grid cells arranged continuously, and above each grid cell is a mesh track for the operation of the handling equipment; above each grid cell may be Set a grid for the distribution of the logistics objects;
  • the handling equipment includes a handling equipment body and a delivery device located on the handling equipment body;
  • the delivery method of the corresponding logistics object is determined.
  • a logistics object distribution system in another embodiment of the present invention wherein,
  • the types of the delivery device include one or more of a horizontal conveyor belt, a clamshell type pouring device, a push-pull device, or a multi-layer conveyor belt.
  • a logistics object distribution system in another embodiment of the present invention wherein the delivery device is installed above the top of the main body of the conveying equipment, and can rotate in the horizontal direction relative to the main body of the conveying equipment.
  • a logistics object distribution system in another embodiment of the present invention wherein, if the delivery device is a horizontal conveyor belt, the horizontal conveyor belt can rotate horizontally with respect to the main body of the conveyance equipment until it rotates to the target In the delivery location, the logistics object is delivered through the horizontal conveyor belt.
  • a logistics object distribution system in another embodiment of the present invention wherein, if the delivery device is a push-dial device, the push-dial device can rotate horizontally with respect to the main body of the conveyance equipment until it rotates to the target In the delivery location, the logistics object is delivered by pushing the logistics object.
  • a logistics object distribution system in another embodiment of the present invention wherein, if the delivery device is a clamshell-type pouring device, the clamshell-type pouring device can rotate horizontally relative to the main body of the handling equipment until it rotates To the target delivery location, the logistics object is delivered by dumping the logistics object.
  • a logistics object distribution system in another embodiment of the present invention wherein,
  • the handling equipment is also equipped with at least two sets of track wheels running in directions perpendicular to each other, or omnidirectional wheels.
  • the cross section of the track wheel and the cross section of the mesh track are in mesh with each other.
  • a conveyor belt located above the mesh track
  • a docking station for docking logistics objects on the conveyor belt
  • the docking station is connected to the conveyor belt, and the handling equipment is at the docking station, or directly receives logistics objects from the conveyor belt.
  • the charging zone and the buffer zone are both set at the edge area of the plane where the mesh track is located.
  • an inclined slide plate is provided below the grid, and a container is provided at an opening below the inclined slide plate.
  • An embodiment of the present invention also provides a logistics object distribution method using the above logistics object distribution system.
  • the logistics object distribution method includes the following steps:
  • the handling equipment travels on the grid format track to the designated grid according to the acquired track;
  • the handling equipment travels to a designated location.
  • a logistics object distribution method in another embodiment of the present invention wherein the receiving of the logistics object by the delivery device further includes:
  • the logistics objects to be sorted are sent to the sorting area through a conveyor belt, wherein the sorting area includes multiple docking stations;
  • the logistics objects are transferred to the delivery device of the handling equipment; or, the logistics objects on the conveyor belt are directly transferred to the delivery device of the handling equipment.
  • a logistics object distribution method in another embodiment of the present invention wherein the receiving of the logistics object by the delivery device further includes:
  • the logistics objects are transferred from the docking station or from the conveyor belt to the delivery device of the handling equipment by manual work or robotic arm work.
  • a logistics object distribution method in another embodiment of the present invention wherein, after the step of receiving the logistics object by the delivery device, the method further includes:
  • the handling equipment obtains the received destination grid information of the logistics object
  • the handling equipment acquires the received weight information of the logistics object.
  • the logistics object is transported by the handling equipment to the problem grid.
  • a logistics object distribution method in another embodiment of the present invention wherein a container for receiving a logistics object is provided under the grid, and the method further includes:
  • the handling equipment waits in a designated area, and if the preset waiting time is exceeded, the handling equipment transports the logistics object to the problem grid.
  • the present invention proposes a cargo distribution system and method, the core of which is to use a logistics object carrying structure in the form of a net and the handling equipment located above the logistics object carrying structure to form a cargo distributing system, especially by designing the handling equipment and the network
  • the cooperation structure between the grids of the format track structure realizes the effect of efficiently and quickly transporting the goods to the designated grid.
  • the system of the present invention freely walks on the logistics object carrying structure through the transportation equipment, the freedom of operation of the transportation equipment is greatly increased, and a grid for cargo distribution can be set above each grid unit.
  • the design of the grid can be maximized.
  • the present invention has an efficient and rapid distribution speed and a high-density grid design.
  • FIG. 1 is a schematic diagram of a logistics object distribution system according to an embodiment of the invention.
  • FIG. 2 is a structural diagram of a handling device of a logistics object distribution system according to an embodiment of the present invention
  • FIG. 3 is a schematic structural side view of a logistics object bearing structure of a logistics object distribution system according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of another side structure of a logistics object bearing structure of a logistics object distribution system according to an embodiment of the present invention.
  • FIG. 5 is a schematic plan view of a logistics object carrying structure of a logistics object distribution system according to an embodiment of the present invention.
  • FIG. 6 is a partial enlarged view of FIG. 5;
  • FIG. 7 is a schematic diagram of the electrical control principle of the handling equipment of the logistics object distribution system according to an embodiment of the present invention.
  • FIG. 8 is a flowchart of the overall operation of a logistics object distribution method according to an embodiment of the invention.
  • FIG. 9 is a flow chart of the operation of the handling equipment of the logistics object distribution method according to an embodiment of the present invention.
  • the logistics object distribution system described in the present invention is mainly applied to the sorting and classification of logistics objects, but of course it can be and is not limited to the following scenarios, such as: seeding of logistics objects (REBIN) (procedure before packing of logistics objects), logistics objects Storage, object extraction, logistics object handling and centralized processing, etc.
  • the "logistics objects” mentioned in the embodiments of the present invention include physical logistics objects such as packages, goods, and cards.
  • the "logistics object container” and “container” mentioned in this embodiment can also be replaced with each other.
  • FIG. 1 is a schematic diagram of a logistics object distribution system according to an embodiment of the present invention.
  • FIG. 2 to FIG. 6 are combined.
  • the logistics object distribution system of the embodiment of the present invention includes: a logistics object carrying structure 2 and at least one handling device 1 that can be operated on the logistics object carrying structure; the handling equipment is generally an omnidirectional handling equipment that runs on rails and has For fast steering and omnidirectional mobility, omnidirectional wheels can also be used for handling equipment.
  • the logistics object bearing structure 2 includes a plurality of grid cells arranged continuously, and above each grid cell is a mesh track 20 for the operation of the handling equipment; above each grid cell may be Set the grid for distribution of logistics objects.
  • the continuously arranged grid units can ensure that the handling equipment can freely and continuously walk on it.
  • the upper plane where multiple grid units are continuously arranged is the grid track used for the operation of the handling equipment.
  • the multiple continuously arranged grid tracks also form a track network, and each grid unit Can be a grid above.
  • the rectangular opening is the grid
  • the grid is the actual It can be used for delivery operations.
  • the design of the grid needs to consider the efficiency of the logistics object when it is cleared and transported after entering the grid.
  • the transportation device 1 includes a transportation device body 10 and a delivery device 13; the delivery device 13 is located in the transportation device body 10. According to the type of delivery device, determine the delivery method of the corresponding logistics object.
  • the delivery device includes a horizontal conveyor belt. Then, the delivery device 13 is installed on the top of the conveying equipment main body 10, and the logistics object is delivered using a horizontal conveyor belt.
  • the delivery device 13 may include one or more of a horizontal conveyor belt, a clamshell-type pouring device, a push-pull device, or a multi-layer conveyor belt.
