WO2021082641A1 - 分拣控制方法、装置、平台和系统、无人分拣设备 - Google Patents

分拣控制方法、装置、平台和系统、无人分拣设备 Download PDF

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Publication number
WO2021082641A1
WO2021082641A1 PCT/CN2020/109720 CN2020109720W WO2021082641A1 WO 2021082641 A1 WO2021082641 A1 WO 2021082641A1 CN 2020109720 W CN2020109720 W CN 2020109720W WO 2021082641 A1 WO2021082641 A1 WO 2021082641A1
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Prior art keywords
sorting
package
unmanned
leak
equipment
Prior art date
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PCT/CN2020/109720
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English (en)
French (fr)
Inventor
韩松
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北京京东振世信息技术有限公司
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 北京京东振世信息技术有限公司 filed Critical 北京京东振世信息技术有限公司
Priority to EP20883650.2A priority Critical patent/EP4052810A4/en
Priority to US17/772,433 priority patent/US11801532B2/en
Priority to JP2022525416A priority patent/JP2023500283A/ja
Publication of WO2021082641A1 publication Critical patent/WO2021082641A1/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
    • 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
    • B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
    • 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
    • B07C1/00—Measures preceding sorting according to destination
    • B07C1/02—Forming articles into a stream; Arranging articles in a stream, e.g. spacing, orientating
    • B07C1/04—Forming a stream from a bulk; Controlling the stream, e.g. spacing the articles
    • 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
    • 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
    • B07C3/00—Sorting according to destination
    • B07C3/10—Apparatus characterised by the means used for detection ofthe destination
    • B07C3/14—Apparatus characterised by the means used for detection ofthe destination using light-responsive detecting means
    • 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
    • B07C3/18—Devices or arrangements for indicating destination, e.g. by code marks
    • 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
    • B07C2301/00—Sorting according to destination
    • B07C2301/0066—Check for destination address in a database or list
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present disclosure relates to the storage field, in particular to a sorting control method, device, platform and system, and unmanned sorting equipment.
  • a sorting control method including:
  • controlling the unmanned sorting device to traverse the package list according to the sorting route, and unloading multiple packages to the corresponding destination sorting leaks in turn includes:
  • the current sorting leak is the destination sorting leak of the package to be sorted, unload the to-be sorted parcel into the target sorting leak.
  • controlling the unmanned sorting device to load a plurality of packages includes: controlling the unmanned sorting device to load a plurality of packages from a bag supply station or a shelf.
  • the sorting control method further includes:
  • control the unmanned sorting equipment In the case that there is no unsorted package in the unmanned sorting equipment, control the unmanned sorting equipment to travel to the bag supply station or shelf, and perform the steps of controlling the unmanned sorting equipment to load multiple packages.
  • the sorting control method further includes:
  • the sorting control method further includes:
  • the sorting control platform is notified that the current package sorting is completed, and then the step of traversing the package list according to the sorting route is continued.
  • the unloading the parcels to be sorted to the destination sorting leak includes:
  • Control the multi-layer parcel conveyor belt to convey the parcels to be sorted and convey them to the destination sorting leak.
  • a sorting control device including:
  • Loading control module used to control the unmanned sorting equipment to load multiple packages
  • the package information sending module is used to obtain the package list information and send the package list information to the sorting control platform;
  • the sorting route receiving module is used to receive the sorting route planned by the sorting control platform
  • the unloading control module is used to control the unmanned sorting equipment to traverse the package list according to the sorting route, and unload multiple packages to the corresponding destination sorting leak in turn.
  • the sorting control device is used to perform operations for implementing the sorting control method described in any of the above-mentioned embodiments.
  • a sorting control device including:
  • Memory used to store instructions
  • the processor is configured to execute the instructions, so that the sorting control device executes operations for implementing the sorting control method according to any of the above embodiments.
  • an unmanned sorting equipment including a sorting control device and a package scanning camera, wherein:
  • the parcel scanning camera is set on the top of the unmanned sorting equipment
  • the package scanning camera is used to collect package information and identify the package when the unmanned sorting equipment loads multiple packages; send the package information to the sorting control device;
  • the sorting control device is used to obtain package list information and send the package list information to the sorting control platform so that the sorting control platform can plan the sorting route; receive the sorting route planned by the sorting control platform; control unmanned sorting equipment follow the sorting route to traverse the package list, and unload multiple packages to the corresponding destination sorting leak in turn.
