WO2020093902A1 - 物流分拣系统及物流分拣方法 - Google Patents

物流分拣系统及物流分拣方法 Download PDF

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Publication number
WO2020093902A1
WO2020093902A1 PCT/CN2019/113729 CN2019113729W WO2020093902A1 WO 2020093902 A1 WO2020093902 A1 WO 2020093902A1 CN 2019113729 W CN2019113729 W CN 2019113729W WO 2020093902 A1 WO2020093902 A1 WO 2020093902A1
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WIPO (PCT)
Prior art keywords
sorting
goods
module
sorted
logistics
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Application number
PCT/CN2019/113729
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English (en)
French (fr)
Inventor
马圣源
刘启阳
梁星浩
赵云
Original Assignee
深圳蓝胖子机器人有限公司
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Publication of WO2020093902A1 publication Critical patent/WO2020093902A1/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
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots

Definitions

  • the invention relates to the technical field of logistics sorting, in particular to a logistics sorting system and a logistics sorting method.
  • the domestic mainstream logistics industry has constructed sorting lines of different sizes in the regional sorting centers. Most of them use semi-automatic sorting systems, that is, sorting equipment + manual form.
  • the sorting equipment used is inclined guide wheel sorting. Machines, slider sorters, cross-belt sorters, flap sorters, AGV robots, etc.
  • the coverage of intelligent equipment is low, and the degree of automation is not high.
  • Most sorting centers still rely on manual labor. Sorting, the problems presented are low sorting efficiency, high error rate, and high labor cost.
  • the main purpose of the present invention is to propose a logistics sorting system and a logistics sorting method, which aims to solve the technical problem of slow sorting efficiency of the existing logistics sorting system.
  • the present invention provides a logistics sorting system
  • the logistics sorting system includes: a conveying module for the transportation of the goods to be sorted and the recovery and delivery of the problematic goods; an identification module for the Describe the goods to be sorted to read the goods information and determine the attributes of the goods themselves; the sorting module is used to provide a temporary buffer space for the goods to be sorted, and to perform cargo identification sorting and processing on the goods to be sorted Problematic goods; storage module, used for sorting storage and transshipment of the goods to be sorted; central controller, used to control the overall operation of each module of the logistics sorting system; In front of the sorting module, the identification module is arranged above the conveying module or above the sorting module, a number of the storage modules are sequentially arranged on both sides of the sorting module, and the central controller is The transmission module, the identification module, the sorting module, and a number of the storage modules are electrically connected.
  • the conveying module includes: an upper conveyor belt for conveying and transporting the goods to be sorted to the sorting module; a lower conveyor belt for recycling and transporting the problematic goods processed by the sorting module .
  • the identification module includes: a barcode scanning device for scanning barcode information on the goods to be sorted to read the cargo information of the goods to be sorted; a gravity sensor for acquiring the The weight information of the goods to be sorted to determine the weight attributes of the goods to be sorted; the visual sensor is used to obtain the image information of the goods to be sorted to determine the shape and size attributes of the goods to be sorted.
  • the sorting module includes: a sorting platform for providing temporary buffer space for the goods to be sorted, and assisting the sorting robot in identifying and sorting the goods to be sorted and handling problems Goods; sorting robots, used for sorting the goods to be sorted with the assistance of the sorting platform, to sort the goods to be sorted into the corresponding storage module.
  • the sorting platform includes a platform frame body, an overturning platform, and an overturning power mechanism that drives the overturning platform to overturn, and the overturning power mechanism and the overturning platform are respectively installed on the platform frame body.
  • the sorting platform further includes a visual auxiliary board laid on the upper surface of the turnover platform, the upper surface of the visual auxiliary board is provided with a background layer and coordinate marks provided on the background layer; The coordinate marks are arranged in different colors from the background layer, and are evenly arranged on the background layer.
  • the sorting robot includes an end effector and a power mechanism that drives the end effector to perform three-dimensional spatial movement.
  • the end effector includes an actuator body, and a power mechanism connector is provided on the top of the actuator body
  • the bottom end of the actuator body is provided with a parallel clamp module, and either side of the actuator body is movably connected to the vacuum suction module or the sponge suction module through a detachable connection structure.
  • the storage module includes: an inner cart for storing and transferring goods with low processing frequency in the goods to be sorted; an outer cart for medium to high processing for the goods to be sorted The frequency of goods is stored and transferred; the inner cart is closer to the side where the sorting module is located than the outer cart, the cart trolley of the inner cart is longer than the cart trolley of the outer cart , So that the outer cart is clamped between the two cart rods of the inner cart.
  • the logistics sorting system further includes a space protection shelf for providing a safe working area for each module of the logistics sorting system and providing an installation location for the identification module and each system indicator light.
  • the present invention also provides a logistics sorting method, based on the above-mentioned logistics sorting system, the logistics sorting method includes the following steps: the delivery of the goods to be sorted through the transfer module To the sorting module; with the aid of the identification module, the goods to be sorted are sorted and processed by the sorting module for the goods to be sorted; and all sorted goods are successfully sorted by the sorting module
  • the goods to be sorted are sorted, stored and transferred by the corresponding storage module, and the goods to be sorted that failed to be sorted by the sorting module are recovered and transferred by the transfer module to the problematic goods for subsequent follow-up Secondary sorting.
  • the conveying module is arranged in front of the sorting module
  • the identification module is arranged above the conveying module or the sorting module
  • several storage modules are successively divided into sorting modules
  • the central controller is electrically connected to the transmission module, identification module, sorting module and several storage modules.
  • the central controller controls the various modules of the logistics sorting system to operate as a whole, so that the goods to be sorted can be automatically sorted into the corresponding storage module for storage and transshipment under the cooperation of each module, which can effectively Improve the automation of the logistics sorting system to solve the technical problem of slow sorting efficiency of the existing logistics sorting system.
  • the complexity of the logistics sorting system can be further simplified, Improve sorting efficiency and ensure system integrity.
  • FIG. 1 is a schematic structural diagram of a logistics sorting system according to Embodiment 1 of the present invention.
  • FIG. 2 is a schematic structural view of the logistics sorting system shown in FIG. 1 when there is no space protection shelf.