  • the delivery device 13 is used to temporarily store the logistics object or logistics object to be delivered, and is used to accurately drop the logistics object or logistics object into the corresponding grid.
  • the delivery device 13 can generally add other delivery devices, such as a pouring device or a push-pull device.
  • the delivery device 13 includes a horizontal conveyor belt, which not only ensures rapid receipt of goods, but also ensures continuous delivery of goods to the surroundings.
  • the horizontal conveyor belt has a very high adaptability.
  • the horizontal conveyor belt can have two forward and backward delivery directions, and the horizontal conveyor belt starts The speed is fast and the delivery speed is also very fast, which can be well matched with this system.
  • the horizontal conveyor belt can also rotate horizontally with respect to the main body of the handling equipment, so as to realize throwing and receiving logistics objects in four directions.
  • multi-layer conveyor belt When the multi-layer conveyor belt is used, multiple logistics objects or logistics objects can be docked and received at one time, and then delivered separately multiple times. Under certain circumstances, an efficient operation mode of "one-time reception, multiple delivery" can be realized.
  • An omnidirectional wheel or two sets of rail wheels that are perpendicular to each other in the running direction are also installed on the main body 10 of the handling equipment.
  • the X-directional rail wheel 11 and the Y-directional rail wheel 12 respectively.
  • the handling equipment in the present invention satisfies the operations of walking and picking and delivering goods in four directions of forwarding and backward on the logistics object carrying structure; the handling equipment in the present invention not only improves the reliability of operation, but also improves the efficiency of operation .
  • the core of the logistics object distribution system of the embodiment of the present invention is that the logistics object bearing structure structure and the transportation equipment located above the logistics object bearing structure structure are used to form a logistics object distribution system, especially by designing the transportation equipment and The cooperation structure between the grids of the grid structure realizes the effect of efficiently and quickly transporting the logistics objects to the designated grid.
  • the grids for the distribution of logistics objects can be set on the top of the, and the design of the grids on the carrying structure of the logistics objects can be maximized.
  • the present invention has an efficient and rapid distribution speed and a high-density grid design.
  • the delivery device 13 is installed above the conveying equipment main body 10 and is rotatable on a horizontal plane relative to the conveying equipment main body 10.
  • the horizontal conveyor belt can rotate in the horizontal direction relative to the main body of the conveying equipment until it rotates to the target delivery position, and deliver the logistics objects through the horizontal conveyor belt.
  • the push-pull device can rotate horizontally with respect to the main body of the conveyance equipment until it rotates to the target delivery position, and pushes the logistics object to deliver the logistics object.
  • the delivery device is a clamshell tilting device
  • the clamshell tilting device can be rotated horizontally relative to the main body of the handling equipment until it is rotated to the target delivery position, and the logistics object is delivered by dumping the logistics object.
  • the delivery device needs to maintain the corresponding direction relative to the grid to complete the delivery action.
  • the grid needs to be kept on the delivery path of the delivery device; when the handling equipment reaches the predetermined location, such as the grid It is not on the delivery path of the delivery device. At this time, it needs to be positioned to the delivery location again by the handling equipment, which greatly reduces the delivery efficiency of the system.
  • the cross section of the track wheel and the cross section of the mesh track 20 are in mesh with each other. So as to ensure the fast and efficient operation of the handling equipment.
  • the cross section of the track wheel of the handling equipment is V-shaped groove wheel, then the track can adopt a triangular section; the track wheel can adopt flat groove wheel, flange wheel and other wheels that have a direct meshing relationship with the track.
  • the logistics object bearing structure 2 further includes: located above the grid track 20 Conveyor belt 25, a docking station 27 for docking logistics objects on the conveyor belt 25, and the container 3 located below the compartment;
  • the container 3 is the aforementioned container for containing logistics objects, the container may be a simple burlap bag, Large cartons, or standardized plastics, cartons, etc.
  • a docking station 27 is connected to the conveyor belt 25 through a chute 26, and a docking area for docking of the handling equipment 1 is provided around the docking station 27.
  • the top of the container 3 has an opening, and the opening corresponds to the grid for containing a logistics object or logistics object delivered by the handling equipment.
  • the docking station 27 is connected to the conveyor belt 25, and the handling equipment 1 receives the logistics objects at the docking station, or the handling equipment 1 directly receives the logistics objects on the conveyor belt 25.
  • the design of the three-layer logistics object bearing structure can ensure that the logistics object flow is continuously subdivided and delivered while the height is reduced, and the gravity potential of the logistics object flow can be effectively used.
  • the entire falling process is the delivery process.
  • FIG. 5 is a schematic plan view of a logistics object carrying structure of a logistics object distribution system according to an embodiment of the present invention, and refer to FIG. 6.
  • the logistics object bearing structure of this embodiment further includes: a charging area 5 for automatically charging the handling equipment 1, a buffer area (not shown in the figure) for expanding the running path of the handling equipment 1, and a handling area for handling equipment 1
  • a sorting area (ie sorting area) for logistics objects is allocated, and a plurality of docking stations 27 are set in the sorting area.
  • the charging zone 5 can also be used as a buffer zone (not shown) for handling equipment, which is convenient for the increase or decrease of the number of handling equipment.
  • the charging zone 5 and the buffer zone are both set on the edge area of the plane where the grid track 20 is located, and of course can also be set in other areas; the sorting zone is generally evenly distributed on the plane where the grid track 20 is located.
  • sorting areas There can be one or more sorting areas, all of which must be evenly distributed on the sorting plane of the logistics object carrying structure; the docking stations set in each sorting area are also evenly distributed to avoid mutual interference during the work process.
  • the sorting area is only a functional description. In this embodiment, no special docking station may be provided in the sorting area, and the logistics objects can be obtained directly from the conveyor belt 25 and transferred directly to the handling device 1.
  • a buffer zone is generally provided around the congestion area to expand the running path of the handling device 1.
  • an inclined slide plate 21 is provided below the grid, and the opening at the lower side of the inclined slide plate 21 corresponds to the container 3.
  • the inclined sliding plate can make the logistics object slide into the logistics object container through the slope, and avoid the logistics object damage caused by the large impact force generated when the logistics object directly falls into the logistics object container. In particular, when continuous logistics objects or logistics objects are put in, they are also likely to collide with each other.
  • the inclined sliding plates can reduce the speed of the logistics objects without affecting the efficiency of the previous process.
  • the structure is simple and the use effect is obvious.
  • the grids are distributed in the logistics object carrying structure 2 and are arranged in a row at intervals.
  • a plurality of stairs 29 are provided around the logistics object carrying structure 2.
  • the operator enters the intermediate mezzanine 30 through the stairs 29 and arrives at a predetermined station to start work.
  • the conveyor belt 25 is preferably provided as an endless transmission belt to satisfy the distribution of the logistics object flow.
  • the transmission belt 25 is provided with a plurality of inclined wheel conveying regions 28 for diverting logistics objects.
  • the inclined wheel conveying regions 28 are used to divert the logistics objects on the conveyor belt to each chute 26 in time.
  • the chute 26 generally corresponds to a docking station 27.
  • the logistics objects enter the conveyor belt 25 to be diverted. According to the number of logistics objects of each chute 26, the logistics objects are reasonably distributed to the corresponding chutes when passing through the inclined wheel conveying area 28.
  • the operator or robotic arm takes the logistics objects out of the chute 26 one by one at the docking station 27 and places them on the handling equipment 1. After the transportation equipment obtains the weight and grid information of the logistics object, it transports the logistics object to the designated grid and introduces it into the container 3.
