WO2021031556A1 - 分拣系统及方法 - Google Patents

分拣系统及方法 Download PDF

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Publication number
WO2021031556A1
WO2021031556A1 PCT/CN2020/079529 CN2020079529W WO2021031556A1 WO 2021031556 A1 WO2021031556 A1 WO 2021031556A1 CN 2020079529 W CN2020079529 W CN 2020079529W WO 2021031556 A1 WO2021031556 A1 WO 2021031556A1
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WO
WIPO (PCT)
Prior art keywords
target
delivery
sorted
sorting
item
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PCT/CN2020/079529
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English (en)
French (fr)
Inventor
刘凯
Original Assignee
北京极智嘉科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京极智嘉科技有限公司 filed Critical 北京极智嘉科技有限公司
Priority to JP2022511311A priority Critical patent/JP7357768B2/ja
Priority to US17/636,029 priority patent/US11691180B2/en
Priority to EP20854469.2A priority patent/EP4019152A4/en
Priority to CA3151528A priority patent/CA3151528C/en
Publication of WO2021031556A1 publication Critical patent/WO2021031556A1/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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/003—Destination control; Electro-mechanical or electro- magnetic delay memories
    • B07C3/006—Electric or electronic control circuits, e.g. delay lines
    • 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
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45047—Sorting
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50391—Robot

Definitions

  • the embodiments of the present application relate to the technical field of logistics and warehousing, for example, to a sorting system and method.
  • the number of items to be sorted is very large, and as the area of the sorting area gradually increases, different items to be sorted need to be delivered to different locations for temporary storage. If a delivery error occurs during delivery or the delivery location is inaccurate, it will cause the classification error of the items to be sorted, leading to deviations in the subsequent delivery, and the subsequent secondary sorting may be required, which will greatly reduce the robot’s cost. Sorting efficiency.
  • the embodiments of the present application provide a sorting system and method to improve the sorting and delivery efficiency of items to be sorted.
  • the embodiment of the application provides a sorting system, including: a control server, multiple sorting robots, and a sorting area; the sorting area is divided into multiple partitions, and each partition is deployed with at least one feeding station and Multiple delivery grids, one delivery grid corresponds to one direction; among them,
  • the control server is configured to determine the target delivery grid corresponding to the direction of the item to be sorted according to the direction information of the item to be sorted, and to determine the target from a plurality of partitions of the sorting area The target zone where the delivery grid is located; and, to assign a delivery task to a target sorting robot among multiple sorting robots;
  • the target sorting robot is configured to, in response to the delivery task, fetch the item to be sorted from the feeding station where the item to be sorted is located, and transport the item to be sorted to the Delivery is performed at the target delivery grid in the target partition.
  • the embodiment of the present application also provides a sorting method, the method includes:
  • the control server determines the target delivery grid corresponding to the direction of the item to be sorted according to the direction information of the item to be sorted, and determines the target zone where the target delivery grid is located from among multiple partitions in the sorting area ; And, assigning a delivery task to a target sorting robot among a plurality of sorting robots; the sorting area is divided into a plurality of partitions, and each partition is deployed with at least one feeding station and a plurality of delivery grids, A delivery grid corresponds to a direction;
  • the target sorting robot fetches the item to be sorted from the feeding station where the item to be sorted is located, and transports the item to be sorted to all the items in the target zone. Deliver at the target delivery grid.
  • Figure 1 is a schematic structural diagram of a sorting system provided in an embodiment of the present application.
  • Figure 2 is a schematic diagram of a sorting area with a relatively small footprint provided in an embodiment of the present application
  • FIG. 3 is a schematic diagram of an expanded sorting area with a relatively large area provided in an embodiment of the present application
  • FIG. 4 is a schematic structural diagram of another sorting system provided in an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a partial structure of a guiding device provided in an embodiment of the present application.
  • Figure 6 is a schematic structural diagram of yet another sorting system provided in an embodiment of the present application.
  • Fig. 7 is a flowchart of a sorting method provided in an embodiment of the present application.
  • the overall sorting process includes three parts: supply link, delivery link, and package collection link.
  • Link realizes the distribution of the items to be sorted from the transportation equipment to the infeed station;
  • the delivery link realizes the delivery of the items to be sorted on the infeed station to the collection container deployed in the sorting area
  • Medium The collection and package link realizes the transfer of the collection container containing the items to be sorted to the collection station, and the sorting process of the items to be sorted can be completed through the above three links.
  • FIG. 1 is a schematic structural diagram of a sorting system provided in an embodiment of this application.
  • the technical solution of this embodiment can be applied to the situation of sorting and delivering packages in a sorting scenario.
  • the system can implement any implementation of this application.
  • the sorting system 100 provided in the embodiment of the present application includes: a control server 110, a plurality of sorting robots 120, and a sorting area 130; the sorting area 130 is divided into a plurality of partitions 131, and each partition At least one feeding station 140 and multiple delivery bays 150 are deployed at 131, and one delivery bay 150 corresponds to a direction.
  • control server 110 is configured to determine the target delivery grid 150 corresponding to the route of the item to be sorted according to the route information of the item to be sorted, and determine from the plurality of partitions 131 of the sorting area 130
  • the feeding station 140 where it is located picks up the items to be sorted, and transports the items to be sorted to the target delivery grid 150 in the target zone 131 for delivery.
  • the sorting scheme of the present application can perform the delivery process of the items to be sorted in a floor-type sorting scenario or a steel platform sorting scenario.
  • the sorting robot 120 runs on the ground, and the aforementioned delivery grid 150 is the container mouth of a collection container (for example, a cage truck) on the ground; in a steel platform sorting scene, the sorting The robot 120 runs on a steel platform structure, and the aforementioned delivery grid 150 is a grid grid arranged on the steel platform.
  • the control server 110 may establish a communication connection with the sorting robot 120 to realize the control and scheduling of the sorting robot 120 in the sorting system.
  • the control server 110 refers to a software and/or hardware system with data information storage and data information processing capabilities, and can communicate with the sorting robot 120 and other hardware devices or software systems in the sorting system in a wired or wireless manner.
  • the control server 110 can issue control commands to various types of robots in the sorting system and send tasks to other hardware devices or software systems, count the sorting status of the items to be sorted, detect the working status of the sorting system, and deliver information to the staff .
  • the sorting area refers to a site area that is artificially determined for sorting operations in the warehouse logistics industry.
  • the sorting area is large or small, that is, some sorting areas occupies a large area, while some sorting areas occupies a small area.
  • Figure 2 is a schematic diagram of a sorting area with a relatively small footprint provided in an embodiment of the present application. Refer to Figure 2.
  • the sorting area with a small footprint shown in Figure 2 contains only two feeding stations and two collection stations. Because the sorting area has a small footprint, the sorting area is The delivery path when items are sorted and delivered is also relatively small.
  • the infeed station corresponds to the entire sorting area, that is, the items to be sorted from the infeed station can be delivered in the sorting area at will, there is no area Limitation, at this time, due to the relatively small area of the sorting area, there is no defect that greatly increases the delivery distance.
  • FIG. 3 is a schematic diagram of an expanded sorting area with a relatively large footprint provided in an embodiment of the present application. Referring to Figure 3, when the items to be sorted are sorted and delivered in the sorting area, the sorting route is complicated, and the area of the sorting area is very large.
  • the resulting delivery distance is relatively small, and this delivery distance will not Affect delivery efficiency.
  • the delivery distance leads to very low delivery efficiency of the items to be sorted.
  • the sorting area 130 in the sorting system can be logically divided into a plurality of partitions 131 in advance.
  • each partition 131 is correspondingly deployed with one or more infeed stations 140; and each partition 131 is correspondingly deployed with multiple delivery bays 150, in this case It can be ensured that the items to be sorted from the infeed station 140 are only allowed to be delivered from the delivery grid 150 in the corresponding deployment zone 131, and not allowed to be delivered from the delivery grid 150 in other zones 131.
  • the items to be sorted from different infeed stations are sorted and delivered at the delivery grid of their respective partitions without interfering with each other, so as to reduce the operations of delivering items to be sorted across partitions as much as possible, so as to avoid large Increase the delivery distance of the items to be sorted during sorting and delivery.
  • the geographical range of the city indicated by the direction may be divided into multiple partitions, so that each partition corresponds to a geographical range.
  • the above-mentioned geographic scope can include "North China”, “East China”, “Central China”, “South China” and “Northwest China”, etc.; furthermore, each district can be divided according to the city information contained in each geographic area.
  • the deployed delivery grids are divided to ensure that each delivery grid corresponds to a direction, that is, each delivery grid corresponds to a city.
  • a delivery grid 150 corresponds to only one direction, ensuring that only items to be sorted belonging to the corresponding direction of the delivery grid 150 are allowed to be sorted from The delivery grid 150 performs delivery, and the items to be sorted in other directions are not allowed to be delivered from the delivery grid 150.
  • a delivery grid 150 here corresponds to only one direction, which does not mean that there is only one delivery grid 150 in the direction, but a delivery grid 150 corresponds to only one road direction, and a road direction can be associated with multiple directions.
  • a delivery grid 150 that is, to allow items to be sorted belonging to a certain route to be delivered to any of the multiple delivery grids 150 associated therewith.
  • the route information of the item to be sorted includes the city information of the item receiving address of the item to be sorted, that is, the city information to be delivered.
  • the control server 110 may determine the target delivery grid corresponding to the direction of the item to be sorted according to the direction information of the item to be sorted.
  • the partition 131 where the target delivery grid is located can be determined, and the partition 131 where the target delivery grid 150 is located is taken as the target partition. .
  • the items to be sorted need to be assigned to the target delivery grid of the target zone of the sorting area for sorting and delivery, so as to ensure that the items to be sorted can be delivered in an orderly manner according to the direction.
  • the control server 110 may determine that the direction in the sorting area means "Tianjin" according to the direction information of the item to be sorted. ”, the corresponding delivery grid can be used as the target delivery grid at this time.
  • the zone where the target delivery grid is located is the zone corresponding to the "North China region”.
  • the zone corresponding to the "North China region” can be used as the target zone so that the items to be sorted can be removed
  • the target delivery grid of the partition carries out the sorting and delivery operation of items.
  • control server 110 stores delivery grid configuration information for multiple directions, and each delivery grid configuration information in the delivery grid configuration information is associated with at least one delivery grid 150.
  • the control server 110 can match the route indicated by the route information of the item to be sorted with the pre-stored delivery grid configuration information of multiple route directions; and, according to the matching result, determine the corresponding item from the multiple delivery grids 150. The way is delivered to the corresponding target.
  • the control server 110 may store the association relationship between the route and the delivery grid 150 in the form of delivery grid configuration information.
  • the delivery grid configuration information includes the configuration of multiple delivery grids corresponding to multiple directions, that is, for each routing, each routing is associated with one or more delivery grids 150 in the sorting area.
  • the control server 110 can query the target delivery associated with the route indicated by the route information of the item to be sorted according to the association relationship between the multiple directions contained in the delivery grid configuration information and the multiple delivery grids 150 in the sorting area.