  • FIG. 3 is a schematic structural diagram of a sorting platform of the logistics sorting system shown in FIG.
  • FIG. 4 is a schematic structural diagram of a sorting robot of the logistics sorting system shown in FIG.
  • FIG. 5 is a schematic structural diagram of a storage module of the logistics sorting system shown in FIG.
  • FIG. 6 is a flow block diagram of a logistics sorting method according to Embodiment 2 of the present invention.
  • Embodiment 1 of the present invention provides a logistics sorting system 100, which includes a conveying module 110, an identification module 120, a sorting module 130, a storage module 140, a central controller 150, and Space protection shelf 160.
  • the transmission module 110 is mainly used for the transportation of the goods to be sorted and the recovery of the problematic goods.
  • the conveyor module 110 includes an upper conveyor belt 111 and a lower conveyor belt 112.
  • the upper conveyor belt 111 is used to transport and transport the goods to be sorted to the sorting module 130;
  • the lower conveyor belt 112 is used to divide
  • the problematic goods processed by the sorting module 130 are recovered and transported, that is, the conveying direction of the upper conveyor belt 111 and the conveying direction of the lower conveyor belt 112 are set oppositely.
  • the goods to be sorted can be placed on the upper conveyor belt 111 (can be placed manually Or, a robot is provided at the place where the goods are initially stacked, and the robot directly grabs and places the goods to be sorted on the upper conveyor belt 111), and the upper conveyor belt 111 conveys the goods to be sorted to the sorting module 130, and sorts
  • the module 130 can detect the existence of an object, and control the upper conveyor belt 111 to stop working, so that the sorting module 130 performs logistics sorting operations.
  • the sorted goods to be sorted fail to fall back to the lower conveyor belt 112, and the lower conveyor belt 112 will slide to the problematic goods.
  • both the upper conveyor belt 111 and the lower conveyor belt 112 use a motor-driven belt to transport and transport the goods to be sorted.
  • a detection sensor (not shown) may be provided in the cargo drop area on the side of the upper conveyor belt 111 away from the sorting module to detect whether there is cargo to be sorted in the cargo drop area.
  • the detection sensor can be electrically connected directly to the robot, and the detection information is fed back to the robot; when the manual delivery is adopted, the signal light can be electrically connected to the detection sensor to convert the detection information It is indicated by a signal light, which is convenient for manual observation and judgment.
  • the detection information of the detection sensor can also be used as a judgment method to control the operation and stop of the upper conveyor belt 111.
  • the identification module 120 is mainly used for reading the cargo information to be sorted and judging the attributes of the cargo itself.
  • the identification module 120 includes a barcode scanning device, a gravity sensor, and a visual sensor.
  • the barcode scanning device is used to scan the barcode information on the goods to be sorted to read the cargo information to be sorted.
  • the barcode scanning device can be arranged above the transmission module 110, that is, the single number scanning code is carried out during the transmission process, and
  • the code scanning device may be placed above the sorting module 130 to scan the single number during the sorting process of the goods to be sorted.
  • the gravity sensor is used to obtain the weight information of the goods to be sorted to determine the weight attributes of the goods to be sorted
  • the visual sensor is used to obtain the image information of the goods to be sorted to determine the shape and size attributes of the goods to be sorted.
  • the sorting module 130 is mainly used to provide temporary buffer space for the goods to be sorted, and to identify and sort the goods to be sorted and handle the problematic goods.
  • the sorting module 130 includes a sorting platform 131 and a sorting robot 132, wherein the sorting platform 131 is used to provide a temporary buffer space for the goods to be sorted, and assists the sorting robot 132 Identify and sort the goods to be sorted and deal with the problematic goods.
  • the sorting platform 131 includes a platform frame body 1311, an inverting platform 1312, and an inverting power mechanism 1313 that drives the inverting platform 1312 to invert.
  • the inverting power mechanism 1313 and the inverting platform 1312 are respectively mounted on the platform frame body 1311.
  • the gravity sensor of the identification module 120 may be installed on the turnover platform 1312, so as to detect the weight of the goods to be sorted.
  • the reversing power mechanism 1313 can use a piston push rod to drive the reversing platform 1312 for reversing (specifically, the reversing platform 1312 is tilted by about 45 degrees, and the state of horizontally docking the upper conveyor belt 111 is changed to the state of tilting and docking the lower conveyor belt 112). Other flip methods.
  • the sorting platform 131 further includes a visual auxiliary board 1314 laid on the upper surface of the turnover platform 1312.
  • the upper surface of the visual auxiliary board 1314 is provided with a background layer and coordinate marks provided on the background layer.
  • the coordinate marks are arranged in different colors from the background layer, and are evenly arranged on the background layer.
  • the background of the goods to be sorted in the image is formed by shooting the image of the goods to be sorted on the visual auxiliary board 1314, where the background layer on the visual auxiliary board 1314 cooperates with the coordinate marks.
  • the vision sensor performs image segmentation on the sorted goods under such a background, it can obtain higher accuracy of image segmentation, thereby greatly improving the accuracy of positioning the position of the goods to be sorted.
  • the visual sensor is unable to calculate and obtain the shape information of the goods to be sorted, then view the occlusion information of the coordinate marks that are blocked by the goods to be sorted in the image.
  • the coordinate marks are in the form of dots.
  • the dots referred to in this embodiment are solid circles.
  • the dot-shaped coordinate marks have relatively regular dots with continuous shape lines. Therefore, it is convenient to calculate through the occlusion information.
  • the diameter of the coordinate mark is 25 ⁇ 2mm.
  • the use of dots around 25mm can achieve a balance between calculation accuracy and calculation efficiency, achieving a fast and accurate effect.
  • the interval between the two coordinate marks is 20 ⁇ 2mm.
  • the interval between the two coordinate marks is 20 mm, that is, the interval between the edges of the two dots is 20 mm.
  • the coordinate marks are arranged in an array along the length and width directions of the upper surface.