  • the operator of the bottom layer of the logistics object carrying structure 2 will take out the container, place it on the bottom conveyor 4 and transport it out, and replace the container with a new container at the same time.
  • the handling equipment of this embodiment also includes: a motor control module, a central control storage module, a battery and a management module, a logistics object monitoring module, and communication Modules, and navigation modules.
  • the motor control module, battery and management module, logistics object monitoring module, communication module, and navigation module are all connected to the central control storage module.
  • the central control storage module is used for corresponding processing and calculation through the cloud information obtained by the communication module, sending an execution command to the motor control module, and being able to obtain the state of the handling equipment and the power state through other modules.
  • the central control storage module is used to process the commands issued by the cloud.
  • the motor control module controls the rotation and switching of the motor (the motor is used to drive the track wheels).
  • the central control storage module is also used to detect transportation The device's own fault and the state of the power, alarms the fault, and autonomously navigates to the charging pile in the charging area to charge autonomously in the case of low power.
  • the motor control module is used to control the motor driving the track wheel, and can start and stop the motor and switch the traveling direction.
  • This module specifically manages and controls the X / Y-direction drive motor separately, and stops and starts according to the information of the central control storage module; the commutation and steering motors are also controlled by the motor control module and move as needed.
  • the battery and management module are used to supply power to other components, and display and feedback battery work information and status.
  • the battery and management module supply power to each module of the transportation equipment through energy storage batteries (such as accumulators, lithium batteries, etc.), and feedback the battery usage, such as power, voltage, life, etc .; according to the need, send out the charging pile Information, prompt replacement life, etc.
  • energy storage batteries such as accumulators, lithium batteries, etc.
  • the logistics object detection module is used to monitor the status of logistics objects on the delivery device.
  • the logistics object detection module can be used to monitor whether the logistics object is on the handling equipment and whether the logistics object is smoothly allocated; the detection methods include but are not limited to reflective photoelectric, through-beam photoelectric, laser sensor, RFID, weighing sensor, photosensitive Chips, proximity sensors, etc.
  • the communication module is used to feed back and receive relevant information to the cloud computer through real-time communication.
  • the communication module receives inspection commands sent by the cloud through various real-time communication methods; communication methods include but are not limited to ad hoc network communication and mobile communication, and ad hoc network communication methods include but are not limited to: WIFI, Bluetooth, LORA, ZIGBEE, etc., mobile Communication includes but is not limited to GPRS, 3G, 4G, 5G mobile cellular networks, etc.
  • the navigation module is used to obtain the travel speed, position and direction information of the handling equipment in real time.
  • the navigation module can obtain the travel speed and direction information of the transportation equipment in real time, and the positioning information of the transportation equipment can also be obtained in real time through calculation.
  • Position detection means include but are not limited to various methods such as photoelectric sensors, two-dimensional codes, Hall sensing and so on.
  • FIG. 8 is an overall operation flowchart of a logistics object distribution method according to an embodiment of the invention.
  • an embodiment of the invention also provides a logistics object distribution method, including the following steps:
  • the transportation equipment obtains logistics objects through the delivery device.
  • all the logistics objects (for example: goods or parcels) acquired by the handling equipment can be sent to the sorting area through a conveyor belt; of course, other modes can also be directly obtained, such as the dumping logistics object distribution mode.
  • the sorting area includes multiple docking stations, and each of the handling equipment obtains a corresponding logistics object at the docking station.
  • a docking station is a station that basically processes and caches logistics objects, and can acquire corresponding information of logistics objects (such as weighing information, label information, inspection information, etc.).
  • the logistics objects acquired by the handling equipment are transferred from the docking station to the handling equipment by manual operation or mechanical arm operation.
  • the joint robotic arm or servo manipulator When working with a robotic arm, the joint robotic arm or servo manipulator performs a single grasp on the logistics object facing upwards according to the coordinates returned by 3D vision, and places the logistics object on the waiting transportation equipment.
  • the mechanical arm mentioned here can be Articulated Robot or Gantry Robot.
  • the face of the logistics object does not have to face upwards, and only needs to satisfy the information exchange.
  • an RFID card reader is required to read the logistics object related information (receiver address information, sender information, recipient information, logistics object weight information, etc.), or, the scanning device reads Obtain the logistics object related information on the logistics object face sheet; the above logistics object related information is sent to the server.
  • the transportation equipment obtains the grid information of the logistics object and plans the walking path.
  • the handling equipment can obtain the logistics object grid information through the server, and can also receive the logistics object grid information after receiving the logistics object related information transmitted by the RFID card reader or the scanning device.
  • the acquisition of the planned walking path may be calculated by the server and transmitted to the handling equipment, or may be calculated by the handling equipment itself.
  • the handling equipment can obtain the weighing information of the logistics object through the server; it can also receive the weighing information of the logistics object transmitted by the RFID card reader or the weighing device.
  • the system can make selective processing.
  • the logistics object with the abnormal weighing information is sent to the problem slot by the handling equipment and poured in through the delivery device; after completing the work, the handling equipment restarts step 1 Start a new logistics object receiving operation).
  • the problem grid is different from other normal sorting grids, and it is specially used to collect abnormal information and abnormal logistics objects. On-site operators will deal with the logistics objects and logistics objects in the abnormal grid.
  • the transportation equipment walks on the grid format track, and transports the logistics objects to the corresponding grid.
  • the specific walking route can be calculated in the cloud or through network optimization calculations between handling equipment to ensure the efficiency of the system.
  • the logistics object is delivered to the grid, ensure that the delivery track of the delivery device can cover the grid to ensure effective delivery.
  • the transportation equipment puts the logistics object into the corresponding compartment through the delivery device.
  • a container for receiving logistics objects is provided under the grid
  • the handling equipment restarts the step 1 after the logistics object is gridded, and performs the next operation; when the container is full, the container is encapsulated and removed from below the grid, and the Place a new container under the grid. At the same time, when the container is full, the handling equipment can wait in the nearest area. After timeout, it will go to the abnormal grid.
  • the sensor When the container is full, you can trigger the pre-set sensor, the sensor transmits the information to the background scheduling system, thereby closing the grid; and open other grids as a spare replacement grid, and notify the container to package and clear Remove, at the same time, when the container is full, the handling equipment can wait in the nearest area, and then go to the abnormal grid after timeout.
  • the distribution operation is repeated to complete the distribution of all logistics objects.
  • the handling equipment travels to the designated position after the delivery device completes delivery of the logistics object. Under normal circumstances, after the delivery is completed, the handling equipment automatically returns and obtains logistics objects again.
  • the weighing and monitoring links of logistics objects are not necessarily fixed on equipment such as logistics object carrying structures or handling equipment, and other equipment can also be provided to meet the needs of the process.
  • equipment such as logistics object carrying structures or handling equipment
  • the monitoring link can also be completed before the logistics object enters the distribution system.
  • FIG. 9 is a flow chart of operation of a handling device of a logistics object distribution method according to an embodiment of the present invention.
  • the operation flow of the handling device is the following steps:
  • the transportation equipment is moved to the acquisition area of logistics objects by way of navigation.
  • the handling equipment acquires logistics objects through the delivery device; it can also be said that the distributed logistics objects are placed directly on the delivery device.
  • the transportation equipment obtains the relevant information of the logistics object and the grid position information; when acquiring the logistics object, the transportation equipment passively or actively obtains the relevant information of the logistics object (including the sending and receiving address information, recipient information, sender information , Express information, weighing information, etc.), grid position information, etc.