  • the delivery grid 150 associated with "Tianjin” will be the target delivery grid; at the same time, because Tianjin is geographically located in North China , It can be seen that the delivery grid 150 associated with "Tianjin” is deployed in the zone 131 corresponding to the "North China region”. At this time, the zone 131 corresponding to the "North China region” can be used as the target zone.
  • a delivery grid can only deliver items to be sorted in one direction.
  • the number of items to be sorted in some directions may be relatively small, namely The number of items to be sorted to be delivered from a certain delivery grid is relatively small.
  • the sorting and delivery process there are still some directions that have a large number of items to be sorted, that is, the number of items to be sorted that are delivered from a certain delivery grid is relatively large, if it is used to deliver the direction
  • the number of delivery grids for the items to be sorted is relatively small, which will cause the items to be sorted to be unable to be delivered smoothly, so more delivery grids are needed to deliver the items to be sorted in the direction.
  • multiple delivery grids associated with the sorting area can be set for the route.
  • the delivery grid when querying the delivery grid associated with the route of the item to be sorted based on the delivery grid configuration information, if the matching result is used to determine the route associated with the item to be sorted from the multiple delivery grids in the sorting area If the delivery grid has only one delivery grid, then the delivery grid will be used as the target delivery grid corresponding to the item to be sorted; if it is determined that there are at least two delivery grids associated with the direction of the item to be sorted, then at least From the two delivery grids, the delivery grid with the closest distance to the item to be sorted is selected as the target delivery grid.
  • the directions corresponding to the multiple delivery slots 150 in at least one partition 131 are similar in physical location.
  • the physical locations corresponding to the multiple delivery grids 150 in at least one partition 131 are similar in physical location, which can be understood as any two delivery grids 150 corresponding to the multiple delivery grids 150 in the at least one partition 131.
  • the distance between the physical locations of the directions is less than the preset distance threshold.
  • the item receiving address indicated by the route information of an item to be sorted is located in Beijing, and the item receiving address indicated by the route information of another item to be sorted is located in Tianjin, because both Beijing and Tianjin are located It belongs to the North China region. It can be seen that the directions of the two items to be sorted are similar in physical location and are located in the "North China". Therefore, the delivery grid 150 corresponding to the "Tianjin" and "Beijing" directions can be set in the same zone. 131 in. At this time, two items to be sorted can be delivered to the same partition 131, and considering that one delivery grid 150 corresponds to a direction, the two items to be sorted can be projected from different delivery grids 150 in the same partition 131 Delivery operation.
  • the sorting area 130 may be used.
  • the multiple partitions 131 logically divided at least part of the delivery grids 150 among the delivery grids 150 between the multiple partitions 131 have the same direction. In this way, items to be sorted on different feeding stations 140 with the same direction can be delivered to the nearest delivery grid 150 of the partition 131 corresponding to the feeding station 140, without the need to deliver across partitions, thereby avoiding remote delivery. Distance delivery improves delivery efficiency.
  • the control server 110 can send a message to the plurality of sorting robots located in the sorting area 130.
  • One target sorting robot 120 in 120 sends a delivery task for the item to be sorted.
  • the item to be sorted is placed at the infeed station 140, and the target sorting robot located in the sorting area 130 can receive and respond to the delivery task sent by the control server 110, from the infeed station 140 where the item to be sorted is located.
  • the container mouth of each collection container deployed in the sorting area can be used as a delivery grid; while in the steel platform sorting scene , The grid opening on the steel platform structure can be used as a delivery grid, and a cargo container is deployed at the delivery grid and located below the steel platform.
  • the target sorting robot may also receive the delivery path for the item to be sorted planned according to the location of the target delivery grid and sent by the control server 110.
  • the target sorting robot can travel to the target delivery grid of the target zone according to the aforementioned delivery path, and deliver the items to be sorted from the target delivery grid to the container corresponding to the target delivery grid to complete the treatment. Sorting and delivery operations of sorting items.
  • each delivery grid 150 in the sorting and delivery area 130 corresponds to a collection container, and multiple collection containers are arranged in an array in the sorting area.
  • the feeding station 140 already contains one or more items to be sorted, waiting for the subsequent sorting and delivery operation.
  • a reader for the direction information of the items to be sorted is also set at the infeed station 140, through which the reader can scan and read the direction information of the items to be sorted, and send the direction information of the items to be sorted to the control
  • the server 110 is used to control the server 110 to determine the target delivery grid corresponding to the direction of the item to be sorted according to the direction information of the item to be sorted.
  • a sorting worker or sorting robot arm is provided at each feeding station 140, and the sorting worker or sorting robot arm can place the items to be sorted at the feeding station 140. On the robot 120; or, the sorting robot 120 can directly grab the items to be sorted directly from the feeding station 140.
  • the sorting worker or the sorting robot arm may be located in the left, right and front directions of the feeding station 140.
  • the multiple partitions 131 respectively correspond to different sorting robots 120 among the multiple sorting robots 120, and each partition 131 corresponds to at least one sorting robot.
  • the control server 110 may select a target sorting robot from the at least one sorting robot 120 corresponding to the target partition according to the target partition corresponding to the item to be sorted, and send a message to the at least one sorting robot 120 corresponding to the target partition.
  • One of the target sorting robots distributes the delivery tasks for the items to be sorted.
  • the sorting area can be divided into multiple partitions, and each partition is correspondingly deployed with one or more infeed stations, and how many are deployed in each partition.
  • the control server can assign different delivery grids to items to be sorted with different directions according to the direction information of the items to be sorted, that is, the control server According to the direction information of the item to be sorted, the target delivery grid corresponding to the direction of the item to be sorted can be determined, and the target partition of the target delivery grid can be determined from multiple partitions.
  • the sorting robot can deliver according to the determined target Delivery is carried out in the grid to ensure that the items to be sorted in different directions are only allowed to be delivered from the delivery grid in their respective partition; and since the area of each partition is moderate, it can ensure that the items to be sorted are delivered Deliver multiple items to be sorted according to the direction. Since the sorting area is divided into different partitions, each partition corresponds to the matching delivery grid and direction. When the area of the sorting area needs to be expanded, only one partition needs to be added. The expansion of the sorting area can be completed, and another route will be added when adding partitions, which can achieve the purpose of expanding the sorting and delivery route without reducing the sorting and delivery efficiency of other partitions.
  • the sorting scheme of this application can be seen The size of the sorting area can be arbitrarily expanded according to the demand without excessively affecting the delivery process of other sorting and delivery routes, so that the sorting system is very scalable.
  • Fig. 4 is a schematic structural diagram of another sorting system provided in an embodiment of the present application. This embodiment is described on the basis of the foregoing embodiment. This embodiment can be combined with multiple alternative solutions in one or more of the foregoing embodiments.
  • the sorting system provided in this embodiment further includes a guiding device 160 on the basis of the sorting system of the foregoing embodiment; wherein the guiding device 160 includes one inlet, multiple outlets, and connecting one inlet and multiple outlets.
  • the items to be sorted can enter the guide device 160 through the entrance, and pass through the conveying component, and exit the guide device 160 through one of the multiple exits; the multiple exits and the multiple feeding stations 140
  • the control server 110 is also configured to send guidance instructions for the items to be sorted to the guiding device 160 according to the target partition; the guiding device 160 is configured to direct the items to be sorted to the target according to the guidance instructions
  • a target exit corresponding to a feeding station 140 in the partition 131 is guided.
  • FIG. 5 is a partial structural diagram of a guiding device provided in an embodiment of the present application.
  • the guiding device 160 is provided with an entrance configured to receive the items to be sorted and a plurality of outlets configured to output the items to be sorted, and a plurality of conveying parts 1601 connecting the entrance and the outlet of the guiding device 160,
  • the transmission component 1601 may be a conveyor belt.
  • each exit may have a corresponding relationship with one or more feeding stations 140 corresponding to each partition 131 of the sorting area.
  • the control server 110 may determine the target zone corresponding to the item to be sorted based on the route information of the items to be sorted, that is, determine which zone the item to be sorted to needs to be guided to the feeding station corresponding to 131 140 on. After determining the target partition of the item to be sorted, the control server 110 may send a guidance instruction for the item to be sorted to the guiding device 160 according to the determined target partition. In one embodiment, the guidance instruction includes guidance information that instructs the item to be sorted to be guided and transmitted to the feeding station 140 corresponding to the direction of the target zone.
  • the control server 110 can establish a communication connection with the guiding device 160, and the control server 110 may send the guiding instruction to the guiding device 160 in a wireless or wired manner.
  • At least one reader 1602 is provided at the entrance of the guiding device 160, and the reader 1602 wirelessly communicates with the control server 110; the reader 1602 is configured to scan The information tag on the item to be sorted reads the direction information in the information tag, and sends the direction information to the control server 110.
  • At least one reader 1602 is provided at the entrance of the guiding device 160, and readers 1602 can be provided on both sides of the channel along the direction of the entrance of the guiding device 160. Each reader 1602 corresponds to an outlet.
  • the reader 1602 scans to obtain the information tag on the item to be sorted, reads the direction information in the information tag, and sends the direction information to the control server 110, so as to control the server 110 to perform subsequent operations according to the obtained route information.
  • the reader 1602 may be a radio frequency reader, and the information tag may be a radio frequency tag.
  • the reader 1602 may be a code scanning camera, and the information label may be a barcode.
  • the control server 110 receives the direction information of the item to be sorted, it can determine the target delivery grid corresponding to the item to be sorted, and determine the target zone where the target delivery grid is located.
  • the guiding process of the items to be sorted in the guiding device 160 may be: the guiding device 160 receives the guiding instruction sent by the control server 110, and according to the guiding information contained in the guiding instruction, The items to be sorted are guided and conveyed to the feeding station 140 in the direction of the target zone through the conveying component 1601, and then the items to be sorted are guided to the feeding station 140 corresponding to the target zone for subsequent sorting
  • the robot 120 can take the items to be sorted from the feeding station 140 and perform sorting and delivery operations.
  • multiple infeed stations 140 may be deployed in the target zone.
  • each exit of the guiding device 160 corresponds to one infeed station 140, that is, from the guide
  • the items to be sorted output from a certain outlet of the equipment 160 can only be transferred to the feeding station 140 corresponding to the outlet, and cannot be transferred to other stations in the target zone.
  • the exit of the guiding device 160 is at a certain distance from the feeding station 140. Therefore, when guiding the items to be sorted, the guiding device 160 can transfer the items through the transfer component 1601 according to the guiding instructions.
  • the items to be sorted are guided in the direction of the target zone, and the items to be sorted are guided to the chute at the preset guiding position of the target zone through the conveying component 1601, so that the items to be sorted in the chute can be subsequently sorted
  • the project is transferred to the infeed station 140 corresponding to the target zone.
  • a conveyor belt can be set between the preset guiding position of the target zone and the feeding station 140 corresponding to the target zone, the conveyor belt is docked with the chute; the conveyor belt can drop the waiting position in the chute at the preset guiding position The items are sorted and transferred to the infeed station 140 of the target zone.
  • the preset guide position of the target partition can be set according to actual conditions. For example, the preset guide position is close to the edge zone of the feeding station 140 corresponding to the target partition.