  • the number of rows and columns of coordinate marks is 12 ⁇ 9. That is, along the length direction of the upper surface, 12 coordinate marks are provided, and in the width direction of the upper surface, 9 coordinate marks are provided. There are 108 coordinate marks in total. By setting the number of rows and columns of coordinate marks to 12 ⁇ 9, it is possible to strike a balance between calculation accuracy and calculation efficiency, and achieve a fast and accurate effect.
  • the background layer is white and the coordinate marks are black.
  • the visual auxiliary board 1314 is also provided with a plurality of optical fibers for emitting the light source and being received by the visual sensor, and then quickly determining whether there is an object to be sorted on the visual auxiliary board 1314 through the visual sensor.
  • the visual auxiliary board 1314 has objects blocking part or all of the light sources, and the visual sensor cannot receive the complete light source, it determines that there are goods to be sorted on the visual auxiliary board 1314, and performs subsequent identification or sorting operations.
  • multiple optical fibers are arranged in an array to densely cover the entire background layer, so that any ordinary packages or envelopes falling on the visual aid board 1314 can block at least part of the light source. Furthermore, a plurality of optical fibers are arranged in coordination with the coordinate marks on the visual assistant board 1314, and each optical fiber is arranged at the gap between the coordinate marks. In addition, through the installation of multiple optical fibers, it can also play a certain role in the process of shooting three-dimensional images by the visual sensor.
  • the upper conveyor belt 111 transports the goods to be sorted to the sorting platform 131, and the goods to be sorted are scanned and identified by the scan code and the sensor recognition judgment on the sorting platform 131; when the preset conditions are met (that is, the goods to be sorted are on the sorting platform 100 sorting failure), start the piston push rod, turn the auxiliary plate down, and slide the goods to be sorted to the lower conveyor belt 112; the lower conveyor belt 112 starts to operate, and transport the fallen goods back to the original area or other designated places .
  • the sorting robot 132 is mainly used for sorting and sorting the goods to be sorted with the assistance of the sorting platform 131 to sort the goods to be sorted into the corresponding storage module 140.
  • the sorting robot 132 includes an end effector 1321 and a power mechanism 1322 that drives the end effector 1321 to perform spatial three-dimensional motion.
  • the end effector 1321 includes an actuator body, and a power mechanism connection piece is provided on the top of the actuator body to connect with the power
  • the mechanism 1322 is connected to the drive.
  • the bottom end of the actuator body is provided with a parallel clamp module, which can handle the logistics and sorting work of hard large-size carton and a part of flexible packaging packages.
  • the vacuum is movably connected through a detachable connection structure.
  • the suction cup module or sponge suction cup module allows users to freely match according to the needs of their own scenarios. When it is matched with the vacuum suction cup module, it can handle the logistics sorting work of smaller hard cartons and all types of envelopes. When the suction cup module is used, it can handle the logistics sorting of flexible package packages.
  • the end effector 1321 of this embodiment integrates various types of processing modules that are relatively mature in the industry, and completely solves the phenomenon of poor multi-type adaptation in current logistics sorting. Through control with electronic circuits, the robot grabs The planning strategies cooperate with each other to successfully complete the sorting of almost all types of logistics packages.
  • the storage module 140 is mainly used for sorting storage and transshipment of the sorted goods. Specifically, as shown in FIG. 5, the storage module 140 includes an inner cart 141 and an outer cart 142, and the inner cart 141 is used to store and transfer low-frequency processed goods in the sorted goods. The outer cart 142 is used to store and transfer the goods with high processing frequency in the sorted goods. The inner cart 141 is closer to the side of the sorting module 130 than the outer cart 142. The cart trolley 1411 of the inner cart 141 is longer than the cart trolley 1421 of the outer cart 142, so that the outer cart 142 is sandwiched between the inner cart Between two trolley rods 1411 of the cart 141. As shown in FIGS. 2 and 5, each storage module 140 is divided into two parts.
  • the logistics sorting system 100 can be provided with 14 storage modules 140 and a classification of 28 grids. In the robot working area, the robot's motion planning speed and sorting efficiency are greatly improved.
  • the central controller 150 is used to control the various modules of the logistics sorting system 100 to perform overall operations.
  • the conveying module 110 is disposed in front of the sorting module 130
  • the identification module 120 is disposed above the conveying module 110 or above the sorting module 130
  • a number of storage modules 140 are sequentially divided on both sides of the sorting module 120, in the center
  • the controller 150 is electrically connected to the transfer module 110, the identification module 120, the sorting module 130, and a number of storage modules 140, respectively.
  • the space protection shelf 160 is used to provide a safe working area for each module of the logistics sorting system 100 and to provide an installation location for the identification module 120 and each system indicator light.
  • the space protection shelf 160 surrounds the sorting module 130 into a closed working area, the sorting robot 132 of the sorting module 130 is located in the center, and each position in the closed area is a robot arm. Reach the area.
  • the sorting robot 132 is provided with an opening in the front direction for placing the sorting platform 131 and the transfer module 110.
  • the sorting robot 132 is provided with a pedestrian aisle and a closed door in the backward direction, which are used by the workers to enter the work area for debugging and maintenance.
  • a second visual sensor at the top of both sides for detecting whether the goods and the goods are full, and a large indicator light .
  • a small indicator light is provided at the corresponding position of the side direction cart.
  • a positioning device and an in-place detection device are provided at the bottom of the shelf (to detect whether the trolley of the storage module 140 is placed in place, and if the place is not in place, the indicator can be reminded to the staff or sound).
  • the 1 inner car grid is loaded to the preset value, it is fed back to the central controller 150 to control the large signal light on the left and the corresponding small rack on the No. 1 car.
  • the signal light is red (the green light indicates the outer cart), the staff sees the headlight prompt to come to the left, and pulls out the inner cart according to the small light prompt, remove the bag full of goods and replace the new bag, and push the Push the cart back; transfer the sorted storage belt to other locations.
  • the logistics sorting system 100 further includes a display screen (not shown).
  • the display screen is installed on the space protection shelf 160, and the display screen and the The central controller 150 is electrically connected.
  • Embodiment 2 of the present invention provides a logistics sorting method, which is implemented based on the logistics sorting system 100 of Embodiment 1.