  • the handling equipment detects whether the logistics object is in place; it is generally monitored by sensors, such as Hall sensors, photoelectric sensors, ultrasonic sensors, light sensors or pressure sensors.
  • E Plan the path and walk a certain distance in the X direction; the planning of the path can be planned and calculated by the cloud computer, and the calculation results are fed back to the handling equipment to ensure the efficiency of the system; when the cloud information fails, it can be transported
  • the equipment calculates the planned route by itself, and performs efficient operation by networking with other handling equipment.
  • the handling equipment can rotate the delivery device at the same time during driving to ensure that the handling equipment can be delivered directly when it reaches the grid.
  • the handling equipment detects whether it reaches the target address through navigation; if it does not reach the destination, it will switch to the above E process; the planned path can be varied, and it can be changed and adjusted according to the real-time cloud scheduling situation.
  • information acquisition devices such as weighing of logistics objects (logistics objects) are not necessarily fixed on equipment such as transportation equipment, and Other equipment can be set up to meet the needs of the process; of course, the weighing link can also be completed before the logistics object enters the distribution system, and the logistics object monitoring link can be shared with the handling equipment after other equipment monitoring is completed.
  • the operation of the handling equipment is also a reversible link.
  • the handling equipment can also change its own running path (through cloud computing, it can also be calculated by the handling equipment) , Or enter the charging area or buffer to wait.
  • the system of the present invention achieves a double increase in the number of grids / flow directions in a certain area.
  • the transportation equipment adopts high-speed linear motion, which can reach 4m / s, and adopts inertial navigation + positioning technology, which can achieve positioning accuracy within 1cm.
  • the conveyor belt can be rotated, which improves the efficiency of aligning the crossing at the time of distribution and reduces unnecessary position adjustment.
  • the logistics object distribution system of the present invention has low construction cost, compact structure design, and can fully benefit the existing equipment and technologies.
  • the distribution efficiency is high and the operation is stable. Distribution system, seeding system, logistics object access system, etc.

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Abstract

一种物流对象分拨系统及方法，属于物流自动化设备制造领域，该物流对象分拨系统包括：物流对象承载结构体（2），在物流对象承载结构体（2）上运行的至少一个搬运设备（1）；物流对象承载结构体（2）包括多个连续排布的网格单元，每个网格单元的上方为用于搬运设备运行的网格式轨道（20）；每个网格单元上方均可设置用于物流对象分拨的格口；搬运设备（1）包括搬运设备主体（10）和位于搬运设备主体（10）上的投送装置（13）；根据投送装置（13）种类，确定对应的物流对象投递方式。该系统能够使搬运设备（1）在物流对象承载结构体（2）上自由行走，且每个网格单元的下方均可设置物流对象分拨的格口，物流对象承载结构体（2）上格口的设计可以最大化。

Description

一种物流对象分拨系统及方法
本申请要求2018年10月15日递交的申请号为2018111988272、发明名称为“一种物流对象分拨系统及方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及物流自动化设备管理技术，尤其涉及一种物流对象分拨系统及方法，属于物流自动化设备管理技术领域。
背景技术