  • the control server can direct the items to be sorted in different directions to different partitions matched by the items to be sorted in different directions through the guiding device according to the direction information of the items to be sorted.
  • the corresponding infeed stations are guided separately to ensure that the items to be sorted in different directions are only allowed to continue the subsequent sorting and delivery at the infeed station corresponding to the target zone to which they belong; and, because of the area occupied by each zone
  • the size of the area is more appropriate, which can ensure that multiple items to be sorted only need to be sorted and delivered in a short distance in their respective partitions, and the sorting and delivery process can be completed normally, without the need to sort the items to be sorted across partitions Delivery does not require long-distance sorting and delivery in the entire sorting area, thereby reducing the delivery path of items to be sorted and improving delivery efficiency.
  • Fig. 6 is a schematic structural diagram of another sorting system provided in an embodiment of the present application, and this embodiment is described on the basis of the foregoing embodiment. This embodiment can be combined with multiple optional solutions in one or more of the foregoing embodiments.
  • the sorting system provided in this embodiment further includes an item transfer container 170 and a plurality of container handling robots 180 on the basis of the sorting system of the foregoing embodiment.
  • the item transfer container 170 is set at the exit of the guiding device 160, and the item transfer container 170 is configured to accommodate the items to be sorted out from the exit of the guiding device 160.
  • the control server 110 is further configured to select a target feeding station from the target partition when it is determined that the project transfer container 170 satisfies the handling conditions; and, according to the target feeding station, transfer the robots 180 to a plurality of containers One of the target container handling robots 180 assigns the handling task; the target container handling robot 180 is configured to, in response to the handling task, move the project transfer container at the target exit to the target feeding station 140 corresponding to the target zone 131.
  • the guide device 160 An item transfer container 170 is provided at the exit, and the item transfer container 170 can accommodate the items to be sorted falling into the chute from the exit of the guiding device 160, and temporarily store the accommodated items to be sorted.
  • the item transfer container 170 may be a movable container, such as a common cage. In this embodiment, the item transfer container 170 will continue to temporarily store other items to be sorted that are subsequently guided by the guiding device 160 to fall.
  • the control server 110 may select the target feeding station 140 from the multiple feeding stations 140 in the target zone. At the same time, the control server 110 can take the target feeding station as the end point, use the location of the project transfer container 170 as the starting point, plan at least one drivable route, and then combine the road condition information of the area where the multiple drivable routes are located. A route with the smallest degree of congestion and the shortest route is selected as the transfer route of the project transfer container 170 this time.
  • control server 110 may generate a transfer instruction for the project transfer container 170 according to the determined transfer path, and send the generated transfer instruction to the container handling robot 180 located between the guiding device 160 and the target feeding station.
  • control server 110 may select the container handling robot 180 with the closest distance and in an idle state according to the distance between the multiple container handling robots 180 and the target feeding station, as the target container handling robot, and send it to the target container.
  • the handling robot sends a transfer instruction.
  • the aforementioned transfer conditions for the item transfer container 170 include: the item transfer container 170 is full and/or the preset collection time of the item transfer container 170 is reached.
  • the item transfer container 170 is full may mean that the items to be sorted stored in the item transfer container 170 have reached the maximum storage limit of the item transfer container 170; wherein the maximum storage limit of the item transfer container 170 and the item transfer The top of the container 170 has a certain distance to prevent the item to be sorted in the item transfer container 170 from being too full and falling.
  • the preset collection time of the item transfer container 170 may be set according to the characteristics of the items to be sorted stored in the item transfer container 170 (such as the size of the item, the frequency of occurrence of the item, etc.) , It can also be set manually according to requirements, and the collection time can be adjusted according to actual conditions.
  • control server determines whether the item transfer container 170 meets the transfer conditions when the items to be sorted are collected by the following optional manner:
  • the sensor can be installed on the container mouth of the container handling robot 120 and/or the item transfer container 170.
  • the probe head of the sensor points to the upper edge of the item transfer container 170 and is set to detect whether the item transfer container 170 is full of items to be sorted; when the sensor detects that the item transfer container 170 is full of items to be sorted, it sends the item transfer to the control server 110 The message that the container 170 is full.
  • install an infrared sensor on the front end of the container handling robot 180 or the edge of the container mouth of the project transfer container 170. If the infrared sensor is installed on the edge of the container mouth, the container mouth alone cannot communicate with the control server 110.
  • the control server 110 can estimate the total volume of the items to be sorted in the item transfer container 170 according to the volume of each item to be sorted in the item transfer container 170, and The total volume of the items to be sorted in the item transfer container 170 is compared with the preset volume threshold of the item transfer container. If the total volume of the items to be sorted in the item transfer container 170 is greater than or equal to the preset volume of the item transfer container 170 If the volume threshold is set, it is determined that the item transfer container 170 meets the transfer condition. In addition, the control server 110 can also determine whether the transfer condition is satisfied by the collection time of the item transfer container 170.
  • control server 110 starts timing when the item transfer container 170 is placed at the preset position of the guiding device 160, and when the item is reached When the preset collection time of the transfer container 170 is transferred, it is determined that the items to be sorted collected in the item transfer container 170 meet the transfer conditions.
  • the container handling robot 180 may have its own intelligent system, can communicate with the control server 110, receive the transfer instructions sent by the control server 110, and execute the corresponding transfer tasks of the items to be sorted according to the received transfer instructions.
  • the container handling robot 180 can drive to the location of the project transfer container 170 according to the transfer instruction, and transfer the project transfer container 170 to the target feeding station in the target zone , So that the subsequent sorting robot 120 can retrieve the items to be sorted from the feeding station 140.
  • control server 110 is configured to select a target infeed from the target partition in the following manner Station: Calculate the total delivery distance of all the items to be sorted in the project transfer container 170 in the different infeed stations corresponding to the target zone, based at least in part on the total delivery distance, from the multiple infeed stations 140 in the target zone , Select the target feeding station.
  • each partition 131 may have a corresponding relationship with multiple infeed stations 140, and in each partition 131, multiple delivery grids 150 correspond to sets The cargo container array is arranged.
  • the control server 110 may determine, for each item to be sorted contained in the item transfer container 170, the delivery compartment corresponding to the container in the target zone that will hold the item to be sorted 150.
  • control server 110 may determine which delivery slot of the target zone needs to put the multiple items to be sorted into the target zone according to the route information of the multiple items to be sorted in the item transfer container 160
  • the collection container is to determine the delivery grid corresponding to the collection container that will contain the items to be sorted in the target zone.
  • the direction information of each item to be sorted contained in the item transfer container 170 may be read by the reader 1602 on the guiding device and sent to the control server 110.
  • the total delivery distance is for all sorting robots when each item to be sorted in the item transfer container is delivered from the same feeding station by the corresponding sorting robot to the corresponding delivery slot Total walking distance.
  • determine the delivery cost of the sorting robot to deliver each item to be sorted from the same feeding station to the delivery grid for delivering the items to be sorted Therefore, the total walking distance consumed by the sorting robot to deliver all items to be sorted from the same feeding station can be further obtained.
  • the total walking distance of the sorting robot when the sorting robot delivers from different feeding stations is determined, and multiple total delivery distances corresponding to different feeding stations are obtained.
  • the total delivery distances corresponding to the different feeding stations are sorted.
  • a target infeed station for the project transfer container is selected from the plurality of infeed stations 140 in the target zone. In this way, it can be ensured that the total delivery distance when delivering multiple items to be sorted at the target feeding station is compared with the total delivery distance when delivering multiple items to be sorted at other feeding stations It is the shortest, which can greatly reduce the total delivery path distance of multiple items to be sorted. For example, from the multiple infeed stations in the target zone, the infeed station with the smallest total delivery distance is selected as the target infeed station.
  • the feeding station with the second smallest total delivery distance is selected. As the target feeding station, and so on.
  • a package sorting scheme provided in the embodiments of this application, as many items to be sorted can be put into the item transfer container for batch transfer, which can greatly reduce the transfer caused by a single item to be sorted. Increase the number of transfers, improve sorting efficiency, and reduce the transportation distance of the container handling robot, thereby reducing the transportation cost of the container handling robot.
  • the feeding station for the items to be sorted can be determined, thereby shortening the subsequent delivery
  • the delivery distance of each item to be sorted by the piece station to the delivery grid reduces the delivery path of subsequent items to be sorted, improves delivery efficiency, and thereby improves the overall sorting efficiency of items to be sorted.
  • the sorting system provided in this embodiment further includes at least one collection station 190 on the basis of the sorting system of the foregoing embodiment.
  • each partition 131 in the sorting area 130 is correspondingly deployed with at least one collection station 190; the control server 110 is also configured to, when it is determined that the collection container corresponding to the target delivery grid meets the moving conditions , Select a target collection station from the target partition; and, according to the target collection station, assign a handling task to another target container handling robot 180 among the plurality of container handling robots 180; the target container handling robot 180 is also configured as, In response to the handling task, the collection container is moved to the target collection station.
  • the sorting area 130 is logically divided into multiple partitions 131, each partition 131 is equipped with multiple delivery bays 150, and each delivery bay 150 is correspondingly deployed with a collection container.
  • the collection containers are arranged in an array.
  • the longitudinal channel and the lateral channel formed by placing the collection container in an array may be the traveling channel of the container handling robot 180.
  • the relationship between the delivery grid 150 and the collection container, as well as the role of the longitudinal and horizontal channels formed by the placement of the collection container array, need to be based on actual sorting scenarios (for example, including floor-standing sorting scenarios and steel platform sorting). Pick the scene) to confirm.
  • the aforementioned handling conditions for the collection container include: the collection container is full and/or the preset collection time of the collection container is reached.
  • the collection container is full may mean that the items to be sorted stored in the collection container have reached the maximum storage limit of the collection container.
  • the preset collection time of the collection container can be set according to the characteristics of the items to be sorted stored in the collection container, or it can be manually set according to requirements, and the preset collection time can be based on actual conditions. Make adjustments. It is understandable that the specific method for the control server to determine whether the collection container meets the transportation condition can refer to the aforementioned method for the control server to determine whether the item transfer container meets the transfer condition, which will not be repeated here.
  • control server 110 after the control server 110 receives the information that the collection container is full, it can control to lock the collection container and prohibit the sorting robot 120 from delivering the items to be sorted into the collection container through the delivery grid 150. .
  • the target partition may have a corresponding relationship with multiple collection stations 190, that is, each partition 131 is correspondingly deployed with multiple collection stations 190.
  • the control server 110 is configured to select a target collection station from the target area by calculating the total transport distance of the different collection stations 190 where the collection container is transported to the target area, based at least in part on the total transport Distance, select the target collection station from the multiple collection stations 190 in the target zone.
  • control server 110 may assign a handling task to another target container handling robot among the plurality of container handling robots 180 according to the target collection station.
  • the target container handling robot can receive the handling task sent by the control server 110, and in response to the received handling task, move the collection container that has met the handling conditions to the collection station 190, so as to collect the cargo in the collection station 190.
  • the items to be sorted are packaged.
  • FIG. 7 is a flowchart of a sorting method provided in an embodiment of this application.
  • the technical solution of this embodiment can be applied to the situation that packages are sorted in multiple sorting scenarios. This method is applied to any of this application.