  • the logistics sorting method specifically includes the following steps:
  • Step S110 The goods to be sorted are transferred to the sorting module through the transfer module.
  • Step S120 With the assistance of the identification module, the goods to be sorted are sorted and sorted by the sorting module, and the problematic goods are processed.
  • Step S130 The goods to be sorted successfully sorted by the sorting module are sorted and stored and transferred by the corresponding storage module, and the goods to be sorted failed by the sorting module are recovered and transported by the transfer module to the problematic goods. For subsequent secondary sorting.
  • the goods to be sorted are placed on the upper conveyor belt 111 (which can be placed manually, or a robot is provided at the place where the goods are initially stacked, and the robot directly grabs the sorted goods And placed on the upper conveyor belt 111).
  • the sorting platform 131 can detect the existence of the goods to be sorted, and the upper conveyor belt 111 is controlled to stop working until there is no goods to be sorted on the sorting platform 131.
  • the upper conveyor belt 111 continues to work, and the code scanning device can be installed on the upper conveyor belt 111, that is, the single number scanning code is carried out during the transmission process, or the scanning code detection can be placed behind the sorting platform 131.
  • the identification and judgment of the goods on the sorting platform 131 that is, to judge the sorted goods through the visual auxiliary board (including the gravity sensor and the optical fiber) and the visual sensor above the shelf to obtain the goods attributes. According to the properties of the goods, select the appropriate end effector (jaw or sponge suction cup) to grab the goods.
  • the mechanical arm of the sorting robot 132 is controlled to move to the sorting port corresponding to the information and released, so that it is sorted into the corresponding storage module 140.
  • the robot arm of the sorting robot 132 returns to the initial position and repeats the foregoing steps.
  • the sorting platform 131 is turned down and the goods to be sorted are slipped down the lower conveyor belt 112. Activate the lower conveyor belt 112, and transport the problematic goods that slipped to the lower conveyor belt 112 back to the original area or other designated locations, and stop working; the staff performs inspection, rectification, separate processing, or returns to the upper conveyor belt for secondary sorting.
  • the logistics sorting system and the logistics sorting method provided by the embodiments of the present invention wherein the transmission module is arranged in front of the sorting module, the identification module is arranged above the transmission module or the sorting module, and several storage modules are sorted in order On both sides of the module, the central controller is electrically connected to the transmission module, identification module, sorting module and several storage modules.