物流行业发展迅速，特别是电商行业的崛起，带来包裹量的巨升，现在已达到平均每日超过1亿包裹量，按经济发展及人民群众增长的需求推算，不远的将来，每日包裹量将超过10亿。中国地大物博，幅员辽阔，包裹的类型种类繁多，需要送至的目的地较为分散，特别在沿海发达区域，包裹数量集中，需要流向的区域较多。现有的方式是包裹集中至大型分拨中心，通过粗分流向，发往各大城市的分拨中心，然后再次细分至行政区，再到区域分拨网点，分散给各大小件员，并最终派送给终端用户。这种方式包裹的分流向经过很多次的重复，特别是还得经过区域分拨网点，分拨的工作量增加很多，时效降低，对包裹的多次重复搬运，也增加包裹丢失、地址弄错、损坏等几率。
因此，在进行包裹的分拨分类分区时，应该尽可能的将包裹一次性分类至较小的地域分拨中心，从而使包裹的分拨工作量降低，也降低了包裹的重复搬运分拨次数。
现有技术中的分拨方式，一般采用全向搬运车在物流对象承载结构体运行的方式进行分拨，物流对象承载结构体上需要预留搬运车的运行轨道，这就致使物流对象承载结构体上预留的格口有限，进而导致分拨流向数量有限，难以直接细分至社区等小件员可派送的级别。
而且，现有技术中的分拨中心，在保证格口数量的前提下，分拨所需要的场地也相应较大，较大的场地也导致了分拨速度的降低，间接的降低了分拨的效率。
总之，现有技术中缺乏一种在固定面积的情况下，用于分拨的格口尽量多，且分拨时运行效率较高的分拨系统。
发明内容
本发明提供一种新的物流对象分拨系统，通过设置连续排布的网格单元使搬运设备能够自由运行，且每个网格单元均可以设置成格口的设计，以解决现有技术中物流对象承载结构体的格口密度较低、物流对象投递效率较低的技术问题。
本发明实施例的物流对象分拨系统，包括：物流对象承载结构体、在所述物流对象承载结构体上运行的至少一个搬运设备；
所述物流对象承载结构体包括多个连续排布的网格单元，每个所述网格单元的上方为用于所述搬运设备运行的网格式轨道；每个所述网格单元上方均可设置用于所述物流对象分拨的格口；
所述搬运设备包括搬运设备主体和位于所述搬运设备主体上的投送装置；
根据所述投送装置种类，确定对应的物流对象投递方式。
本发明另一实施例中的物流对象分拨系统，其中，
所述投送装置种类包括水平输送带、翻盖式倾倒装置、推拨装置或多层输送带中的一种或多种。
本发明另一实施例中的物流对象分拨系统，其中，所述投送装置安装在所述搬运设备主体顶部的上方，且可相对所述搬运设备主体在水平方向上旋转。
本发明另一实施例中的物流对象分拨系统，其中，若所述投送装置为水平输送带，则所述水平输送带可相对所述搬运设备主体在水平方向进行旋转，直至旋转至目标投递位置，通过所述水平输送带对所述物流对象进行投递。
本发明另一实施例中的物流对象分拨系统，其中，若所述投送装置为推拨装置，则所述推拨装置可相对所述搬运设备主体在水平方向进行旋转，直至旋转至目标投递位置，通过推拨所述物流对象，对所述物流对象进行投递。
本发明另一实施例中的物流对象分拨系统，其中，若所述投送装置为翻盖式倾倒装置，则所述翻盖式倾倒装置可相对所述搬运设备主体在水平方向进行旋转，直至旋转至目标投递位置，通过倾倒所述物流对象，对所述物流对象进行投递。
本发明另一实施例中的物流对象分拨系统，其中，
所述搬运设备还安装有至少两组运行方向相互垂直的轨道轮，或者，全向轮。
本发明另一实施例中的物流对象分拨系统，其中，所述轨道轮的截面与所述网格式轨道的截面相互啮合。
本发明另一实施例中的物流对象分拨系统，其中，所述物流对象承载结构体还包括：
位于所述网格式轨道上方的传送带；以及
用于接泊所述传送带上的物流对象的接泊站；
其中，所述接泊站与所述传送带相连，所述搬运设备在所述接泊站，或者，从所述传送带上直接接收物流对象。
本发明另一实施例中的物流对象分拨系统，其中，所述物流对象承载结构体还包括：
用于使所述搬运设备自动充电的充电区；以及
用于扩展所述搬运设备运行路径或者临时存放搬运设备的缓冲区。
本发明另一实施例中的物流对象分拨系统，包括：
所述充电区和所述缓冲区均设置于所述网格式轨道所在平面的边缘区域。
本发明另一实施例中的物流对象分拨系统，其中，所述格口的下方设置有倾斜滑板，所述倾斜滑板的下方开口处设置有容器。
本发明实施例还提供一种物流对象分拨方法，采用上述的物流对象分拨系统，该物流对象分拨方法包括如下步骤：
由所述投送装置接收物流对象；
搬运设备根据获取的轨迹在所述网格式轨道上行进到指定格口；
由所述搬运设备上的投送装置将所述物流对象放入指定格口内；以及
所述搬运设备在投送装置完成所述物流对象投送后行进到指定位置。
本发明另一实施例中的物流对象分拨方法，其中，所述由所述投送装置接收所述物流对象进一步包括：
通过传送带将待分拣物流对象送至分拣区，其中，所述分拣区包括多个接泊站；
在所述接泊站将物流对象转移到搬运设备的所述投送装置上；或者，将所述传送带上的物流对象直接转移至所述搬运设备的所述投送装置上。
本发明另一实施例中的物流对象分拨方法，其中，所述由所述投送装置接收所述物流对象进一步包括：
通过人工作业或机械臂作业将所述物流对象从接泊站或从传送带上转移至所述搬运设备的投送装置上。
本发明另一实施例中的物流对象分拨方法，其中，在所述由所述投送装置接收所述物流对象步骤之后，所述方法进一步包括：
所述搬运设备获取所接收的所述物流对象的目的地格口信息；
所述搬运设备获取所接收的所述物流对象的重量信息；以及
当所述重量信息超过阈值时，所述物流对象由所述搬运设备输送至问题格口。
本发明另一实施例中的物流对象分拨方法，其中，在所述格口下设置有用于接收物流对象的容器，并且所述方法进一步包括：
当所述搬运设备到达指定格口之前，检测所述指定格口下方的容器内的物流对象量是否超过容器阈值；
如果所述容器内的物流对象量超过所述容器阈值，则封闭该容器并将其从该格口下方移除，并在该格口下重新放置新的容器；同时，
所述搬运设备在指定区域等待，若超过预设等待时间，则所述搬运设备将所述物流对象运输至问题格口。
本发明提出了一种货物分拨系统及方法，核心在于使用了网格式的物流对象承载结构体与位于物流对象承载结构体上方的搬运设备构成货物分拨系统，特别是通过设计搬运设备与网格式轨道结构的格子之间的配合结构来实现将货物高效快捷运送到指定格子的效果。
本发明的系统通过搬运设备在物流对象承载结构体上自由行走，搬运设备的运行自由度大幅增加，且每个网格单元的上方均可设置货物分拨的格口，物流对象承载结构体上格口的设计可以最大化。本发明具有高效快速的分拨速度以及高密度格口的设计。
与现有技术相比，本发明货物分拨系统及方法的优点在于：
1、具有高效快速的分拨速度以及高密度格口的设计。
2、适用于快速分拨的多种专项设计，最大化的提高搬运设备运力且降低成本。
3、能够对多种现有技术进行集成，改造以及维护具有极高的便宜性。
4、不需要设计特殊通道的情况下，成功的打破了现有技术中的搬运设备在XY方向进行四向运动的空间限制。
附图说明
图1为本发明实施例的物流对象分拨系统的示意图；
图2为本发明实施例的物流对象分拨系统的搬运设备结构图；
图3为本发明实施例的物流对象分拨系统的物流对象承载结构体侧面结构示意图；
图4为本发明实施例的物流对象分拨系统的物流对象承载结构体另一侧面结构示意图；
图5为本发明实施例的物流对象分拨系统的物流对象承载结构体平面结构示意图；
图6为图5的局部放大图；
图7为本发明实施例的物流对象分拨系统的搬运设备电控原理图；
图8为本发明实施例的物流对象分拨方法的整体运行流程图；
图9为本发明实施例的物流对象分拨方法的搬运设备运行流程图。
具体实施方式
本发明所述的物流对象分拨系统主要应用于物流对象的分拣分类，当然也可以且不限于应用于以下场景，例如：物流对象的播种(REBIN)(物流对象打包前程序)、物流对象的存储、物件的提取、物流对象的搬运及集中处理等。本发明实施例中所说的“物流对象”，包括：包裹、货物、卡片等实体物流对象。同时，本实施例中所说的“物流对象容器”、“容器”，也是可以互相替换的。