  • the unmanned sorting equipment further includes a landmark camera, wherein:
  • the sorting control device is used to control the unmanned sorting equipment to reach the destination sorting leak of the package to be sorted. Among them, there are multiple sorting leaks on the ground, and one sorting leak corresponds to a package destination;
  • the landmark camera is set at the bottom of the unmanned sorting equipment and is used to locate ground landmarks so that the sorting control device can judge whether the current sorting leak is the purpose of sorting packages. Among them, a ground landmark is used to identify A sorting leak;
  • the sorting control device is also used for unloading the parcels to be sorted into the target sorting leak when the current sorting leak is the target sorting leak of the package to be sorted.
  • the unmanned sorting equipment further includes a car body package sorting port, wherein:
  • the car body package sorting opening is set at the bottom of the car body
  • the sorting control device is used to control the sorting leakage opening aligned with the car body package sorting opening, so that the package to be sorted is unloaded to the destination sorting leakage opening through the car body package sorting opening.
  • the unmanned sorting equipment further includes a package sensing device, wherein:
  • the package sensing device is used to detect whether the package has fallen into the target sorting leak when the package arrives at the destination sorting leak and the package is sorted and unloaded; when the package falls into the target sort leak, it will be sent to the sorting leak.
  • the sorting control device sends a message to prompt the package to be sorted successfully.
  • the unmanned sorting equipment further includes a parcel conveyor belt, wherein:
  • the multi-layer parcel conveyor belt is set in the unmanned sorting equipment
  • the parcel conveyor belt is used to isolate and transport the parcels in order in the unmanned sorting equipment.
  • the unmanned sorting equipment further includes a universal wheel and a power device, wherein:
  • Universal wheels used to drive the unmanned sorting equipment to move forward, backward, left and right according to the instructions of the sorting control device;
  • the power device is used to provide the power for the movement of the car body and the power for the movement of the parcel conveyor.
  • the sorting control device is the sorting control device described in any of the above-mentioned embodiments.
  • a sorting control system including a sorting control platform and unmanned sorting equipment, wherein:
  • the sorting control platform is used to receive the package list information sent by the unmanned sorting equipment; plan the sorting route according to the package list information, and send the sorting route to the unmanned sorting equipment;
  • Unmanned sorting equipment used to control unmanned sorting equipment to load multiple packages; obtain package list information, and send the package list information to the sorting control platform; receive the sorting route planned by the sorting control platform; control unmanned sorting The sorting equipment traverses the package list according to the sorting route, and unloads multiple packages to the corresponding destination sorting leak in turn.
  • the unmanned sorting equipment is the sorting control device as described in any of the above embodiments.
  • the sorting control system further includes a sorting leak and a ground landmark, wherein:
  • the sorting leaks and ground landmarks are set on the ground, and one sorting leak corresponds to a package destination;
  • Ground landmarks are used to identify the sorting leaks, and one ground landmark is used to identify a sorting leaks;
  • Unmanned sorting equipment used to sort packages according to the ground landmarks, and unload the packages after reaching the landmarks of the destination sorting leak.
  • a computer-readable storage medium wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the partition as described in any of the above embodiments is implemented. Pick control method.
  • Fig. 1 is a schematic diagram of some embodiments of the sorting control system of the present disclosure.
  • Figure 2 is a schematic diagram of other embodiments of the sorting control system of the present disclosure.
  • Fig. 3 is a schematic diagram of some embodiments of the unmanned sorting equipment of the present disclosure.
  • Fig. 4 is a schematic side view of other embodiments of the unmanned sorting device of the present disclosure.
  • Fig. 5 is a schematic front view of other embodiments of the unmanned sorting device of the present disclosure.
  • Fig. 6 is a bottom schematic diagram of other embodiments of the unmanned sorting device of the present disclosure.
  • Fig. 7 is a schematic side view of some embodiments of the sorting control method of the present disclosure.
  • Fig. 8 is a schematic side view of other embodiments of the sorting control method of the present disclosure.
  • Figure 9 is a schematic side view of some embodiments of the sorting control device of the present disclosure.
  • Figure 10 is a schematic side view of other embodiments of the sorting control device of the present disclosure.
  • the present disclosure provides a sorting control method, device, platform and system, and unmanned sorting equipment, which improves the sorting efficiency of packages in the warehouse.
  • Fig. 1 is a schematic diagram of some embodiments of the sorting control system of the present disclosure.
  • the sorting control system of the present disclosure may include a sorting control platform 4 and an unmanned sorting device 1, in which:
  • the sorting control platform 4 is used to receive the package list information sent by the unmanned sorting equipment 1; plan the sorting route according to the package list information, and send the sorting route to the unmanned sorting equipment 1.