  • the central controller controls the various modules of the logistics sorting system to operate as a whole, so that the goods to be sorted can be automatically sorted into the corresponding storage module for storage and transshipment under the cooperation of each module, which can effectively Improve the automation of the logistics sorting system to solve the technical problem of slow sorting efficiency of the existing logistics sorting system.
  • the complexity of the logistics sorting system can be further simplified, Improve sorting efficiency and ensure system integrity.
  • the conveying module is arranged in front of the sorting module
  • the identification module is arranged above the conveying module or the sorting module
  • several storage modules are successively divided into sorting modules
  • the central controller is electrically connected to the transmission module, identification module, sorting module and several storage modules.
  • the central controller controls the various modules of the logistics sorting system to operate as a whole, so that the goods to be sorted can be automatically sorted into the corresponding storage module for storage and transshipment under the cooperation of each module, which can effectively Improve the automation of the logistics sorting system to solve the technical problem of slow sorting efficiency of the existing logistics sorting system.
  • the complexity of the logistics sorting system can be further simplified, Improve the sorting efficiency and ensure the integrity of the system operation, so it has industrial practicality.

Abstract

一种物流分拣系统及物流分拣方法，该物流分拣系统（100）包括传送模块（110）、识别模块（120）、分拣模块（130）、储货模块（140）以及中央控制器（150）；传送模块（110）设于分拣模块（130）的前方，识别模块（120）设于传送模块（110）的上方或分拣模块（130）的上方，若干储货模块（140）依次分设分拣模块（130）的两侧，中央控制器（150）分别与传送模块（110）、识别模块（120）、分拣模块（130）以及若干储货模块（140）进行电性连接。通过有效提高物流分拣系统的自动化程度，来解决现有物流分拣系统分拣效率慢的技术问题，同时，通过对物流分拣系统各模块进行合理布局，可进一步简化物流分拣系统的复杂性、提高分拣效率以及保障系统运行整体性。

Description

物流分拣系统及物流分拣方法 技术领域
本发明涉及物流分拣技术领域，特别涉及一种物流分拣系统及物流分拣方法。
 背景技术
目前，物流行业已经达到了井喷发展期，各个物流公司每天都要应对大量的包裹，不同物流公司之间的竞争也日益加剧，因此时效性、准确性是快递公司和广大客户追求的目标。这其中，物流分拣的速度成为各大物流公司提高时效性的最主要制约因素。
国内主流物流行业分别在区域分拣中心建设了规模不一的分拣线，大都采用半自动化分拣系统，也就是分拣设备+人工的形式，使用的分拣设备有斜导轮式分拣机、滑块式分拣机、交叉带分拣机、翻板式分拣机、AGV机器人等，总体来看智能化设备覆盖率低，自动化程度不高，大部分的分拣中心还都依靠人工分拣，呈现出来的问题有分拣效率低，错误率高，人工成本高。
 技术问题
本发明的主要目的在于提出一种物流分拣系统及物流分拣方法，其旨在解决现有物流分拣系统分拣效率慢的技术问题。
 技术解决方案
为实现上述目的，本发明提供的一种物流分拣系统，所述物流分拣系统包括：传送模块，用于待分拣货物的传送运输以及问题货物的回收传送；识别模块，用于对所述待分拣货物进行货物信息读取以及判断货物本身属性；分拣模块，用于为所述待分拣货物提供临时的缓存空间，并对所述待分拣货物进行货物识别分拣以及处理问题货物；储货模块，用于对所述待分拣货物进行分类存储与转运；中央控制器，用于控制所述物流分拣系统各模块进行整体运作；所述传送模块设于所述分拣模块的前方，所述识别模块设于所述传送模块的上方或所述分拣模块的上方，若干所述储货模块依次分设所述分拣模块的两侧，所述中央控制器分别与所述传送模块、所述识别模块、所述分拣模块以及若干所述储货模块进行电性连接。
可选地，所述传送模块包括：上层传送带，用于将所述待分拣货物传送运输至所述分拣模块；下层传送带，用于对所述分拣模块处理出来的问题货物进行回收传送。
可选地，所述识别模块包括：扫码装置，用于扫描所述待分拣货物上的条码信息，以对所述待分拣货物进行货物信息读取；重力传感器，用于获取所述待分拣货物的重量信息，以判断所述待分拣货物的重量属性；视觉传感器，用于获取所述待分拣货物的图像信息，以判断所述待分拣货物的形状大小属性。
可选地，所述分拣模块包括：分拣平台，用于为所述待分拣货物提供临时的缓存空间，并辅助分拣机器人对所述待分拣货物进行货物识别分拣以及处理问题货物；分拣机器人，用于在所述分拣平台的辅助下对所述待分拣货物进行货物识别分拣，以将所述待分拣货物分拣至相应的所述储货模块中。
可选地，所述分拣平台包括平台架体、翻转平台以及驱动所述翻转平台翻转的翻转动力机构，所述翻转动力机构、所述翻转平台分别安设于所述平台架体上。