如图1所示为本发明实施例的物流对象分拨系统的示意图；并结合图2至图6。
本发明实施例的物流对象分拨系统包括：物流对象承载结构体2和可在所述物流对象承载结构体上运行的至少一个搬运设备1；搬运设备一般为轨道运行的全向搬运设备，具有快速的转向以及全向移动能力，搬运设备也可以采用全向轮。
物流对象承载结构体2包括多个连续排布的网格单元，每个所述网格单元的上方为用于所述搬运设备运行的网格式轨道20；每个所述网格单元上方均可设置用于物流对象分拨的格口。连续排布的网格单元能够保证搬运设备自由连续的在上面行走即可。
也就是说，多个网格单元连续排布的上平面即为用于搬运设备运行的网格式轨道，这样多个连续排布的网格式轨道也形成了轨道网络，并且，每个网格单元的上方都可以为格口。
通常来讲，也就是说，网格单元的上方具有矩形的网格式轨道20，该矩形的开口即为格口，格口下方如放置有用于容纳物流对象的容器，则该格口即为实际使用并可进行投递作业的格口。
总之，格口的设计需要考虑物流对象进入格口后被清运时的作业效率。
如图2，所述搬运设备1包括搬运设备主体10和投送装置13；投送装置13位于搬运设备主体10。根据投送装置种类，确定对应的物流对象投递方式。如，投送装置包括水平输送带。则该投送装置13安装在搬运设备主体10的顶部，则物流对象采用水平输送带进行投递。
本实施例中的物流对象分拨系统，其中，投送装置13可以包括水平式输送带、翻盖式倾倒装置、推拨装置或多层输送带中的一种或多种。投送装置13用于暂存待投送 的物流对象或者物流对象，且用于将该物流对象或物流对象准确的投入相应的格口。
投送装置13一般为了保证稳定性和快速性，一般还可以添加其它的投送装置，如倾倒装置或者推拨装置。但是，考虑到本发明系统的快速性和连续运转性，优选的，投送装置13包括水平输送带，既保证快速接收货物，也保证向四周持续不断投递货物。
另外，水平输送带具有极高的适配性能，接收物流对象时保持水平即可无间隙的接收物流对象；投递物流对象时，水平输送带能够有前后两个投递方向，并且，水平输送带启动速度快，投递速度也很快，能够良好的与本系统相配合。另外，水平输送带还可相对搬运设备主体水平旋转，从而实现四个方向的投掷和接收物流对象。
而采用多层输送带时，可以一次对接并接收多个物流对象或物流对象，然后多次分别投递，在特定的情况下可以实现“一次接收，多次投递”的高效运行模式。
本发明中的搬运设备在设计中，可以大量使用标准件及制造工艺技术要求相对较低却又能充分满足工作要求的零部件，使得该车在保证技术要求的前提下，降低了该车的制造成本。
搬运设备主体10上还安装有全向轮或两组运行方向相互垂直的轨道轮，图2中分别为X向轨道轮11和Y向轨道轮12。
本发明中的搬运设备满足在物流对象承载结构体上前进、后退四个方向的行走和取货并投递的操作；本发明中的搬运设备不仅提高了运行的可靠性，也提高了运行的效率。
本发明实施例的物流对象分拨系统，核心在于使用了网格式的物流对象承载结构体结构与位于物流对象承载结构体结构上方的搬运设备构成物流对象分拨系统，特别是通过设计搬运设备与网格结构的格子之间的配合结构来实现将物流对象高效快捷运送到指定格子的效果。通过物流对象承载结构体上的连续排布的网格式轨道，保证了搬运设备在物流对象承载结构体上任意格口单元上的自由行走，搬运设备的运行自由度大幅增加且每个网格单元的上方均可设置物流对象分拨的格口，物流对象承载结构体上格口的设计可以最大化。本发明具有高效快速的分拨速度以及高密度格口的设计。
另外，本实施例的物流对象分拨系统，其中，投送装置13安装在所述搬运设备主体10的上方，且可相对所述搬运设备主体10在水平面上旋转。
若投送装置为水平输送带，则水平输送带可相对搬运设备主体在水平方向进行旋转，直至旋转至目标投递位置，通过水平输送带对物流对象进行投递。
若投送装置为推拨装置，则推拨装置可相对所述搬运设备主体在水平方向进行旋 转，直至旋转至目标投递位置，通过推拨物流对象，对物流对象进行投递。
若投送装置为翻盖式倾倒装置，则翻盖式倾倒装置可相对搬运设备主体在水平方向进行旋转，直至旋转至目标投递位置，通过倾倒物流对象，对物流对象进行投递。
由于实际运行过程中，投送装置需相对格口保持相应的方向才能完成投递动作，一般情况下需保持格口处于投送装置的投送路径上；当搬运设备到达预定地点时，如格口不处于投送装置的投送路径上，此时需要通过搬运设备再次定位到可投递地点，这大大降低了系统的投递效率。
因此，采用投送装置可水平旋转的操作，即可解决以上问题，只要保证搬运设备位于格口的边缘，无论什么方向，只需转动投送装置，即可完成投递动作，效率大大提升。
本实施例的物流对象分拨系统，一般情况下，所述轨道轮的截面与所述网格式轨道20的截面，相互啮合。从而能够保证搬运设备快速高效的运行。如：搬运设备的轨道轮截面为V形槽轮型，则轨道可以采用三角形的截面；轨道轮可以采用平槽型轮子、凸缘轮子等其它具有和轨道直接有啮合关系的轮子。
图3为本发明实施例的物流对象分拨系统的物流对象承载结构体侧面结构示意图；本实施例的物流对象分拨系统，物流对象承载结构体2还包括：位于所述网格式轨道20上方的传送带25、用于接泊传送带25上物流对象的接泊站27，以及位于格口下方的容器3；容器3即为上述的用于容纳物流对象的容器，容器可以是简单的麻布袋，大纸箱，或者是标准化的塑料、纸盒子等。
接泊站27通过滑槽26与所述传送带25相连，接泊站27周围设置有用于搬运设备1停靠的接泊区。容器3的顶部具有开口，且该开口与所述格口相对应，以用于盛装搬运设备投递的物流对象或物流对象。
接泊站27与传送带25相连，搬运设备1在接泊站接收物流对象，或者，搬运设备1在传送带25上直接接收物流对象。
三层的物流对象承载结构体设计可以保证物流对象流在高度降低的同时，不断对被细分和投递，物流对象流的重力势能有效的被利用，整个下坠过程即为投递过程。
图5为本发明实施例的物流对象分拨系统的物流对象承载结构体平面结构示意图，并参照图6。本实施例的物流对象承载结构体还包括：用于使搬运设备1自动充电的充电区5、用于扩展搬运设备1运行路径的缓冲区(图中未标出)，以及用于给搬运设备1分配物流对象的分拣区(即分拣区域)，分拣区内设置有多个接泊站27。当搬运设备需 要充电时会自动前往充电区5充电。同时，充电区5还可作为搬运设备缓冲区(未标出)，方便搬运设备数量的增减。
充电区5和缓冲区均设置于所述网格式轨道20所在平面的边缘区域，当然也可以设置于其它区域；分拣区一般均匀分布在网格式轨道20所在平面上。
分拣区可以有一个或者多个，均需满足均匀分布于物流对象承载结构体分拣平面上；每一个分拣区内设置的接泊站也是均匀分布的，以避免工作过程中相互干扰。当然，分拣区只属于功能性的描述，本实施例中，分拣区内可以不设置专门的接泊站，可以直接从传送带25上获取物流对象，并直接转移至搬运设备1上。
物流对象承载结构体的网格式轨道上存在易拥堵区域时，一般在该拥堵区域的周围设置缓冲区，以扩展搬运设备1的运行路径。
如图4和图5所示，所述格口的下方设置有倾斜滑板21，倾斜滑板21的下方开口处与容器3相对应。倾斜滑板能够使物流对象通过斜坡滑入物流对象容器内，避免了物流对象直接落入物流对象容器时产生的较大冲击力所引起的物流对象损坏。特别是，连续的物流对象或物流对象被投入时，相互间也容易产生碰撞，倾斜滑板均能够对物流对象进行降速，且不影响上一工序的效率，结构简单，且使用效果明显。
如图5和图6所示，所述格口(图中即为容器3上方所对应的格口)分布于物流对象承载结构体2的之中，且间隔排列为一列。
物流对象承载结构体2的四周设置有多个楼梯29，操作员通过楼梯29进入中间夹层30，到达预定工位之后开始作业。
传送带25优选设置成环形传动带，以满足物流对象流的分配。传动带25上设置有多个用于分流物流对象的斜轮输送区28，斜轮输送区28用于将传送带上物流对象及时分流至每个滑槽26。滑槽26一般情况下对应一个接泊站27。