  • the unmanned sorting equipment 1 is used to control the unmanned sorting equipment 1 to travel to the packing station or shelf, automatically or manually load multiple packages; obtain the package list information, and send the package list information to the sorting control platform 4; receive The sorting route planned by the sorting control platform 4; control the unmanned sorting equipment 1 to traverse the package list according to the sorting route, and unload multiple packages to the corresponding destination sorting leak in turn.
  • the package supply station may be a package sorting station.
  • the unmanned sorting device 1 may be implemented as a sorting cart.
  • Figure 2 is a schematic diagram of other embodiments of the sorting control system of the present disclosure.
  • the sorting control system of the embodiment of FIG. 2 may also include a sorting leak (parcel sorting). Leakage) 2 and ground landmark 3, of which:
  • the sorting leak 2 and the ground landmark 3 are set on the ground, and one sorting leak 2 corresponds to a parcel destination.
  • one sorting leak 2 corresponds to a destination such as a site or city, and the sorting truck travels to the corresponding sorting leak 2 according to the destination site or destination city of the package to unload the package.
  • the sorting leakage port 2 has a package unloading port in the ground, and the package will flow to a turnover box or a turnover bag after entering the port, and be loaded and transported to the destination.
  • each sorting leak 2 may correspond to a destination city such as Beijing, Shanghai, and Nanjing.
  • Ground landmark 3 is used to identify the sorting leak 2 and one ground landmark 3 is used to identify one sorting leak 2.
  • the unmanned sorting equipment 1 is used to sort the packages according to the ground landmark 3, and unload the packages after reaching the landmark of the destination sorting leak.
  • ground landmarks 3 front, rear, left, and right may be set around each sorting leak 2.
  • the unmanned sorting device 1 may be a sorting car; the ground landmark 3 may be a sorting car landmark.
  • the unmanned sorting device 1 is used to transport the carrying package to the corresponding sorting leak 2 and leak the package from the underside of the vehicle body into the specific leak.
  • multiple unmanned sorting devices 1 may be provided in one warehouse.
  • the sorting control system may include 3 unmanned sorting equipment 1, and 3 unmanned sorting equipment 1 operating in a sorting area containing 16 sorting leaks 2, each Four ground landmarks 3 are set around each sorting leak 2.
  • the unmanned sorting device 1 of the present disclosure can be used to load multiple packages on a package table or shelf; obtain package list information, and send the package list information to the sorting control platform 4; receive The sorting route planned by the sorting control platform 4; traverse the package list according to the sorting route, and unload multiple packages to the corresponding destination sorting leak in turn.
  • the unmanned sorting equipment (unmanned sorting vehicle) contained in it can load more parcels at a time (the AGV can only load more packages at a time compared with the related technology flip cart). Reprint a parcel), the parcel sorting speed of the above-mentioned embodiment of the present disclosure is faster, and independent travel lanes are not used, and related art dump trucks require independent travel lanes.
  • the foregoing embodiment of the present disclosure proposes an AGV that can efficiently automatically sort AGV, which is more efficient than the previous related art dump truck.
  • the foregoing embodiment of the present disclosure can sort multiple packages at the same time, thereby improving the sorting efficiency.
  • the following specific embodiments illustrate the structure and functions of the unmanned sorting device 1 in the embodiment of FIG. 1 or FIG. 2.
  • Fig. 3 is a schematic diagram of some embodiments of the unmanned sorting equipment of the present disclosure.
  • the unmanned sorting device of the present disclosure may include a sorting control device 11 and a package scanning camera 12, wherein:
  • the parcel scanning camera 12 is set on the top of the unmanned sorting device 1.
  • the parcel scanning camera 12 is used to collect parcel information and identify the parcel when the unmanned sorting equipment 1 is loading multiple parcels on the parcel table or shelf; and send the parcel information to the sorting control device.
  • the sorting control device 11 is used to obtain package list information, and send the package list information to the sorting control platform 4 so that the sorting control platform 4 can plan the sorting route; receive the sorting route planned by the sorting control platform 4;
  • the human sorting device 1 traverses the package list according to the sorting route, and unloads multiple packages to the corresponding destination sorting leak in turn.
  • the unmanned sorting device of the present disclosure may be implemented as an unmanned sorting vehicle.
  • Fig. 4 is a schematic side view of other embodiments of the unmanned sorting device of the present disclosure.
  • Fig. 5 is a schematic front view of other embodiments of the unmanned sorting device of the present disclosure.