可选地，所述分拣平台还包括铺设于所述翻转平台上表面的视觉辅助板，所述视觉辅助板的上表面设有背景层和设于所述背景层上的坐标标记；所述坐标标记与所述背景层呈异色设置，并且均匀布置在所述背景层上。
可选地，所述分拣机器人包括末端执行器以及驱动所述末端执行器进行空间三维运动的动力机构，所述末端执行器包括执行器主体，所述执行器主体的顶端设置动力机构连接件，以与所述动力机构进行驱动连接，所述执行器主体的底端设置平行夹模块，执行器主体的任一侧通过可拆卸式连接结构活动连接真空吸盘模块或海绵吸盘模块。
可选地，所述储货模块包括：内推车，用于对所述待分拣货物中低处理频率的货物进行存储与转运；外推车，用于对所述待分拣货物中高处理频率的货物进行存储与转运；所述内推车比所述外推车更靠近所述分拣模块所在的一侧，所述内推车的推车拉杆长于所述外推车的推车拉杆，使得所述外推车夹设于所述内推车的两推车拉杆之间。
可选地，所述物流分拣系统还包括空间保护架子，用于为所述物流分拣系统各模块提供安全的工作区间以及为所述识别模块与各系统指示灯提供安装位置。
此外，为实现上述目的，本发明还提供一种物流分拣方法，基于上述的物流分拣系统，所述物流分拣方法包括以下步骤：通过所述传送模块将所述待分拣货物的传送至所述分拣模块；在所述识别模块辅助下，通过所述分拣模块对所述待分拣货物进行货物识别分拣以及处理问题货物；经所述分拣模块进行分拣成功的所述待分拣货物由相应的所述储货模块进行分类存储与转运，经所述分拣模块进行分拣失败的所述待分拣货物由所述传送模块进行问题货物回收传送，以便后续进行二次分拣。
 有益效果
本发明提供的物流分拣系统及物流分拣方法，其传送模块设于分拣模块的前方，识别模块设于传送模块的上方或分拣模块的上方，若干储货模块依次分设分拣模块的两侧，中央控制器分别与传送模块、识别模块、分拣模块以及若干储货模块进行电性连接。这样一来，通过中央控制器控制该物流分拣系统各模块进行整体运作，使得待分拣货物在各模块的通力配合下，自动分拣到相应的储货模块中进行存储与转运，可有效提高物流分拣系统的自动化程度，来解决现有物流分拣系统分拣效率慢的技术问题，同时，通过对物流分拣系统各模块进行合理布局，可进一步简化物流分拣系统的复杂性、提高分拣效率以及保障系统运行整体性。
 附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例一物流分拣系统的结构示意图。
图2为图1所示物流分拣系统的无空间保护架子时的结构示意图。
图3为图1所示物流分拣系统的分拣平台的结构示意图。
图4为图1所示物流分拣系统的分拣机器人的结构示意图。
图5为图1所示物流分拣系统的储货模块的结构示意图。
图6为本发明实施例二物流分拣方法的流程框图。
 本发明的实施方式
下面结合附图对本发明的具体实施方式作进一步说明。在此需要说明的是，对于这些实施方式的说明用于帮助理解本发明，但并不构成对本发明的限定。此外，下面所描述的本发明各个实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互组合。
实施例一
如图1所示，本发明实施例一提供一种物流分拣系统100，该物流分拣系统100包括传送模块110、识别模块120、分拣模块130、储货模块140、中央控制器150以及空间保护架子160。
其中，该传送模块110主要用于待分拣货物的传送运输以及问题货物的回收传送。具体地，如图1及图2所示，该传送模块110包括上层传送带111与下层传送带112，上层传送带111用于将待分拣货物传送运输至分拣模块130；下层传送带112用于对分拣模块130处理出来的问题货物进行回收传送，即上层传送带111的传送方向与下层传送带112的传送方向是相反设置的，工作时，可将待分拣货物放置于上层传送带111上（可以人工放置，也可以是在初始堆放货物的地方设有一机器人，机器人将待分拣货物直接抓取并放置在上层传送带111上），上层传送带111将待分拣货物输送给分拣模块130后，分拣模块130能够检测到物体存在，控制上层传送带111停止工作，以便分拣模块130进行物流分拣作业，分拣失败的待分拣货物会重新滑落下层传送带112，由下层传送带112将滑落到问题货物运输回原区域或其他指定地点后，停止工作，工作人员进行检查、整改、单独处理或放回上层传送带111，进行二次分拣。本实施例中的上层传送带111与下层传送带112均采用电机驱动皮带的方式进行待分拣货物的传送运输，对于本领域人员而言，亦可根据实际需要，采用其他传动方式进行待分拣货物的传送运输。进一步的，可在上层传送带111远离分拣模块一侧的货物投放区域设置检测传感器（未图示），用以检测货物投放区域是否存在待分拣货物，当检测到待分拣货物存在时，反馈到用于待分拣货物投放的机器人或人工投放的工作人员，停止待分拣货物投放，避免货物投放区多个待分拣货物堆积。具体的，当采取机器人投放待分拣货物时，检测传感器可直接与机器人电性连接，将检测信息反馈给机器人；当采取人工投放时，可选用信号灯与检测传感器电性连接，将检测信息转化成信号灯指示，便于人工观察判断。此外，该检测传感器的检测信息也可以作为控制上层传送带111运行与停止的判断方式，当检测到货物投放区域存在待分拣货物时，启动上层传送带111进行传送工作，提高了传送模块110的自动化。
识别模块120主要用于对待分拣货物进行货物信息读取以及判断货物本身属性。具体地，该识别模块120包括扫码装置、重力传感器以及视觉传感器。扫码装置用于扫描待分拣货物上的条码信息，以对待分拣货物进行货物信息读取，扫码装置可以设置在传送模块110的上方，即在传送过程中进行单号扫码，也可以将扫码装置放在分拣模块130的上方，以在待分拣货物进行分拣过程中进行单号扫码。重力传感器用于获取待分拣货物的重量信息，以判断待分拣货物的重量属性，视觉传感器用于获取待分拣货物的图像信息，以判断待分拣货物的形状大小属性。
分拣模块130主要用于为待分拣货物提供临时的缓存空间，并对待分拣货物进行货物识别分拣以及处理问题货物。具体地，如图2所示，该分拣模块130包括分拣平台131以及分拣机器人132，其中，分拣平台131用于为待分拣货物提供临时的缓存空间，并辅助分拣机器人132对待分拣货物进行货物识别分拣以及处理问题货物。如图3所示，该分拣平台131包括平台架体1311、翻转平台1312以及驱动翻转平台1312翻转的翻转动力机构1313，翻转动力机构1313、翻转平台1312分别安设于平台架体1311上。识别模块120的重力传感器可安设于翻转平台1312上，以便于检测待分拣货物的重量。翻转动力机构1313可利用活塞推杆的方式驱动翻转平台1312进行翻转（具体使得翻转平台1312侧倾45度左右，由水平对接上层传送带111的状态转变为倾斜对接下层传送带112的状态），也可用其他翻转方式。另外，分拣平台131还包括铺设于翻转平台1312上表面的视觉辅助板1314，视觉辅助板1314的上表面设有背景层和设于背景层上的坐标标记。该坐标标记与背景层呈异色设置，并且均匀布置在背景层上。在分拣货物时，待分拣货物首先落到分拣平台131上，从而压住视觉辅助板1314。此时，位于分拣平台131上方的识别模块120的视觉传感器可以首先拍摄三维图像，然后通过三维图像提取待分拣货物的点云，从而计算获得待分拣货物的形状信息。