  • the control server determines the target delivery grid corresponding to the direction of the item to be sorted according to the direction information of the item to be sorted, and determines where the target delivery grid is located from the multiple partitions of the sorting area Target partition; and, assigning a delivery task to a target sorting robot among a plurality of sorting robots; the sorting area is divided into a plurality of partitions, and each partition is deployed with at least one feeding station and a plurality of delivery grids ⁇ , a delivery grid corresponds to a direction.
  • the delivery slots between the multiple partitions have the same route.
  • the directions corresponding to the multiple delivery slots in at least one partition are similar in physical location.
  • the physical locations of the multiple delivery grids corresponding to the multiple delivery grids in at least one partition are similar in physical location, which can be understood as the physical location of any two delivery grids corresponding to the multiple delivery grids in the at least one partition.
  • the distance between is less than the preset distance threshold.
  • the control server assigns a delivery task to a target sorting robot among a plurality of sorting robots, including: each partition is connected to a target sorting robot of the plurality of sorting robots.
  • the delivery task is assigned to one target sorting robot among at least one sorting robot corresponding to the target partition.
  • the method further includes: the control server sends a guidance instruction of the item to be sorted to a guidance device according to the target partition;
  • the guidance device includes an entrance , Multiple outlets and a conveying part connecting one inlet and a plurality of outlets, the item to be sorted enters the guiding device through the inlet, and is conveyed by the conveying part, from one of the multiple outlets
  • the guiding device comes out; there is a preset correspondence between the multiple outlets and the multiple feeding stations; the guiding device directs the items to be sorted to the same location according to the guidance instruction Guide the target exit corresponding to a feeding station in the target zone.
  • the method further includes: a reader scans the information tag on the item to be sorted, reads the direction information in the information tag, and compares the information The direction information is sent to the control server; wherein the reader sets the entrance position of the guiding device, and the reader communicates wirelessly with the control server.
  • one outlet corresponds to one feeding station.
  • the method further includes: an item transfer container accommodating the items to be sorted out from the outlet of the guiding device; the item transfer container is arranged on the guiding device At the exit.
  • the method further includes: in a case where it is determined that the project transfer container meets the transfer condition, the control server selects a target provider from the target partition And, according to the target feeding station, assigning a handling task to a target container handling robot among a plurality of container handling robots; the target container handling robot responds to the handling task to export the target The project transfer container at the location is moved to the target feeding station of the target zone.
  • the control server selects a target feeding station from the target partition, including the case where multiple feeding stations are deployed in each partition
  • the control server determines the target delivery grid corresponding to the route of the item to be sorted according to the route information of the item to be sorted, including: Matching the routing information of the items to be sorted with the pre-stored delivery grid configuration information of multiple routings; determining the target delivery grid corresponding to the routing of the items to be sorted from the multiple delivery grids according to the matching result;
  • the control server stores delivery grid configuration information of multiple directions, and each delivery grid configuration information in the delivery grid configuration information is associated with at least one delivery grid.
  • the target sorting robot retrieves the item to be sorted from the infeed station where the item to be sorted is located, and transports the item to be sorted to the target zone Deliver at the target delivery grid.
  • the control server selects a target collection station from the target partition; the control server assigns a handling task to another target container handling robot among the plurality of container handling robots according to the target collection station; The target container handling robot transports the collection container to a target collection station in response to the handling task.
  • control server selects a target collection station from the target partition, including: in the case where multiple collection stations are deployed in each partition, Calculate the total transport distance of the collection container being transported to the different collection stations of the target zone, and select the target collection station from the plurality of collection stations in the target zone based at least in part on the total transport distance Bit.