  • Fig. 6 is a bottom schematic diagram of other embodiments of the unmanned sorting device of the present disclosure.
  • the unmanned sorting equipment of the embodiment of FIGS. 4-6 may also include a landmark camera 13 (As shown in Figure 6), where:
  • the sorting control device 11 is used to control the unmanned sorting equipment 1 to reach the destination sorting leak of the package to be sorted. Among them, there are multiple sorting leaks 2 on the ground, and one sorting leak 2 corresponds to one package destination.
  • the landmark camera 13 is set at the bottom of the unmanned sorting equipment 1 and is used to locate the ground landmark 3 so that the sorting control device 11 can judge whether the current sorting leak is the purpose of sorting the package. Among them, one is on the ground The landmark 3 is used to identify a sorting leak 2, and the current sorting leak is the sorting leak 2 currently reached by the unmanned sorting equipment 1.
  • the sorting control device 11 is also used for unloading the parcels to be sorted into the target sorting leak when the current sorting leak is the target sorting leak of the package to be sorted.
  • the landmark camera 13 is a device used at the bottom of the unmanned sorting device 1 to identify ground landmarks, and the unmanned sorting device 1 controls the traveling direction by identifying the landmark information.
  • the number and positions of landmark cameras 13 correspond to the number and positions of ground landmarks.
  • the unmanned sorting equipment includes 4 landmark cameras 13 to respectively locate the 4 ground landmarks around the sorting leak 2 to achieve accurate positioning of the target sorting leak.
  • the unmanned sorting equipment 1 may further include a car body package sorting port 14, wherein:
  • the car body package sorting opening 14 is arranged at the bottom of the car body.
  • the sorting control device 11 is used to control the sorting leak 2 (ie, the ground parcel sorting port as shown in FIG. 5) aligned with the car body package sorting opening 14 so that the waiting room is placed through the car body package sorting opening 14
  • the sorting package is unloaded to the destination sorting leak.
  • the ground parcel sorting port has a parcel unloading port on the ground. After the parcel enters the ground parcel sorting port, it will flow to a turnover box or a turnover bag, and it will be loaded and transported to the destination.
  • the unmanned sorting equipment 1 may further include a package sensing device 15, wherein:
  • the package sensing device 15 is used to detect whether the package has fallen into the target sorting leak when the package arrives at the destination sorting leak and the package is sorted and unloaded; when the package falls into the target sort leak, it will The sorting control device 11 sends a message to prompt the package to be sorted successfully.
  • the package sensing device when a package needs to be sorted and unloaded after reaching the destination sorting leak, when the package falls into the sorting leak, the package sensing device will be triggered to mark that the package has been sorted successfully.
  • the unmanned sorting device 1 may further include a parcel conveyor belt 16, wherein:
  • the multi-layer parcel conveyor belt 16 is arranged in the unmanned sorting equipment 1.
  • the parcel transport belt 16 is used to isolate and transport the parcels in sequence in the unmanned sorting equipment 1.
  • the unmanned sorting device 1 may include several layers of parcel conveyor belts 16 so that several more parcels can be loaded, and the parcels can be separated in order to ensure the order.
  • the unmanned sorting device 1 may include a three-layer wrapping conveyor belt 16.
  • the unmanned sorting device 1 may also not include a parcel conveyor belt, but a block box in the form of a self-pickup cabinet in a cell is used to load parcels.
  • the unmanned sorting equipment 1 may further include a universal wheel 17 and a power device 18, wherein:
  • the universal wheel 17 is used to drive the unmanned sorting equipment 1 to move forward, backward, left and right according to the instructions of the sorting control device 11.
  • the power device 18 is used to provide the power for the movement of the vehicle body and the power for the movement of the parcel conveyor 16.
  • the unmanned sorting equipment unmanned sorting vehicle
  • the flip board AGV can only reproduce one package at a time
  • the present disclosure The parcel sorting speed of the above embodiment is faster, and independent travel lanes are not used, and the related art dump truck requires independent travel lanes.
  • the foregoing embodiment of the present disclosure proposes an AGV that can efficiently automatically sort AGV, which is more efficient than the previous related art dump truck.
  • the foregoing embodiment of the present disclosure can sort multiple packages at the same time, thereby improving the sorting efficiency.
  • Fig. 7 is a schematic side view of some embodiments of the sorting control method of the present disclosure.
  • this embodiment can be executed by the sorting control device of the present disclosure (for example, the sorting control device 11 in the embodiment of FIG. 3) or an unmanned sorting device (for example, the sorting control device in any of the embodiments of FIGS. 1 to 6) .