一方面，通过拍摄待分拣货物位于视觉辅助板1314上的图像，其中，视觉辅助板1314上的背景层和坐标标记的配合，而形成图像中待分拣货物的背景。而视觉传感器在这样的背景下对待分拣货物进行图像分割时，能够获得更高的图像分割的精度，从而大幅提高了定位待分拣货物的位置的精度。另一方面，当视觉传感器无法计算获得待分拣货物的形状信息时，则查看图像中，待分拣货物遮挡的坐标标记的遮挡信息。然后通过遮挡信息来计算待分拣货物的位置，从而起到了通过图像定位兜底的效果。进一步的，坐标标记呈圆点状。本实施例所指的圆点，为实心的圆圈。圆点状的坐标标记具有较为规则，并且形状线条连续的圆点。从而便于通过遮挡信息进行计算。坐标标记的直径为25±2mm。采用25mm左右的圆点，能够在计算精确和计算效率之间取得平衡，达到又快又准的效果。两个坐标标记之间的间隔为20±2mm。优选的，两个坐标标记之间的间隔为20mm，即两个圆点的边缘之间的间隔为20mm。采用20mm左右的间隔，能够在计算精确和计算效率之间取得平衡，达到又快又准的效果。坐标标记呈沿着上表面的长度方向和宽度方向的阵列状排布。当然，在其他实施例中，也可以是其他排布方式，坐标标记的行列数为12×9。即沿着上表面的长度方向，设置有12个坐标标记，在上表面的宽度方向，设置有9个坐标标记。总共一共设有108个坐标标记。通过设置坐标标记的行列数为12×9，能够在计算精确和计算效率之间取得平衡，达到又快又准的效果。背景层为白色，坐标标记为黑色。从而一方面避免坐标标记难以识别，另一方面避免信封这样全白的物体，视觉结构难分割定位。优选地，视觉辅助板1314上还设置有多个光纤，用以发射光源并被接收于视觉传感器，进而通过视觉传感器快速判断视觉辅助板1314上是否存在待分拣物体。当视觉辅助板1314存在物体遮挡部分或全部光源时，视觉传感器接收不到完整的光源，则判断出视觉辅助板1314上存在待分拣货物，进行后续识别或分拣的操作。进一步的，多个光纤设置采用阵列分布，密布整个背景层，以便任意的普通包裹或信封落入视觉辅助板1314上都能至少遮挡部分光源。更进一步的，多个光纤配合视觉辅助板1314上的坐标标记设置，每一光纤均设于坐标标记之间的间隙处。此外，通过多个光纤的设置也可在视觉传感器拍摄三维图像过程中，起到一定的补光效果。上层传送带111将待分拣货物运输至分拣平台131，待分拣货物在分拣平台131上被扫码识别、及传感器识别判断；当满足预设条件（即待分拣货物在分拣平台100分拣失败）时，启动活塞推杆，使辅助板向下翻转，将待分拣货物滑落至下层传送带112；下层传送带112开始运转，将滑落下来的货物运输回原区域或其他指定的地方。
如图4所示，分拣机器人132主要用于在分拣平台131的辅助下对待分拣货物进行货物识别分拣，以将待分拣货物分拣至相应的储货模块140中。具体地，分拣机器人132包括末端执行器1321以及驱动末端执行器1321进行空间三维运动的动力机构1322，末端执行器1321包括执行器主体，执行器主体的顶端设置动力机构连接件，以与动力机构1322进行驱动连接，执行器主体的底端设置平行夹模块，可处理硬质大尺寸纸箱以及一部分软包装包裹的物流分拣工作，执行器主体的任一侧通过可拆卸式连接结构活动连接真空吸盘模块或海绵吸盘模块，使得用户可以根据自身场景的需求自由搭配，当其搭配真空吸盘模块时，可处理较小的硬质纸盒及所有类型的信封的物流分拣工作，当其搭配海绵吸盘模块时，可处理软包装包裹的物流分拣工作。本实施例的末端执行器1321其集成了工业上较为成熟的各类处理模块，从整体性上完全解决了目前物流分拣中多类型适配差的现象，通过与电子电路控制，机器人抓取规划策略相互配合，可以顺利完成几乎所有类型的物流包裹分拣。
储货模块140主要用于对待分拣货物进行分类存储与转运。具体地，如图5所示，储货模块140包括内推车141以及外推车142，内推车141用于对待分拣货物中低处理频率的货物进行存储与转运。外推车142用于对待分拣货物中高处理频率的货物进行存储与转运。内推车141比外推车142更靠近分拣模块130所在的一侧，内推车141的推车拉杆1411长于外推车142的推车拉杆1421，使得外推车142夹设于内推车141的两推车拉杆1411之间。如图2及图5所示，每一储货模块140分两部分，当内推车141装满时，拉推车拉杆1411，将整体储货模块140拉出，更换袋子；当外推车142装满时，则直接拉推车拉杆1421，更换袋子。因为内推车141更换较麻烦，所以在分拣设置时，将内推车141设置成用于装低处理频率的货物，例如偏远地区货物；外推车142设置成装高处理频率的货物，例如同城或相邻地区货物。如图2所示，该物流分拣系统100可设置14个储货模块140，28格的分类。在机器人工作区间内，极大地提高了机器人的运动规划速度及分拣效率。当某个格子的货物装满时，拉出所在推车并更换储货袋子，将装满货物的袋子转运到其他地点。此时机器人不停止工作，如果机器人要分拣的货物刚好是正在更换的推车，则将该待分拣货物放回分拣平台或者放入到一个专门的格子内，后续取出继续分拣。
中央控制器150用于控制物流分拣系统100各模块进行整体运作。具体地，该传送模块110设于分拣模块130的前方，识别模块120设于传送模块110的上方或分拣模块130的上方，若干储货模块140依次分设分拣模块120的两侧，中央控制器150分别与传送模块110、识别模块120、分拣模块130以及若干储货模块140进行电性连接。
如图1所示，空间保护架子160用于为物流分拣系统100各模块提供安全的工作区间以及为识别模块120与各系统指示灯提供安装位置。具体如图1所示，该空间保护架子160将分拣模块130围成了一个封闭的工作区间，分拣模块130的分拣机器人132位于正中心，封闭区间内每一位置都为机械臂可达到区域。分拣机器人132正前方向设有开口，用于放置分拣平台131及传送模块110。分拣机器人132向后方向设有行人过道及关闭门，用于工作人员在进入工作区间，调试维修。两侧下方设有开口及挡板，用于放置储货模块140及固定推车位置，两侧上方设有第二视觉传感器，以用于检测货物及货物是否装满，还设有大指示灯。侧方向推车对应位置设置有小指示灯。此外在架子底部还设有定位装置、到位检测装置（以检测储货模块140的推车是否放置到位，如果放置不到位可通过指示灯或声音提醒工作人员）。第二视觉传感器检测到对应的储货推车（例如左1号内车格子）货物装到预设值时，反馈到中央控制器150，控制左侧大信号灯亮及一号车对应架子上小信号灯红灯亮（绿灯表示外推车），工作人员看到大灯提示来到左侧，并根据小灯提示拉出内推车，卸下装满货物的袋子并更换新袋子，并将推车推回；将分拣后的储货带转运至其他地点。
另外，为便于工作人员可以整体查看和控制各个模块的运作过程，本物流分拣系统100还包括显示屏（未图示），该显示屏安设于空间保护架子160上，且该显示屏与中央控制器150进行电性连接。
实施例二
如图6所示，本发明实施例二提供一种物流分拣方法，基于实施例一的物流分拣系统100来实现，该物流分拣方法具体包括以下步骤：
步骤S110：通过传送模块将待分拣货物的传送至分拣模块。
步骤S120：在识别模块辅助下，通过分拣模块对待分拣货物进行货物识别分拣以及处理问题货物。