  • the sorting method provided in the embodiments of this application can be applied to the sorting system provided in any embodiment of this application, and has the corresponding functions of the sorting system.
  • the sorting system provided in any embodiment of this application please refer to The sorting system provided in any embodiment of this application.

Abstract

一种分拣系统及方法。分拣系统（100）包括：控制服务器（110）、多个分拣机器人（120）和分拣区域（130）；分拣区域被划分为多个分区（131），每个分区部署有至少一个供件工位（140）和多个投递格口（150），一个投递格口对应一个路向。控制服务器依据待分拣项目的路向信息，确定与待分拣项目的路向对应的目标投递格口，并从分拣区域的多个分区中，确定目标投递格口所在的目标分区；向多个分拣机器人中的一个目标分拣机器人分配投递任务；目标分拣机器人响应于投递任务，从待分拣项目所在的供件工位取到待分拣项目，并将待分拣项目搬运到目标分区中的目标投递格口处进行投递。

Description

分拣系统及方法
本申请要求在2019年08月19日提交中国专利局、申请号为201910766018.5的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及物流仓储技术领域，例如涉及一种分拣系统及方法。
背景技术
随着仓储物流行业的快速发展，自动化技术被逐渐引进到仓储物流行业的多个环节，如包裹分拣环节，从而实现多个环节的智能化与自动化操作。
在分拣过程中，待分拣项目的数量非常庞大，且随着分拣区域面积的逐渐增大，不同的待分拣项目需要被投递到不同的位置进行暂存。如果在投递时出现投递错误或者投递的位置不准确，那么就会造成对待分拣项目的分类错误，导致后续的配送出现偏差，可能后续还需要二次分拣，从而会大幅度地降低机器人的分拣效率。
发明内容
本申请实施例中提供了一种分拣系统及方法，以实现提高待分拣项目的分拣投递效率。
本申请实施例中提供了一种分拣系统，包括：控制服务器、多个分拣机器人和分拣区域；分拣区域被划分为多个分区，每个分区部署有至少一个供件工位和多个投递格口，一个投递格口对应一个路向；其中，
所述控制服务器配置为，依据待分拣项目的路向信息，确定与所述待分拣项目的路向对应的目标投递格口，并从所述分拣区域的多个分区中，确定所述目标投递格口所在的目标分区；以及，向多个分拣机器人中的一个目标分拣机器人分配投递任务；
所述目标分拣机器人配置为，响应于所述投递任务，从所述待分拣项目所在的供件工位取到所述待分拣项目，并将所述待分拣项目搬运到所述目标分区中的所述目标投递格口处进行投递。
本申请实施例中还提供了一种分拣方法，所述方法包括：
控制服务器依据待分拣项目的路向信息，确定与所述待分拣项目的路向对 应的目标投递格口，并从分拣区域的多个分区中，确定所述目标投递格口所在的目标分区；以及，向多个分拣机器人中的一个目标分拣机器人分配投递任务；所述分拣区域被划分为多个分区，每个分区部署有至少一个供件工位和多个投递格口，一个投递格口对应一个路向；
目标分拣机器人响应于所述投递任务，从所述待分拣项目所在的供件工位取到所述待分拣项目，并将所述待分拣项目搬运到所述目标分区中的所述目标投递格口处进行投递。
附图说明
在整个附图中，用相同的参考符号表示相同的部件。在附图中：
图1是本申请实施例中提供的一种分拣系统的结构示意图；
图2是本申请实施例中提供的一种占地面积比较小的分拣区域的示意图；
图3是本申请实施例中提供的一种扩展后的占地面积比较大的分拣区域的示意图；
图4是本申请实施例中提供的另一种分拣系统的结构示意图；
图5是本申请实施例中提供的一种引导设备的局部结构示意图；
图6是本申请实施例中提供的又一种分拣系统的结构示意图；
图7是本申请实施例中提供的一种分拣方法的流程图。
具体实施方式
下面结合附图和实施例对本申请进行说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本申请，而非对本申请的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。
下面先简单介绍一下本实施例的待分拣项目(例如待分拣的商品或包裹)的总体分拣流程，该的总体分拣流程包括：供件环节、投递环节以及集包环节这三个环节。本实施例中，供件环节实现将待分拣项目从运输设备分配到供件工位上；投递环节实现将供件工位上的待分拣项目投递到部署在分拣区域的集货容器中；集包环节实现将容纳有待分拣项目的集货容器搬运到收集工位，经过上述三个环节即可完成待分拣项目的分拣流程。
下面针对本申请实施例中提供的分拣系统及分拣方法，通过以下实施例及其可选方案进行阐述。
图1是本申请实施例中提供的一种分拣系统的结构示意图，本实施例的技 术方案可适用于在分拣场景中对包裹进行分拣投递的情况，该系统可实现本申请任意实施例中所提供的分拣方法。如图1所示，本申请实施例中提供的分拣系统100包括：控制服务器110、多个分拣机器人120和分拣区域130；分拣区域130被划分为多个分区131，每个分区131部署有至少一个供件工位140和多个投递格口150，一个投递格口150对应一个路向。本实施例中，控制服务器110配置为，依据待分拣项目的路向信息，确定与待分拣项目的路向对应的目标投递格口150，并从分拣区域130的多个分区131中，确定目标投递格口150所在的目标分区131；以及，向多个分拣机器人120中的一个目标分拣机器人120分配投递任务；目标分拣机器人120配置为，响应于投递任务，从待分拣项目所在的供件工位140取到待分拣项目，并将待分拣项目搬运到目标分区131中的目标投递格口150处进行投递。
在本实施例中，本申请的分拣方案可以在落地式分拣场景或者在钢平台分拣场景下进行待分拣项目的投递过程。在落地式分拣场景中，分拣机器人120运行在地面上，且上述投递格口150为地面上的集货容器(例如，笼车)的容器口；在钢平台分拣场景中，分拣机器人120运行在钢平台结构上，且上述的投递格口150为钢平台上布置的网格口。
在本实施例中，参见图1，控制服务器110可以与分拣机器人120建立通信连接，用于实现对分拣系统中分拣机器人120的控制和调度。控制服务器110是指具有数据信息存储和数据信息处理能力的软件和/或硬件系统，可以通过有线或无线的方式与分拣机器人120以及分拣系统中的其他硬件设备或软件系统进行通信连接。控制服务器110可以向分拣系统中的多种类型机器人下达控制命令以及其他硬件设备或软件系统发送任务，统计待分拣项目的分拣情况、检测分拣系统的工作状态、向工作人员传递信息。
在本实施例中，分拣区域是指在仓储物流行业中人为确定的用于进行分拣操作的场地区域。分拣区域有大有小，即有的分拣区域占地面积较大，而有的分拣区域占地面积较小。图2是本申请实施例中提供的一种占地面积比较小的分拣区域的示意图。参见图2，图2所示的占地面积较小的分拣区域中仅包含有两个供件工位和两个收集工位，由于分拣区域的占地面积较小，在对待分拣项目进行分拣投递时的投递路径也比较小，供件工位对应整个分拣区域，即可以将从供件工位上取到的待分拣项目在分拣区域中进行任意投递，没有区域限制，此时由于分拣区域面积比较小也不存在大幅度增加投递距离的缺陷。
然而，在实际的应用场景中，随着待分拣项目数量的不断增多，分拣路向越来越多，同时随着分拣区域的占地面积变得非常大，造成待分拣项目的投递路线也越来越复杂。图3是本申请实施例中提供的一种扩展后的占地面积比较 大的分拣区域的示意图。参见图3，当在分拣区域对待分拣项目进行分拣投递时，分拣路线复杂，且分拣区域的面积非常大。当将从图3左下角的供件工位1取到的待分拣项目从左下角的集货容器1对应的投递格口进行投递时，产生的投递距离比较小，这个投递距离也不会影响投递效率。但是，如果将从图3左下角的供件工位1取到的待分拣项目从右上角的集货容器2对应的投递格口进行投递，这无疑会大幅度地增加待分拣项目的投递距离，导致待分拣项目的投递效率非常低。
鉴于上述缺陷，参见图1，可以预先将分拣系统中的分拣区域130逻辑划分为多个分区131。对于分拣区域130中的每一个分区131而言，每一个分区131对应部署有一个或多个供件工位140；以及，每一个分区131中对应部署有多个投递格口150，这样的话就可以保证从供件工位140取到的待分拣项目仅允许从对应部署的分区131中的投递格口150进行投递，而不允许从其他分区131中的投递格口150进行投递，实现从不同供件工位取到的待分拣项目互不干扰的在各自分区的投递格口进行分拣投递操作，尽可能地减少跨分区投递待分拣项目的操作，从而尽可能地避免大幅度地增加待分拣项目在分拣投递时的投递距离。
示例性地，在划分分拣区域130时，可以按照路向指示的城市所在的地域范围划分为多个分区，以使得每一个分区对应一个地域范围。比如，上述的地域范围可以包括“华北地区”、“华东地区”、“华中地区”、“华南地区”以及“西北地区”等；进而可以依据每一个地域范围内包含的城市信息将每一个分区部署的投递格口进行划分，保证每一个投递格口对应一个路向，即每一个投递格口对应一个城市。
下面结合图1所示的分拣系统的结构示意图，对本实施例中的分拣系统的工作过程进行说明。
在本实施例中，可选地，对于分拣区域130中的每一个分区131而言，一个投递格口150仅对应一个路向，保证仅允许属于投递格口150对应路向的待分拣项目从该投递格口150进行投递，而不允许其他路向的待分拣项目从上述投递格口150进行投递。本实施例中，这里的一个投递格口150仅对应一个路向，并不是指该路向仅有一个投递格口150，而是一个投递格口150仅对应了一个路向，且一个路向可以关联有多个投递格口150，即允许属于某一路向的待分拣项目从该路向关联的多个投递格口150中的任意投递格口150进行投递。
在本实施例中，待分拣项目的路向信息包括待分拣项目的项目收件地址所在的城市信息，即待投递的城市信息。参见图1，控制服务器110可以依据待分拣项目的路向信息，确定与待分拣项目的路向对应的目标投递格口。同时，根 据前述对分拣区域130的划分结果和每一个分区131对应的投递格口150，可以确定该目标投递格口所在的分区131，并将目标投递格口150的所在分区131作为目标分区。采用上述方式，可以确定需要将待分拣项目分配到分拣区域的目标分区的目标投递格口进行分拣投递操作，从而保证后续可以将待分拣项目按照路向进行有序投递。
示例性地，以待分拣项目的路向信息指示的项目收件地址所在城市为天津为例进行说明，控制服务器110可以依据待分拣项目的路向信息，确定分拣区域中路向是表示“天津”的投递格口，此时可以将该路向对应的投递格口作为目标投递格口。同时，由于天津属于华北地区，因此确定目标投递格口所在的分区为“华北地区”对应的分区，此时可以将“华北地区”对应的分区作为目标分区，以便后续将待分拣项目从目标分区的目标投递格口进行项目的分拣投递操作。
在本实施例的一种可选方式中，控制服务器110中存储有多个路向的投递格口配置信息，且投递格口配置信息中每一个路向关联有至少一个投递格口150。控制服务器110可以将待分拣项目的路向信息指示的路向与预存的多个路向的投递格口配置信息进行匹配；以及，依据匹配结果从多个投递格口150中确定与待分拣项目的路向对应的目标投递格口。
在本实施方式中，在将分拣区域130划分为多个分区131以及设置完成不同路向与多个分区131中的投递格口150之间的关联关系，且保证每一路向关联有至少一个投递格口150时，控制服务器110可以将路向与投递格口150之间的关联关系以投递格口配置信息的形式进行存储保存。可见，投递格口配置信息中包含有多个路向对应的投递格口的配置情况，即对于每一个路向而言，每一个路向关联有分拣区域中的一个或多个投递格口150。控制服务器110可以依据投递格口配置信息中包含的多个路向与分拣区域中多个投递格口150之间的关联关系，查询匹配待分拣项目的路向信息指示的路向所关联的目标投递格口。例如，若确定待分拣项目的路向信息指示的路向所代表的城市为“天津”，则将“天津”关联的投递格口150为目标投递格口；同时，由于天津在地域上属于华北地区，可见“天津”关联的投递格口150是部署在“华北地区”对应的分区131中，此时可以将“华北地区”对应的分区131作为目标分区。