其作业流程如下描述：
物流对象进入传送带25进行分流，根据每个滑槽26的物流对象数量，物流对象在经过斜轮输送区28时并合理分配至相应的滑槽。
操作员或机械臂在接泊站27将物流对象逐一从滑槽26中拿出，并放置在搬运设备1上。搬运设备获取物流对象重量及格口信息后，将物流对象运送至指定格口并导入容器3。
当容器里的物流对象数量触发阈值时，物流对象承载结构体2底层的操作员会将容器取出，并放置在底层传送带4上运出，同时为该格口更换新的容器。
图7为本发明实施例的物流对象分拨系统的搬运设备电控原理图；本实施例的搬运设备还包括：电机控制模块、中央控制存储模块、电池及管理模块、物流对象监测模块、通讯模块，以及导航模块。
电机控制模块、电池及管理模块、物流对象监测模块、通讯模块，以及导航模块，均与中央控制存储模块相连。
具体的，中央控制存储模块用于通过所述通讯模块获取的云端信息进行相应处理计算，给所述电机控制模块发送执行命令，并能够通过其它模块获取搬运设备的状态和电量状态。
作为车体主要控制单元，中央控制存储模块用来对云端下发命令进行相应处理，通过电机控制模块控制电机(电机用于驱动轨道轮)的转动及切换，中央控制存储模块还用来检测搬运设备自身的故障以及电量状态，对故障进行报警，在低电量情况下自主导航至充电区的充电桩进行自主充电。
电机控制模块用于控制驱动所述轨道轮的电机，并能够使电机启动和停止并切换行进方向。该模块具体的对X/Y向驱动电机进行分别的管理和控制，并根据中央控制存储模块的信息，停止与启动；换向及转向电机同样受电机控制模块的控制，根据需要进行运动。
电池及管理模块用于给其它组件供电，并显示和反馈电池工作信息和状态。电池及管理模块通过蓄能电池(如蓄电池、锂电池等蓄能电池)给搬运设备各模块供电，并反馈电池使用情况，如电量、电压、寿命等数据；根据需要，发出寻找充电桩充电的信息，提示更换寿命等。
物流对象检测模块用于监测物流对象在投送装置上状态。物流对象检测模块能够用于监测物流对象是否在搬运设备上及物流对象是否顺利分拨出去；检测方式包括但不限于反射式光电、对射式光电、激光传感器、RFID、称重传感器、感光芯片、接近传感器等。
通讯模块用于通过实时通讯方式向云端计算机反馈和接收相关信息。通讯模块通过各种实时通讯方式接收云端发送的巡检命令；通讯方式包括但不限于自组网通讯以及移动通讯，自组网通讯方式包括但不限于：WIFI、蓝牙、LORA、ZIGBEE等，移动通讯包括但不限于GPRS、3G、4G、5G移动蜂窝网络等。
导航模块用于实时获取搬运设备的行进速度、位置及方向信息。导航模块可以实时获取搬运设备的行进速度及方向信息，通过计算也可以实时获取搬运设备的定位信息， 配合定位检测手段，可实现搬运设备的高精度导航定位。定位检测手段包括但不限于用光电传感器、二维码、霍尔感应等各种方式。
图8为本发明实施例的物流对象分拨方法的整体运行流程图；本发明实施例还提供一种物流对象分拨方法，包括如下步骤：
①、搬运设备通过投送装置获得物流对象。
其中，搬运设备所获取的所有物流对象(例如：货物或包裹)，均可以通过传送带被送至分拣区；当然也可以采用其它模式直接获取，如倾倒式的物流对象分配模式。
该分拣区包括多个接泊站，每个所述搬运设备在所述接泊站获得相应的物流对象。接泊站即对物流对象进行基本处理和缓存的站点，能够获取物流对象相应的信息(如称重信息、标签信息、检视信息等)。
另外所述步骤①中，优选的，搬运设备所获取的物流对象是通过人工作业或机械臂作业，从接泊站转移至该搬运设备上的。
采用机械臂作业时，关节机械臂或伺服机械手根据3D视觉返回的坐标对面单朝上的物流对象进行单一抓取，并将物流对象放置在已经等候的搬运设备上。这里所说的机械臂可以是Articulated Robot,也可以是Gantry Robot。当然，如果扫码台和物流对象都采用RFID标签，则物流对象的面单并非一定要朝上，只需满足信息交换即可。
特别地，将物流对象放置在搬运设备之前，需要RFID读卡器读取物流对象相关信息(收发地址信息、发件人信息、收件人信息、物流对象重量信息等)，或者，扫描设备读取物流对象面单上的物流对象相关信息；上述物流对象相关信息发送至服务器。
②、搬运设备获得物流对象的格口信息及规划行走路径。
该步骤中，搬运设备可以通过服务器获取物流对象格口信息，还可以接收RFID读卡器或扫描设备传输的物流对象相关信息后，获取物流对象格口信息。
关于规划行走路径的获得，可以由服务器计算后传输至搬运设备，也可以由搬运设备自己计算。
当然，搬运设备可以通过服务器获取物流对象的称重信息；还可以接收RFID读卡器或称重设备传输的物流对象称重信息。
并且，依据该称重信息，系统可以做出有选择的处理。称重信息异常时，该称重信息异常的物流对象由搬运设备送至问题格口并通过投送装置倒入；完成该工作后，该搬运设备重新开始步骤①(即返回物流对象接收区域重新开始新的物流对象接收作业)。
其中，问题格口是有别于其它正常分拣格口的，专门用于收集异常信息和异常状态 的物流对象。现场操作人员会对异常格口内的物流对象，物流对象进行处理。
③、搬运设备在网格式轨道上行走，并将物流对象运送至相应格口。
具体的行走路线可以有云端进行统筹计算或者采取搬运设备之间的联网优化计算进行完成，从而保证系统的高效性。物流对象运送至格口时，保证投送装置的投送轨迹能够覆盖该格口，以保证有效的投送。
④、搬运设备通过投送装置将物流对象放入相应格口内。
具体的，本步骤中，格口下设置有用于接收物流对象的容器；
所述容器未满时，搬运设备在将物流对象格口后重新开始所述步骤①，进行下一次作业；所述容器满时，封装该容器并将从该格口下方移除，并在该格口下重新放置新的容器，同时，该容器满时，搬运设备可在就近区域进行等待，超时后前往异常格口。
容器满时，可以触发预先设置的感应器，感应器传递该信息至后台调度系统，从而关闭该格口；并且开启其它格口作为备用的替代格口，并且通知对该容器进行封装并清运移除，同时，该容器满时，搬运设备可在就近区域进行等待，超时后前往异常格口。
新的容器放置于格口底部后，相当于完成了一轮的分拨作业；循环进行该分拨作业，以完成所有物流对象的分拨。
搬运设备在投送装置完成所述物流对象投送后行进到指定位置。一般情况下，投送完成，搬运设备自动返回并再次获得物流对象。
需要说明的时，对于物流对象的称重和监测环节，并非一定固定于物流对象承载结构体或者搬运设备这样的设备上，也可以设置其它的设备以满足流程需要，当然，称重和物流对象监测的环节也可以在物流对象进入分拨系统之前就已经完成。
图9为本发明实施例的物流对象分拨方法的搬运设备运行流程图；所述搬运设备的运行流程为以下步骤：
A.搬运设备通过导航的方式移动至物流对象的获取区域。
B.搬运设备通过投送装置获取物流对象；也可以说，分配的物流对象直接被放置在该投送装置上。
C.搬运设备通过获取物流对象的相关信息及格口位置信息；在获取物流对象时，搬运设备被动或者主动的获取了该物流对象相关信息(包括收发地址信息、收件人信息、寄件人信息、快递信息、称重信息等)、格口位置信息等。
D.搬运设备对物流对象是否在位进行检测；一般通过传感器进行监测，如霍尔传感器、光电传感器、超声波传感器、光线传感器或者压力传感器等。
E.规划路径并沿X方向行走一定距离；规划路径的工作可以由云端计算机进行统筹规划计算，并将计算结果反馈给该搬运设备，从而保证系统的高效性；云端信息出现故障时，可由搬运设备自行计算规划路线，并通过与其它搬运设备联网来进行高效的运行。
F.切换行走方向；根据预定路径，在到达规定的路线节点时进行切换。
G.沿Y方向行走一定距离，所述Y方向与所述X方向相垂直。在此过程中，搬运设备可以在行驶过程中同时旋转投递装置，以保证搬运设备在到达格口时可以直接投递。