步骤S130：经分拣模块进行分拣成功的待分拣货物由相应的储货模块进行分类存储与转运，经分拣模块进行分拣失败的待分拣货物由传送模块进行问题货物回收传送，以便后续进行二次分拣。
具体地，如图1及图2所示，将待分拣货物放置于上层传送带111上（可以人工放置，也可以是在初始堆放货物的地方设有一机器人，机器人将带分拣货物直接抓取并放置在上层传送带111上）。上层传送带111将待分拣货物输送至分拣平台131后，分拣平台131能够检测到待分拣货物的存在，控制上层传送带111停止工作，直到分拣平台131上没有待分拣货物，控制上层传送带111继续工作，扫码装置可以设置在上层传送带111上，即在传送过程中进行单号扫码，也可以将扫码检测放在分拣平台131后。分拣平台131上货物的识别判断，即通过视觉辅助板（内含重力传感器、光纤）、架子上方的视觉传感器对待分拣货物进行判断，获取货物属性。根据货物属性，选择合适的末端执行器（夹爪或海绵吸盘）进行货物抓取。根据扫码识别的货物信息，控制分拣机器人132的机械臂运动至与信息对应的分拣口并释放，使之分拣至相应的储物模块140中。分拣机器人132的机械臂回到初始位置，重复前述步骤。当出现未能扫码到货物信息，或者判断货物的重量、体积超过预设值，或者分拣机器人132抓取物体失败；则控制分拣平台131向下翻转，将待分拣货物滑落下层传送带112，启动下层传送带112，将滑落到下层传送带112的问题货物运输回原区域或其他指定地点后，停止工作；工作人员进行检查、整改、单独处理或放回上层传送带，进行二次分拣。
本发明实施例提供的物流分拣系统及物流分拣方法，其传送模块设于分拣模块的前方，识别模块设于传送模块的上方或分拣模块的上方，若干储货模块依次分设分拣模块的两侧，中央控制器分别与传送模块、识别模块、分拣模块以及若干储货模块进行电性连接。这样一来，通过中央控制器控制该物流分拣系统各模块进行整体运作，使得待分拣货物在各模块的通力配合下，自动分拣到相应的储货模块中进行存储与转运，可有效提高物流分拣系统的自动化程度，来解决现有物流分拣系统分拣效率慢的技术问题，同时，通过对物流分拣系统各模块进行合理布局，可进一步简化物流分拣系统的复杂性、提高分拣效率以及保障系统运行整体性。
以上结合附图对本发明的实施方式作了详细说明，但本发明不限于所描述的实施方式。对于本领域的技术人员而言，在不脱离本发明原理和精神的情况下，对这些实施方式进行多种变化、修改、替换和变型，仍落入本发明的保护范围内。
 工业实用性
本发明提供的物流分拣系统及物流分拣方法，其传送模块设于分拣模块的前方，识别模块设于传送模块的上方或分拣模块的上方，若干储货模块依次分设分拣模块的两侧，中央控制器分别与传送模块、识别模块、分拣模块以及若干储货模块进行电性连接。这样一来，通过中央控制器控制该物流分拣系统各模块进行整体运作，使得待分拣货物在各模块的通力配合下，自动分拣到相应的储货模块中进行存储与转运，可有效提高物流分拣系统的自动化程度，来解决现有物流分拣系统分拣效率慢的技术问题，同时，通过对物流分拣系统各模块进行合理布局，可进一步简化物流分拣系统的复杂性、提高分拣效率以及保障系统运行整体性，因此具有工业实用性。

Claims (10)

  1. 一种物流分拣系统，其特征在于，所述物流分拣系统包括：
    传送模块，用于待分拣货物的传送运输以及问题货物的回收传送；
    识别模块，用于对所述待分拣货物进行货物信息读取以及判断货物本身属性；
    分拣模块，用于为所述待分拣货物提供临时的缓存空间，并对所述待分拣货物进行货物识别分拣以及处理问题货物；
    储货模块，用于对所述待分拣货物进行分类存储与转运；
    中央控制器，用于控制所述物流分拣系统各模块进行整体运作；
    所述传送模块设于所述分拣模块的前方，所述识别模块设于所述传送模块的上方或所述分拣模块的上方，若干所述储货模块依次分设所述分拣模块的两侧，所述中央控制器分别与所述传送模块、所述识别模块、所述分拣模块以及若干所述储货模块进行电性连接。
  2. 根据权利要求1所述的物流分拣系统，其特征在于，所述传送模块包括：
    上层传送带，用于将所述待分拣货物传送运输至所述分拣模块；
    下层传送带，用于对所述分拣模块处理出来的问题货物进行回收传送。
  3. 根据权利要求1所述的物流分拣系统，其特征在于，所述识别模块包括：
    扫码装置，用于扫描所述待分拣货物上的条码信息，以对所述待分拣货物进行货物信息读取；
    重力传感器，用于获取所述待分拣货物的重量信息，以判断所述待分拣货物的重量属性；
    视觉传感器，用于获取所述待分拣货物的图像信息，以判断所述待分拣货物的形状大小属性。
  4. 根据权利要求1所述的物流分拣系统，其特征在于，所述分拣模块包括：
    分拣平台，用于为所述待分拣货物提供临时的缓存空间，并辅助分拣机器人对所述待分拣货物进行货物识别分拣以及处理问题货物；
    分拣机器人，用于在所述分拣平台的辅助下对所述待分拣货物进行货物识别分拣，以将所述待分拣货物分拣至相应的所述储货模块中。
  5. 根据权利要求4所述的物流分拣系统，其特征在于，所述分拣平台包括平台架体、翻转平台以及驱动所述翻转平台翻转的翻转动力机构，所述翻转动力机构、所述翻转平台分别安设于所述平台架体上。
  6. 根据权利要求5所述的物流分拣系统，其特征在于，所述分拣平台还包括铺设于所述翻转平台上表面的视觉辅助板，所述视觉辅助板的上表面设有背景层和设于所述背景层上的坐标标记；所述坐标标记与所述背景层呈异色设置，并且均匀布置在所述背景层上。
  7. 根据权利要求4所述的物流分拣系统，其特征在于，所述分拣机器人包括末端执行器以及驱动所述末端执行器进行空间三维运动的动力机构，所述末端执行器包括执行器主体，所述执行器主体的顶端设置动力机构连接件，以与所述动力机构进行驱动连接，所述执行器主体的底端设置平行夹模块，执行器主体的任一侧通过可拆卸式连接结构活动连接真空吸盘模块或海绵吸盘模块。
  8. 根据权利要求1所述的物流分拣系统，其特征在于，所述储货模块包括：
    内推车，用于对所述待分拣货物中低处理频率的货物进行存储与转运；
    外推车，用于对所述待分拣货物中高处理频率的货物进行存储与转运；
    所述内推车比所述外推车更靠近所述分拣模块所在的一侧，所述内推车的推车拉杆长于所述外推车的推车拉杆，使得所述外推车夹设于所述内推车的两推车拉杆之间。
  9. 根据权利要求1-8任一所述的物流分拣系统，其特征在于，所述物流分拣系统还包括空间保护架子，用于为所述物流分拣系统各模块提供安全的工作区间以及为所述识别模块与各系统指示灯提供安装位置。
  10. 一种物流分拣方法，基于如权利要求1-9任一所述的物流分拣系统，其特征在于，所述物流分拣方法包括以下步骤：
    通过所述传送模块将所述待分拣货物的传送至所述分拣模块；
    在所述识别模块辅助下，通过所述分拣模块对所述待分拣货物进行货物识别分拣以及处理问题货物；
    经所述分拣模块进行分拣成功的所述待分拣货物由相应的所述储货模块进行分类存储与转运，经所述分拣模块进行分拣失败的所述待分拣货物由所述传送模块进行问题货物回收传送，以便后续进行二次分拣。
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