在本实施方式中，可选地，一般情况下一个投递格口仅能投递一个路向的待分拣项目，在分拣投递过程中，存在一些路向的待分拣项目的数量可能比较少，即从某一个投递格口进行投递的待分拣项目的数量比较少，为了节省投递格口，保证投递格口的合理使用，因此不需要过多的投递格口。此时，针对该类路向，可以设置该路向仅仅关联有一个投递格口。可选地，在分拣投递过程中，还存在一些路向的待分拣项目的数量比较多，即从某一投递格口进行投递 的待分拣项目的数量比较多，如果用于投递该路向的待分拣项目的投递格口的数量比较少，则会造成待分拣项目无法顺利投递，因此需要更多的投递格口来投递该路向的待分拣项目。此时，针对该类路向，可以设置该路向关联有分拣区域的多个投递格口。鉴于上述情况，在依据投递格口配置信息查询匹配待分拣项目的路向关联的投递格口时，若依据匹配结果从分拣区域的多个投递格口中确定与待分拣项目的路向关联的投递格口仅有唯一的投递格口，则将该投递格口作为待分拣项目对应的目标投递格口；若确定与待分拣项目的路向关联有至少两个投递格口，则从至少两个投递格口中选取与待分拣项目之间的距离最近的投递格口，作为目标投递格口。
在本实施例的一种可选方式中，对于分拣区域130逻辑划分的多个分区131而言，至少一个分区131内的多个投递格口150对应的路向在物理位置上相近。在一实施例中，至少一个分区131内的多个投递格口150对应的路向在物理位置上相近可以理解为至少一个分区131内的多个投递格口150中任意两个投递格口150对应的路向所在的物理位置之间的距离小于预设距离阈值。在一个可选示例中，在分拣区域130中至少存在一个分区131，该分区131内的多个投递格口150中至少存在部分投递格口150仅允许用于分拣投递路向相同或相近的待分拣项目。例如，当一待分拣项目的路向信息指示的项目收件地址所在的城市为北京和另一待分拣项目的路向信息指示的项目收件地址所在的城市为天津时，由于北京和天津均属于华北地区，可见，两个待分拣项目的路向在物理地理位置上相近，均位于“华北地区”，因此可以将“天津”和“北京”路向对应的投递格口150设置在同一个分区131中。此时，两个待分拣项目可以被投递到同一个分区131，且考虑到一个投递格口150对应一个路向，可以将两个待分拣项目从同一分区131的不同投递格口150进行项目投递操作。
在本实施例的一种可选方式中，考虑到不同供件工位140上可能存在具有相同路向的待分拣项目，此时为了避免跨分区投递造成投递距离增加，可以在分拣区域130逻辑划分的多个分区131中，设置多个分区131之间的投递格口150中存在至少部分投递格口150具有相同的路向。这样，可以将不同供件工位140上具有相同路向的待分拣项目就近投递到各自供件工位140对应的分区131的投递格口150中，而不需要跨分区投递，从而可以避免远距离投递，提高投递效率。
在本实施例中，参见图1，在分拣区域130中，包含有多个处于待命或处于工作状态的分拣机器人120，控制服务器110可以向位于分拣区域130内的多个分拣机器人120中的一个目标分拣机器人120发送针对待分拣项目的投递任务。同时，在供件工位140处放置有待分拣项目，位于分拣区域130中的目标分拣机器人可以接收并响应控制服务器110发送的投递任务，从待分拣项目所在的 供件工位140处取到待分拣项目，并将待分拣项目搬运到目标分区中的目标投递格口处进行投递，通过该目标投递格口将待分拣项目投递至目标投递格口对应的集货容器中。
在本实施例的一种可选方式中，在落地是分拣场景中，部署在分拣区域中的每一个集货容器的容器口可以作为一个投递格口；而在钢平台分拣场景中，钢平台结构上的网格口可以作为一个投递格口，且在该投递格口处且位于钢平台下方位置部署有集货容器。可选地，当目标分拣机器人接收到控制服务器110发送的投递任务时，目标分拣机器人还可以接收控制服务器110发送的依据目标投递格口的位置规划的针对待分拣项目的投递路径。进而，目标分拣机器人可以按照上述投递路径在行驶到目标分区的目标投递格口处，并从目标投递格口处将待分拣项目投递到目标投递格口对应的集货容器中，完成对待分拣项目的分拣投递操作。本实施例中，对于分拣投递区域130中的每一投递格口150而言，每一个投递格口150对应一个集货容器，且多个集货容器在分拣区域中阵列排布。
在本实施方式中，供件工位140上已经包含一个或多个待分拣项目，等待后续的分拣投递操作。在供件工位140处也设置待分拣项目的路向信息的读取器，通过该读取器可以扫描读取待分拣项目的路向信息，并将待分拣项目的路向信息发送给控制服务器110，以便控制服务器110依据待分拣项目的路向信息，确定与待分拣项目的路向对应的目标投递格口。可选地，在每一个供件工位140处均设置有分拣工人或者分拣机械臂，分拣工人或者分拣机械臂可以在供件工位140处将待分拣项目放置到分拣机器人120上；或者，分拣机器人120可以直接从供件工位140上直接抓取得到待分拣项目。可选地，分拣工人或者分拣机械臂可以在位于供件工位140的左侧、右侧和前侧方向上。
在本实施例的一种可选方式中，多个分区131分别与多个分拣机器人120中的不同分拣机器人120对应，且每个分区131对应至少一个分拣机器人。此时，控制服务器110可以依据待分拣项目对应的目标分区，从目标分区对应的至少一个分拣机器人120中，选取一个目标分拣机器人，并向与目标分区对应的至少一个分拣机器人120中的一个目标分拣机器人分配针对待分拣项目的投递任务。这样，可以保证分拣区域130的多个分区131内均设置有各自对应的至少一个分拣机器人120，使得每一个分区131的分拣机器人120仅在自己分区131内投递，尽可能不去跨分区投递。
根据本申请实施例中提供的一种分拣方案，可以将分拣区域划分为多个分区，且每一个分区对应部署有一个或多个供件工位，以及在每一个分区中部署有多个投递格口，且一个投递格口对应一个路向，在此基础上，控制服务器可 以依据待分拣项目的路向信息，为具有不同路向的待分拣项目分配不同的投递格口，即控制服务器可以依据待分拣项目的路向信息，确定与待分拣项目的路向对应的目标投递格口，以及从多个分区中确定目标投递格口的所在目标分区，分拣机器人可以根据确定的目标投递格口进行投递，保证不同路向的待分拣项目只允许从各自所属的分区中的投递格口处进行投递；并且由于每一个分区的占地面积大小适中，可以保证在投递待分拣项目时按照路向投递多个待分拣项目，由于将分拣区域划分为不同的分区，每一个分区对应匹配的投递格口和路向，在需要扩展分拣区域的面积时，只需要在增加一个分区即可完成分拣区域的扩展，同时在增加分区时会再增加一个路向，即可实现在不降低其他分区的分拣投递效率的情况下扩展分拣投递路线的目的，可见本申请的分拣方案能根据需求随意扩展分拣区域的大小，而不会对其他分拣投递路线的投递过程产生过多的影响，从而使得分拣系统的可扩展性非常强。
图4是本申请实施例中提供的另一种分拣系统的结构示意图，本实施例在上述实施例的基础上进行说明。本实施例可以与上述一个或者多个实施例中多个可选方案进行结合。参见图4，本实施例提供的分拣系统在上述实施例的分拣系统的基础上还包括：引导设备160；其中，引导设备160包括一个入口、多个出口以及连接一个入口和多个出口的传送部件，待分拣项目能够通过入口进入引导设备160，并经过传送部件的传送，通过多个出口中的一个出口从引导设备160中出来；多个出口与多个供件工位140之间具有预设的对应关系；控制服务器110还配置为，依据目标分区，向引导设备160发送待分拣项目的引导指令；引导设备160配置为，依据引导指令，将待分拣项目向与目标分区131中的一个供件工位140对应的目标出口进行引导。
在本实施例中，图5是本申请实施例中提供的一种引导设备的局部结构示意图。参见图5，引导设备160上设置有一个设置为接收待分拣项目的入口和多个设置为输出待分拣项目的出口，以及，连接引导设备160的入口与出口的多个传送部件1601，该传送部件1601可以为传送带。对于引导设备160的每一个出口而言，每一个出口可以与分拣区域的每一个分区131对应的一个或多个供件工位140存在对应关系。
在本实施例中，控制服务器110可以依据多个待分拣项目的路向信息，确定待分拣项目对应的目标分区，即确定需要将待分拣项目引导到哪个分区131对应的供件工位140上。在确定待分拣项目的目标分区后，控制服务器110可以依据确定的目标分区，向引导设备160发送针对待分拣项目的引导指令。在一实施例中，该引导指令包含有指示将待分拣项目向目标分区方向对应的供件 工位140进行引导传输的引导信息。可选地，控制服务器110能够与引导设备160建立通信连接，控制服务器110可以通过无线或有线方式向引导设备160发送引导指令。
在本实施例的一种可选方式中，参见图5，引导设备160的入口位置设置有至少一个读取器1602，读取器1602与控制服务器110无线通信；读取器1602配置为，扫描待分拣项目上的信息标签，读取信息标签中的路向信息，并将路向信息发送给控制服务器110。
在本实施方式中，可选地，在引导设备160的入口位置设置有至少一个读取器1602，同时在沿着引导设备160的入口所在方向的通道两侧可以设置读取器1602，且设置的读取器1602，每一个读取器1602对应一个出口。当确定待分拣项目进入引导设备160时，读取器1602扫描获取待分拣项目上扫描待分拣项目上的信息标签，读取信息标签中的路向信息，并将路向信息发送给控制服务器110，以便控制服务器110依据获取的路向信息进行后续的操作。可选地，读取器1602可以为射频读取器，信息标签可以为射频标签。可选地，读取器1602可以为扫码相机，信息标签可以为条形码。控制服务器110在接收到待分拣项目的路向信息后，可以确定待分拣项目对应的目标投递格口，并确定目标投递格口所在的目标分区。
在本实施例的一种可选方式中，待分拣项目在引导设备160中的引导过程可以为：引导设备160接收控制服务器110发送的引导指令，并依据引导指令中包含的引导信息，将待分拣项目通过传送部件1601向目标分区所在方向的供件工位140进行引导传送，进而将待分拣项目引导至与目标分区存在对应关系的供件工位140处，以便后续的分拣机器人120能够从供件工位140取到待分拣项目并进行分拣投递操作。可选地，目标分区可以对应部署有多个供件工位140，为了避免传出的待分拣项目出现引导偏差，为此引导设备160每一个出口对应一个供件工位140，即从引导设备160的某一出口输出的待分拣项目，仅能被传送到与出口对应的供件工位140，而不能被传送至目标分区的其他工位。
在本实施例的一种可选方式中，引导设备160的出口与供件工位140具有一定的距离，因此在引导待分拣项目时，引导设备160可以依据引导指令，通过传送部件1601将待分拣项目向目标分区方向进行引导，并通过该传送部件1601将待分拣项目引导至位于目标分区的预设引导位置处的滑槽中，以便后续再将位于滑槽中的待分拣项目转移至与目标分区存在对应关系的供件工位140处。
在本实施方式中，提供了一个可选示例，考虑到目标分区的预设引导位置与目标分区对应的供件工位140之间还有一定的距离，为了加快待分拣项目的 分拣投递效率，可以在目标分区的预设引导位置和目标分区对应的供件工位140之间设置有传送带，该传送带与滑槽对接；传送带能够将落入预设引导位置处的滑槽中的待分拣项目，传送至目标分区的供件工位140。本实施例中，目标分区的预设引导位置可以根据实际情况进行设定，例如该预设引导位置为靠近目标分区对应的供件工位140的边缘地带。
根据本申请实施例中提供的一种分拣方案，控制服务器可以依据待分拣项目的路向信息，通过引导设备将不同路向的待分拣项目向不同路向的待分拣项目所匹配的不同分区对应的供件工位分别进行引导，保证不同路向的待分拣项目只允许在各自所属的目标分区对应的供件工位来继续完成后续的分拣投递；并且，由于每一个分区的占地面积大小比较合适，可以保证多个待分拣项目只需要在各自所属的分区进行短距离的分拣投递，就可以正常完成分拣投递过程，而不需要将待分拣项目进行跨分区分拣投递，也不需要在整个分拣区域进行远距离分拣投递，从而降低待分拣项目的投递路径，以及提高了投递效率。
图6是本申请实施例中提供的又一种分拣系统的结构示意图，本实施例在上述实施例的基础上进行说明。本实施例可以与上述一个或者多个实施例中多个可选方案结合。参见图6，本实施例提供的分拣系统在上述实施例的分拣系统的基础上还包括：项目转移容器170和多个容器搬运机器人180。其中：项目转移容器170设置在引导设备160的出口处，且项目转移容器170配置为，容纳从引导设备160的出口出来的待分拣项目。
控制服务器110还配置为，在确定项目转移容器170满足搬运条件的情况下，从目标分区中，选取一个目标供件工位；以及，依据目标供件工位，向多个容器搬运机器人180中的一个目标容器搬运机器人180分配搬运任务；目标容器搬运机器人180配置为，响应于搬运任务，将目标出口处的项目转移容器搬运至目标分区131对应的目标供件工位140。