H.搬运设备通过导航方式检测是否到达目标地址；如未到达目的地，则转换到上述E流程；规划的路径可以多变，也可以根据实时的云端调度情况进行改变和调整。
I.通过投送装置投递物流对象，将物流对象投送至预定的格口；移动至该格口的周围，并保证投送装置的投送路径覆盖该格口，然后进行投送作业。
J.判断是否投递完成；可通过投送装置上的相关传感器判断，也可以通过格口或者其它装置的传感器单独或者综合判断投递是否完成。
K.物流对象运输完成，返回物流对象的获取区域开始下一轮的投递作业。
需要说明的时，对于获取物流对象相关信息(包括称重信息)及格口位置信息这一环节，物流对象(物流对象)的称重等信息获取装置，并非一定固定搬运设备这样的设备上，也可以设置其它的设备以满足流程需要；当然，称重环节也可以在物流对象进入分拨系统之前就已经完成，而物流对象监测环节可以有其它设备监测完成后分享给搬运设备。
另外，搬运设备的运行也是一个可逆的环节，当运送过程中物流对象出现问题或者需要重新分配地址的时候，搬运设备也可以改变自己的运行路径(通过云端计算，也可以由搬运设备自己计算)，或者进入充电区或者缓冲区进行等待。
本实施例物流对象分拨系统及方法的优点在于：
1、具有高效快速的分拨速度以及高密度格口的设计。
2、适用于快速分拨的多种专项设计，最大化的提高搬运设备运力且降低成本；水平输送带以及与搬运设备的配合设计可以用于快速接收物流对象和投递物流对象。
3、能够对多种现有技术进行集成，改造以及维护具有极高的便宜性。
4、不需要设计专用通道的情况下，成功的打破了现有技术中的搬运设备在XY方向进行四向运动的空间限制。
5、本发明的系统实现了在一定占地面积下格口/流向数量的成倍提升。
6、搬运设备采用高速直线运动，可达4m/s，采用惯导+定位技术，可实现1cm以内的定位精度。
7、输送带可旋转，提高分拨时对准道口的效率，减少非必要的位置调整。
8、多个机器人通过云端调度互不干扰，可最大化的利用运力。
另外，本发明的物流对象分拨系统建造成本不高，结构设计紧凑，能充分的利于现有各项设备和技术，分拨效率高且运行稳定，分拨后清运方便，适用于各种分拨系统、播种系统，物流对象存取系统等。
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助一些变形加必需的通用技术叠加的方式来实现；当然也可以通过简化上位一些重要技术特征来实现。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分为两个收紧环的作用和结构配合并本发明各个实施例所述的结构。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (17)

  1. 一种物流对象分拨系统，其特征在于，包括：物流对象承载结构体、在所述物流对象承载结构体上运行的至少一个搬运设备；
    所述物流对象承载结构体包括多个连续排布的网格单元，每个所述网格单元的上方为用于所述搬运设备运行的网格式轨道；每个所述网格单元上方均可设置用于所述物流对象分拨的格口；
    所述搬运设备包括搬运设备主体和位于所述搬运设备主体上的投送装置；
    根据所述投送装置种类，确定对应的物流对象投递方式。
  2. 根据权利要求1所述的物流对象分拨系统，其特征在于，
    所述投送装置种类包括水平输送带、翻盖式倾倒装置、推拨装置或多层输送带中的一种或多种。
  3. 根据权利要求1或2所述的物流对象分拨系统，其特征在于，所述投送装置安装在所述搬运设备主体顶部的上方，且可相对所述搬运设备主体在水平方向上旋转。
  4. 根据权利要求3所述的物流对象分拨系统，其特征在于，若所述投送装置为水平输送带，则所述水平输送带可相对所述搬运设备主体在水平方向进行旋转，直至旋转至目标投递位置，通过所述水平输送带对所述物流对象进行投递。
  5. 根据权利要求3所述的物流对象分拨系统，其特征在于，若所述投送装置为推拨装置，则所述推拨装置可相对所述搬运设备主体在水平方向进行旋转，直至旋转至目标投递位置，通过推拨所述物流对象，对所述物流对象进行投递。
  6. 根据权利要求3所述的物流对象分拨系统，其特征在于，若所述投送装置为翻盖式倾倒装置，则所述翻盖式倾倒装置可相对所述搬运设备主体在水平方向进行旋转，直至旋转至目标投递位置，通过倾倒所述物流对象，对所述物流对象进行投递。
  7. 根据权利要求1所述的物流对象分拨系统，其特征在于，
    所述搬运设备还安装有至少两组运行方向相互垂直的轨道轮，或者，全向轮。
  8. 根据权利要求7所述的物流对象分拨系统，其特征在于，所述轨道轮的截面与所述网格式轨道的截面相互啮合。
  9. 根据权利要求1所述的物流对象分拨系统，其特征在于，所述物流对象承载结构体还包括：
    位于所述网格式轨道上方的传送带；以及
    用于接泊所述传送带上的物流对象的接泊站；
    其中，所述接泊站与所述传送带相连，所述搬运设备在所述接泊站，或者，从所述传送带上直接接收物流对象。
  10. 根据权利要求1所述的物流对象分拨系统，其特征在于，所述物流对象承载结构体还包括：
    用于使所述搬运设备自动充电的充电区；以及
    用于扩展所述搬运设备运行路径或者临时存放搬运设备的缓冲区。
  11. 根据权利要求10所述的物流对象分拨系统，其特征在于，
    所述充电区和所述缓冲区均设置于所述网格式轨道所在平面的边缘区域。
  12. 根据权利要求1所述的物流对象分拨系统，其特征在于，所述格口的下方设置有倾斜滑板，所述倾斜滑板的下方开口处设置有容器。
  13. 一种物流对象分拨方法，其特征在于，采用权利要求1所述的物流对象分拨系统，所述物流对象分拨方法包括如下步骤：
    由所述搬运设备上的投送装置接收物流对象；
    搬运设备根据获取的轨迹在所述网格式轨道上行进到指定格口；
    由所述投送装置将所述物流对象放入指定格口内；以及
    所述搬运设备在投送装置完成所述物流对象投送后行进到指定位置。
  14. 根据权利要求13所述的物流对象分拨方法，其特征在于，所述由所述投送装置接收所述物流对象进一步包括：
    通过传送带将待分拣物流对象送至分拣区，其中，所述分拣区包括多个接泊站；
    在所述接泊站将物流对象转移到搬运设备的所述投送装置上；或者，将所述传送带上的物流对象直接转移至所述搬运设备的所述投送装置上。
  15. 根据权利要求14所述的物流对象分拨方法，其特征在于，所述由所述投送装置接收所述物流对象进一步包括：
    通过人工作业或机械臂作业将所述物流对象从接泊站或从传送带上转移至所述搬运设备的投送装置上。
  16. 根据权利要求15所述的物流对象分拨方法，其特征在于，在所述由所述投送装置接收所述物流对象步骤之后，所述方法进一步包括：
    所述搬运设备获取所接收的所述物流对象的目的地格口信息
    所述搬运设备获取所接收的所述物流对象的重量信息；以及
    当所述重量信息超过阈值时，所述物流对象由所述搬运设备输送至问题格口。
  17. 根据权利要求13所述的物流对象分拨方法，其特征在于，在所述格口下设置有用于接收物流对象的容器，并且所述方法进一步包括：
    当所述搬运设备到达指定格口之前，检测所述指定格口下方的容器内的物流对象量是否超过容器阈值；
    如果所述容器内的物流对象量超过所述容器阈值，则封闭该容器并将其从该格口下方移除，并在该格口下重新放置新的容器；同时，
    所述搬运设备在指定区域等待，若超过预设等待时间，则所述搬运设备将所述物流对象运输至问题格口。
PCT/CN2019/109889 2018-10-15 2019-10-08 一种物流对象分拨系统及方法 WO2020078224A1 (zh)

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