在本实施例中，考虑到目标分区的预设引导位置与目标分区对应的供件工位140之间还有一定的距离，为了加快待分拣项目的分拣投递效率，在引导设备160的出口处设置有项目转移容器170，项目转移容器170能够容纳从引导设备160的出口落入滑槽中的待分拣项目，并对容纳的待分拣项目进行暂存。在一实施例中，该项目转移容器170可以是可移动的容器，比如为常见的笼车等。本实施例中，项目转移容器170还会继续暂存后续通过引导设备160引导落入的其他待分拣项目。
在本实施例中，在确定项目转移容器170满足转移条件的情况下，控制服务器110可以从目标分区的多个供件工位140中，选取目标供件工位。同时， 控制服务器110可以将目标供件工位作为终点，将本次的项目转移容器170所在的位置作为起点，规划出至少一条可行驶路线，然后结合多条可行驶路线所在区域的路况信息，从中选出一条拥挤程度最小且路径最短的路线作为本次的项目转移容器170的转移路径。进而，控制服务器110可以依据确定的转移路径，生成针对项目转移容器170的转移指令，并将生成的转移指令发送给位于引导设备160与目标供件工位之间的容器搬运机器人180。可选地，控制服务器110可以依据多个容器搬运机器人180距离目标供件工位的距离远近，从中选取距离最近且处于空闲状态的容器搬运机器人180，作为目标容器搬运机器人，并向该目标容器搬运机器人发送转移指令。采用上述方式，可以尽可能多的将待分拣项目放入项目转移容器170中进行批量转移，从而可以大幅度地减少由于单个待分拣项目进行转移造成的转移次数，提高分拣效率，以及减少容器搬运机器人的搬运距离，进而降低容器搬运机器人的搬运成本。
在本实施例中，可选地，上述针对项目转移容器170的转移条件包括：项目转移容器170已满和/或达到项目转移容器170的预设收集时间。在一个可选示例中，项目转移容器170已满可以是指项目转移容器170内收纳的待分拣项目已经达到项目转移容器170的最大收纳界限；其中项目转移容器170的最大收纳界限与项目转移容器170的顶端具有一定的距离，防止项目转移容器170内收纳待分拣项目过满而掉落。在另一可选示例中，项目转移容器170的预设收集时间可以是根据项目转移容器170收纳的待分拣项目的特征(如该类项目的大小、该类项目出现的频率等)设置的，还可以是人工根据需求进行设置，收集时间可以根据实际情况进行调整。
在本实施例的一种可选方式中，控制服务器通过以下可选方式判断项目转移容器170在收集到的待分拣项目时是否满足转移条件：
方式一、若控制服务器110接收到传感器发送的项目转移容器170已满的消息，则确定项目转移容器170满足转移条件；和/或
方式二、若控制服务器110检测到项目转移容器170内待分拣项目的总体积达到预设体积阈值或控制服务器110检测到项目转移容器170的收集时间达到项目转移容器170的预设收集时间，则确定项目转移容器170满足转移条件。
在本实施方式中，对于方式一而言，传感器可以安装在容器搬运机器人120和/或项目转移容器170的容器口上。传感器的探测头指向项目转移容器170上沿，设置为检测项目转移容器170是否装满待分拣项目；当传感器检测到项目转移容器170装满待分拣项目时，向控制服务器110发送项目转移容器170已满的消息。例如，在容器搬运机器人180的前端或项目转移容器170的容器口边沿安装一个红外传感器，若红外传感器安装在容器口的边沿，由于仅依靠容 器口是无法与控制服务器110进行通信，所以还需要在容器口边沿安装一个无线通信模块，红外传感器的探测头指向容器口下方的项目转移容器170，当红外传感器检测到项目转移容器170内的待分拣项目已装满时，将项目转移容器170已满的消息通过无线通信模块发送至控制服务器110。
在本实施方式中，对于方式二而言，控制服务器110可以根据引导至项目转移容器170内的每一个待分拣项目的体积，估算项目转移容器170内的待分拣项目的总体积，将项目转移容器170内的待分拣项目的总体积与该项目转移容器的预设体积阈值进行比较，若项目转移容器170内的待分拣项目的总体积大于或等于该项目转移容器170的预设体积阈值，则确定该项目转移容器170满足转移条件。此外，控制服务器110还可以通过项目转移容器170的收集时间来判断是否满足转移条件，如控制服务器110从该项目转移容器170放置在引导设备160的预设位置处开始进行计时，当到达该项目转移容器170的预设收集时间时，则确定该项目转移容器170中收集到的待分拣项目满足转移条件。
在本实施例中，容器搬运机器人180可以自身拥有智能系统，能够与控制服务器110进行通信，接收控制服务器110发送的转移指令，同时依据接收的转移指令执行相应的待分拣项目的转移任务。当容器搬运机器人180接收到控制服务器110发送的转移指令时，容器搬运机器人180可以依据转移指令行驶至项目转移容器170所在位置处，并将项目转移容器170转移至目标分区的目标供件工位，以便后续分拣机器人120能够从供件工位140取到待分拣项目。
在本实施例的一种可选方式中，参见图6，如果每个分区对应部署有多个供件工位140；控制服务器110是配置为通过如下方式从目标分区中，选取一个目标供件工位：计算项目转移容器170中所有待分拣项目分别在目标分区对应的不同供件工位的总投递距离，至少部分地依据总投递距离，从目标分区的多个供件工位140中，选取目标供件工位。
在本实施方式中，对于分拣区域130的每一个分区131，每一个分区131可以与多个供件工位140存在对应关系，且在每一个分区131中多个投递格口150对应的集货容器阵列排布。当确定项目转移容器170满足转移条件时，控制服务器110可以针对项目转移容器170中容纳的每一个待分拣项目，确定目标分区中将要盛放待分拣项目的集货容器对应的投递格口150。可选地，控制服务器110可以依据项目转移容器160盛放的多个待分拣项目的路向信息，确定需要将多个待分拣项目从目标分区的哪一个投递格口放入目标分区中的集货容器，即确定目标分区中将要盛放待分拣项目的集货容器对应的投递格口。本实施例中，参见图5和图6，项目转移容器170中容纳的每一个待分拣项目的路向信息可以是引导设备上的读取器1602读取并发送给控制服务器110得到。
在本实施方式中，可选地，总投递距离为针对项目转移容器中的每一个待分拣项目从同一供件工位被对应的分拣机器人投递到对应的投递格口时所有分拣机器人的行走总距离。针对项目转移容器中容纳的每一个待分拣项目，确定分拣机器人投递将每一待分拣项目从同一供件工位投递到用于投递待分拣项目的投递格口时所耗费的投递距离，从而可以进一步得到分拣机器人将所有待分拣项目的从同一供件工位进行投递时所耗费的行走距离的总和。进而，针对目标分区对应的多个供件工位，确定分拣机器人从不同的供件工位进行投递时分拣机器人的行走总距离，得到不同供件工位对应的多个总投递距离。
在本实施方式中，在确定项目转移容器中所有待分拣项目分别在目标分区的不同供件工位的总投递距离后，对得到的不同的供件工位对应的总投递距离进行排序，依据排序结果从目标分区的多个供件工位140中，选取针对项目转移容器的目标供件工位。这样，可以保证在目标供件工位对多个待分拣项目进行投递时的投递距离的总和，与在其他供件工位对多个待分拣项目进行投递时的投递距离的总和相比是最短的，从而可以大幅度地减少多个待分拣项目的投递路径总距离。例如，从目标分区的多个供件工位中，选取总投递距离最小的供件工位作为目标供件工位。可选地，如果总投递距离最小的供件工位的工作量饱和，即在该供件工位已经存在大量的待分拣项目等待分拣投递，则选取总投递距离次小的供件工位作为目标供件工位，并以此类推。
根据本申请实施例中提供的一种包裹分拣方案，可以尽可能多的将待分拣项目放入项目转移容器中进行批量转移，从而可以大幅度地减少由于单个待分拣项目进行转移造成的转移次数，提高分拣效率，以及减少容器搬运机器人的搬运距离，进而降低容器搬运机器人的搬运成本。此外，可以依据项目转移容器中的多个待分拣项目分别从不同供件工位进行投递时的投递距离总和，来确定待分拣项目进行转移时的供件工位，从而缩短后续从供件工位向投递格口投递各个待分拣项目的投递距离，降低后续待分拣项目的投递路径，提高投递效率，进而提高待分拣项目的总体分拣效率。
参见图6，本实施例在上述实施例的基础上进行说明。本实施例可以与上述一个或者多个实施例中多个可选方案结合。本实施例提供的分拣系统在上述实施例的分拣系统的基础上还包括：至少一个收集工位190。本实施例中，分拣区域130中的每一个分区131对应部署有至少一个收集工位190；控制服务器110还配置为，在确定与目标投递格口对应的集货容器满足搬移条件的情况下，从目标分区中，选取一个目标收集工位；以及，依据目标收集工位，向多个容器搬运机器人180中的另一个目标容器搬运机器人180分配搬运任务；目标容器 搬运机器人180还配置为，响应于搬运任务，将集货容器搬运至目标收集工位。
在本实施例中，分拣区域130被逻辑划分为多个分区131，每一个分区131中部署有多个投递格口150，且每一个投递格口150对应部署有一个集货容器，多个集货容器呈阵列排布。可选地，集货容器阵列放置所形成的纵向通道和横向通道可以为容器搬运机器人180的行驶通道。投递格口150与集货容器之间的关系，以及集货容器阵列放置所形成的纵向通道和横向通道的作用，需要根据实际的分拣场景(例如，包括落地式分拣场景和钢平台分拣场景)进行确定。
在本实施例中，上述针对集货容器的搬运条件包括：集货容器已满和/或达到集货容器的预设收集时间。在一个可选示例中，集货容器已满可以是指集货容器内收纳的待分拣项目已经达到集货容器的最大收纳界限。在另一可选示例中，集货容器的预设收集时间可以是根据集货容器收纳的待分拣项目的特征设置的，还可以是人工根据需求进行设置，预设收集时间可以根据实际情况进行调整。可以理解的是，控制服务器判断集货容器是否满足搬运条件的具体方式，可以参考前述控制服务器判断项目转移容器是否满足转移条件的方式，这里不再赘述。
在本实施例中，控制服务器110接收到集货容器已满的信息之后，可以控制锁住集货容器，禁止分拣机器人120再通过投递格口150向该集货容器中投递待分拣项目。考虑到目标分区可能与多个收集工位190存在对应关系，即每个分区131对应部署有多个收集工位190。为此，控制服务器110是配置为通过如下方式从目标分区中，选取一个目标收集工位：计算集货容器被搬运到目标分区的不同收集工位190的总搬运距离，至少部分地依据总搬运距离，从目标分区的多个收集工位190中，选取目标收集工位。进而，控制服务器110可以依据目标收集工位，向多个容器搬运机器人180中的另一个目标容器搬运机器人分配搬运任务。目标容器搬运机器人可以接收控制服务器110发送的搬运任务，并响应接收到的搬运任务将已经满足搬运条件的集货容器搬运至收集工位190，用以在收集工位190对集货容器中的待分拣项目进行集包。
图7是本申请实施例中提供的一种分拣方法的流程图，本实施例的技术方案可适用于在多个分拣场景中对包裹进行分拣的情况，该方法应用于本申请任意实施例中所提供的分拣系统。如图7所示，本申请实施例中提供的分拣方法包括以下步骤：
S710、控制服务器依据待分拣项目的路向信息，确定与所述待分拣项目的路向对应的目标投递格口，并从分拣区域的多个分区中，确定所述目标投递格口所在的目标分区；以及，向多个分拣机器人中的一个目标分拣机器人分配投 递任务；所述分拣区域被划分为多个分区，每个分区部署有至少一个供件工位和多个投递格口，一个投递格口对应一个路向。
在上述实施例的技术方案的基础上，可选地，所述多个分区之间的投递格口具有相同的路向。
在上述实施例的技术方案的基础上，可选地，至少一个分区内的多个投递格口对应的路向在物理位置上相近。
在一实施例中，至少一个分区内的多个投递格口对应的路向在物理位置上相近可以理解为至少一个分区内的多个投递格口中任意两个投递格口对应的路向所在的物理位置之间的距离小于预设距离阈值。
在上述实施例的技术方案的基础上，可选地，所述控制服务器向多个分拣机器人中的一个目标分拣机器人分配投递任务包括：在每个分区分别与多个分拣机器人中的不同分拣机器人对应，且对应至少一个分拣机器人的情况下，依据所述目标分区，向与所述目标分区对应的至少一个分拣机器人中的一个目标分拣机器人分配所述投递任务。
在上述实施例的技术方案的基础上，可选地，所述方法还包括：所述控制服务器依据所述目标分区，向引导设备发送待分拣项目的引导指令；所述引导设备包括一个入口、多个出口以及连接一个入口和多个出口的传送部件，所述待分拣项目通过所述入口进入所述引导设备，并经过传送部件的传送，通过所述多个出口中的一个出口从所述引导设备中出来；所述多个出口与所述多个供件工位之间具有预设的对应关系；所述引导设备依据所述引导指令，将所述待分拣项目向与所述目标分区中的一个供件工位对应的目标出口进行引导。
在上述实施例的技术方案的基础上，可选地，所述方法还包括：读取器扫描所述待分拣项目上的信息标签，读取所述信息标签中的路向信息，并将所述路向信息发送给所述控制服务器；其中，所述读取器设置所述引导设备的入口位置，所述读取器与所述控制服务器无线通信。
在上述实施例的技术方案的基础上，可选地，一个出口对应一个供件工位。
在上述实施例的技术方案的基础上，可选地，所述方法还包括：项目转移容器容纳从所述引导设备的出口出来的待分拣项目；所述项目转移容器设置在所述引导设备的出口处。
在上述实施例的技术方案的基础上，可选地，所述方法还包括：在确定所述项目转移容器满足转移条件的情况下，所述控制服务器从所述目标分区中，选取一个目标供件工位；以及，依据所述目标供件工位，向多个容器搬运机器人中的一个目标容器搬运机器人分配搬运任务；所述目标容器搬运机器人响应 于所述搬运任务，将所述目标出口处的项目转移容器搬运至所述目标分区的目标供件工位。
在上述实施例的技术方案的基础上，可选地，所述控制服务器从所述目标分区中，选取一个目标供件工位，包括：在每个分区部署有多个供件工位的情况下，计算所述项目转移容器中所有待分拣项目分别在所述目标分区的不同供件工位的总投递距离，至少部分地依据所述总投递距离，从所述目标分区的各个供件工位中，选取目标供件工位；其中总投递距离为项目转移容器中的每一个待分拣项目从同一供件工位被对应的分拣机器人投递到对应的投递格口时所有分拣机器人的行走总距离。
在上述实施例的技术方案的基础上，可选地，所述控制服务器依据待分拣项目的路向信息，确定与所述待分拣项目的路向对应的目标投递格口，包括：将所述待分拣项目的路向信息与预存的多个路向的投递格口配置信息进行匹配；依据匹配结果从多个投递格口中确定与所述待分拣项目的路向对应的目标投递格口；所述控制服务器中存储有多个路向的投递格口配置信息，且所述投递格口配置信息中每一个路向关联有至少一个投递格口。
S720、目标分拣机器人响应于所述投递任务，从所述待分拣项目所在的供件工位取到所述待分拣项目，并将所述待分拣项目搬运到所述目标分区中的所述目标投递格口处进行投递。
在上述实施例的技术方案的基础上，可选地，在每个分区还部署有至少一个收集工位的情况下，在确定与目标投递格口对应的集货容器满足搬移条件的情况下，所述控制服务器从所述目标分区中，选取一个目标收集工位；所述控制服务器依据所述目标收集工位，向所述多个容器搬运机器人中的另一个目标容器搬运机器人分配搬运任务；所述目标容器搬运机器人响应于所述搬运任务，将所述集货容器搬运至目标收集工位。
在上述实施例的技术方案的基础上，可选地，所述控制服务器从所述目标分区中，选取一个目标收集工位，包括：在每个分区部署有多个收集工位的情况下，计算所述集货容器被搬运到所述目标分区的不同收集工位的总搬运距离，至少部分地依据所述总搬运距离，从所述目标分区的多个收集工位中，选取目标收集工位。
本申请实施例中所提供的分拣方法可应用于上述本申请任意实施例中所提供的分拣系统，具备该分拣系统相应的功能，未在上述实施例中描述的技术细节，可参见本申请任意实施例中所提供的分拣系统。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。

Claims (24)

  1. 一种分拣系统，包括：控制服务器、多个分拣机器人和分拣区域；分拣区域被划分为多个分区，每个分区部署有至少一个供件工位和多个投递格口，一个投递格口对应一个路向；其中，
    所述控制服务器配置为，依据待分拣项目的路向信息，确定与所述待分拣项目的路向对应的目标投递格口，并从所述分拣区域的多个分区中，确定所述目标投递格口所在的目标分区；以及，向多个分拣机器人中的一个目标分拣机器人分配投递任务；
    所述目标分拣机器人配置为，响应于所述投递任务，从所述待分拣项目所在的供件工位取到所述待分拣项目，并将所述待分拣项目搬运到所述目标分区中的所述目标投递格口处进行投递。
  2. 根据权利要求1所述的系统，其中，所述多个分区之间的投递格口中的至少部分投递格口具有相同的路向。
  3. 根据权利要求1所述的系统，其中，至少一个分区内的多个投递格口中任意两个投递格口对应的路向所在的物理位置上相近。
  4. 根据权利要求1所述的系统，其中，每个分区分别与多个分拣机器人中的不同分拣机器人对应，且对应至少一个分拣机器人；
    所述控制服务器是配置为通过如下方式向多个分拣机器人中的一个目标分拣机器人分配投递任务：依据所述目标分区，向与所述目标分区对应的至少一个分拣机器人中的一个目标分拣机器人分配所述投递任务。
  5. 根据权利要求1所述的系统，还包括：引导设备，所述引导设备包括一个入口、多个出口以及连接所述一个入口和所述多个出口的传送部件，所述待分拣项目通过所述入口进入所述引导设备，并经过所述传送部件的传送，通过所述多个出口中的一个出口从所述引导设备中出来；所述多个出口与多个供件工位之间具有预设的对应关系；其中，
    所述控制服务器还配置为，依据所述目标分区，向所述引导设备发送待分拣项目的引导指令；
    所述引导设备配置为，依据所述引导指令，将所述待分拣项目向与所述目标分区中的一个供件工位对应的目标出口进行引导。
  6. 根据权利要求5所述的系统，还包括：至少一个读取器，所述至少一个读取器设置在所述引导设备的入口位置，所述读取器与所述控制服务器无线通信；所述读取器配置为，扫描所述待分拣项目上的信息标签，读取所述信息标签中的路向信息，并将所述路向信息发送给所述控制服务器。
  7. 根据权利要求5所述的系统，其中，一个出口对应一个供件工位。
  8. 根据权利要求5所述的系统，还包括：项目转移容器，所述项目转移容器设置在所述引导设备的出口处，所述项目转移容器配置为，容纳从所述引导设备的出口出来的待分拣项目。
  9. 根据权利要求8所述的系统，还包括：多个容器搬运机器人；其中，
    所述控制服务器还配置为，在确定所述项目转移容器满足转移条件的情况下，从所述目标分区中，选取一个目标供件工位；以及，依据所述目标供件工位，向多个容器搬运机器人中的一个目标容器搬运机器人分配搬运任务；
    所述一个目标容器搬运机器人配置为，响应于所述搬运任务，将所述目标出口处的项目转移容器搬运至所述目标分区的目标供件工位。
  10. 根据权利要求9所述的系统，其中，在每个分区部署有多个供件工位的情况下，所述控制服务器是配置为通过如下方式从所述目标分区中，选取一个目标供件工位：计算所述项目转移容器中所有待分拣项目分别在所述目标分区的不同供件工位的总投递距离，至少部分地依据所述总投递距离，从所述目标分区的多个供件工位中，选取目标供件工位；其中总投递距离为所述项目转移容器中的每一个待分拣项目从同一供件工位被对应的分拣机器人投递到对应的投递格口时所有分拣机器人的行走总距离。
  11. 根据权利要求1所述的系统，其中，所述控制服务器中存储有多个路向的投递格口配置信息，且所述投递格口配置信息中每一个路向关联有至少一个投递格口；
    所述控制服务器是配置为通过如下方式依据待分拣项目的路向信息，确定与所述待分拣项目的路向对应的目标投递格口：将所述待分拣项目的路向信息与预存的多个路向的投递格口配置信息进行匹配；以及，依据匹配结果从多个投递格口中确定与所述待分拣项目的路向对应的目标投递格口。
  12. 根据权利要求9所述的系统，其中，每个分区还部署有至少一个收集工位；
    所述控制服务器还配置为，在确定与目标投递格口对应的集货容器满足搬移条件的情况下，从所述目标分区中，选取一个目标收集工位；以及，依据所述目标收集工位，向所述多个容器搬运机器人中的另一个目标容器搬运机器人分配搬运任务；
    所述另一个目标容器搬运机器人配置为，响应于所述搬运任务，将所述集货容器搬运至目标收集工位。
  13. 根据权利要求12所述的系统，其中，在每个分区部署有多个收集工位的情况下，所述控制服务器是配置为通过如下方式从所述目标分区中，选取一个目标收集工位：计算所述集货容器被搬运到所述目标分区的不同收集工位的总搬运距离，至少部分地依据所述总搬运距离，从所述目标分区的多个收集工位中，选取目标收集工位。
  14. 根据权利要求3所述的方法，其中，至少一个分区内的多个投递格口中任意两个投递格口对应的路向所在的物理位置之间的距离小于预设距离阈值。
  15. 一种分拣方法，包括：
    控制服务器依据待分拣项目的路向信息，确定与所述待分拣项目的路向对应的目标投递格口，并从分拣区域的多个分区中，确定所述目标投递格口所在的目标分区；以及，向多个分拣机器人中的一个目标分拣机器人分配投递任务；所述分拣区域被划分为多个分区，每个分区部署有至少一个供件工位和多个投递格口，一个投递格口对应一个路向；
    所述目标分拣机器人响应于所述投递任务，从所述待分拣项目所在的供件工位取到所述待分拣项目，并将所述待分拣项目搬运到所述目标分区中的所述目标投递格口处进行投递。
  16. 根据权利要求15所述的方法，其中，所述控制服务器向多个分拣机器人中的一个目标分拣机器人分配投递任务包括：
    在每个分区分别与多个分拣机器人中的不同分拣机器人对应，且对应至少一个分拣机器人的情况下，依据所述目标分区，向与所述目标分区对应的至少一个分拣机器人中的一个目标分拣机器人分配所述投递任务。
  17. 根据权利要求15所述的方法，还包括：
    所述控制服务器依据所述目标分区，向引导设备发送待分拣项目的引导指令；所述引导设备包括一个入口、多个出口以及连接一个入口和多个出口的传送部件，所述待分拣项目通过所述入口进入所述引导设备，并经过传送部件的传送，通过所述多个出口中的一个出口从所述引导设备中出来；所述多个出口与所述多个供件工位之间具有预设的对应关系；
    所述引导设备依据所述引导指令，将所述待分拣项目向与所述目标分区中的一个供件工位对应的目标出口进行引导。
  18. 根据权利要求17所述的方法，还包括：
    读取器扫描所述待分拣项目上的信息标签，读取所述信息标签中的路向信 息，并将所述路向信息发送给所述控制服务器；其中，所述读取器设置于所述引导设备的入口位置，所述读取器与所述控制服务器无线通信。
  19. 根据权利要求17所述的方法，还包括：
    项目转移容器容纳从所述引导设备的出口出来的待分拣项目；所述项目转移容器设置在所述引导设备的出口处。
  20. 根据权利要求19所述的方法，还包括：
    在确定所述项目转移容器满足转移条件的情况下，所述控制服务器从所述目标分区中，选取一个目标供件工位；以及，依据所述目标供件工位，向多个容器搬运机器人中的一个目标容器搬运机器人分配搬运任务；
    所述一个目标容器搬运机器人响应于所述搬运任务，将所述目标出口处的项目转移容器搬运至所述目标分区的目标供件工位。
  21. 根据权利要求20所述的方法，其中，所述控制服务器从所述目标分区中，选取一个目标供件工位，包括：
    在每个分区部署有多个供件工位的情况下，计算所述项目转移容器中所有待分拣项目分别在所述目标分区的不同供件工位的总投递距离，至少部分地依据所述总投递距离，从所述目标分区的多个供件工位中，选取目标供件工位；其中总投递距离为项目转移容器中的每一个待分拣项目从同一供件工位被对应的分拣机器人投递到对应的投递格口时所有分拣机器人的行走总距离。
  22. 根据权利要求15所述的方法，其中，所述控制服务器依据待分拣项目的路向信息，确定与所述待分拣项目的路向对应的目标投递格口，包括：
    将所述待分拣项目的路向信息与预存的多个路向的投递格口配置信息进行匹配；
    依据匹配结果从多个投递格口中确定与所述待分拣项目的路向对应的目标投递格口；所述控制服务器中存储有多个路向的投递格口配置信息，且所述投递格口配置信息中每一个路向关联有至少一个投递格口。
  23. 根据权利要求20所述的方法，还包括：
    在每个分区还部署有至少一个收集工位的情况下，在确定与目标投递格口对应的集货容器满足搬移条件的情况下，所述控制服务器从所述目标分区中，选取一个目标收集工位；
    所述控制服务器依据所述目标收集工位，向所述多个容器搬运机器人中的另一个目标容器搬运机器人分配搬运任务；
    所述另一个目标容器搬运机器人响应于所述搬运任务，将所述集货容器搬 运至目标收集工位。
  24. 根据权利要求23所述的方法，其中，所述控制服务器从所述目标分区中，选取一个目标收集工位，包括：
    在每个分区部署有多个收集工位的情况下，计算所述集货容器被搬运到所述目标分区的不同收集工位的总搬运距离，至少部分地依据所述总搬运距离，从所述目标分区的多个收集工位中，选取目标收集工位。
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