  • the method can include the following steps:
  • Step 71 Control the unmanned sorting equipment 1 to load multiple packages.
  • step 71 may include: controlling the unmanned sorting device 1 to travel to the bag supply station or shelf, and automatically or manually loading multiple packages to the unmanned sorting device 1.
  • Step 72 Obtain the package list information, and send the package list information to the sorting control platform 4.
  • step 73 the sorting route planned by the sorting control platform 4 is received.
  • Step 74 Control the unmanned sorting equipment 1 to traverse the package list according to the sorting route, and unload multiple packages to the corresponding destination sorting leaks in sequence.
  • step 74 may include:
  • Step 741 Control the unmanned sorting equipment 1 to reach the destination sorting leak of the parcel to be sorted.
  • Step 742 Obtain positioning ground coordinates by controlling the landmark camera 13.
  • Step 743 Determine whether the current sorting leak is the destination sorting leak of the package to be sorted, where the current sorting leak is the sorting leak 2 currently reached by the unmanned sorting equipment 1.
  • step 744 when the current sorting leak is the destination sorting leak of the parcel to be sorted, unload the parcel to be sorted into the target sorting leak.
  • the sorting control method may further include: judging whether there is an unsorted package in the unmanned sorting device 1; If there is an unsorted package in equipment 1, proceed to step 74 to control the unmanned sorting equipment 1 to reach the destination sorting leak of the package to be sorted; there is no unsorted package in the unmanned sorting equipment 1 Next, control the unmanned sorting equipment 1 to travel to the bag supply station or shelf, and execute step 71.
  • the sorting control method may further include: judging whether a sorting start instruction is received or whether the unmanned sorting device 1 is full; When the sorting start instruction is received or the unmanned sorting equipment 1 is full, go to step 72; when the sorting start instruction is not received and the unmanned sorting equipment 1 is not full, proceed to step 71 .
  • the sorting control method may further include: judging by the package sensing device 15 whether the package to be sorted has been unloaded into the destination sorting leak; In the case of unloading to the destination sorting leakage port, the sorting control platform 4 is notified that the current package sorting is completed, and then the step 74 is continued to be carried out by traversing the package list according to the sorting route.
  • Fig. 8 is a schematic side view of other embodiments of the sorting control method of the present disclosure.
  • this embodiment can be executed by the sorting control device of the present disclosure (for example, the sorting control device 11 in the embodiment of FIG. 3) or an unmanned sorting device (for example, a sorting truck).
  • the method can include the following steps:
  • step 81 the sorting truck loads the packages on the package table or shelf, which can be manual loading or automatic loading. Each package is scanned by the sorting car, and the sorting car recognizes the package.
  • Step 82 After the sorting truck scans each package, it is judged whether the package is full (the conveyor belt of each sorting truck has a certain package carrying capacity) or whether the start of sorting is triggered manually (the sorting truck can be triggered manually if it is not full); If no, continue to step 81; if yes, go to step 82.
  • Step 83 The sorting truck sends the information of the package list to the control system, and the control system plans the sorting route of the sorting truck according to the package list and returns to the sorting truck.
  • Step 84 The sorting truck traverses the package list according to the planned route. If there is no unsorted package, go to step 85; if there is, go to step 86.
  • step 85 the sorting vehicle travels to the parcel sorting table to load the parcels, and then step 81 is executed.
  • step 86 the sorting truck arrives at the destination sorting leak of the package to be sorted, uses the landmark camera 13 to locate the ground coordinates, and determines that the sorting leak 2 is the target sorting leak of the package to be sorted.
  • step 87 the bottom conveyor belt of the sorting truck conveys the parcels to be sorted, and conveys them to the sorting leak 2.
  • step 88 after the parcel falls into the sorting leak 2, the parcel sensing device 15 is triggered, and the sorting truck informs the control system that the current parcel sorting is completed; step 84 is executed.
  • the sorting control method provided by the above-mentioned embodiments of the present disclosure, compared with the related art dump truck, it is more efficient and loads more packages at a time.
  • the sorting speed of the packages in the above-mentioned embodiments of the present disclosure is faster and does not require independent travel. Lanes, related technology dump trucks need independent driving lanes.
  • the above-mentioned embodiments of the present disclosure can sort multiple packages at the same time, thereby improving the sorting efficiency.
  • Figure 9 is a schematic side view of some embodiments of the sorting control device of the present disclosure.
  • the sorting control device of the present disclosure may include a loading control module 111, a package information sending module 112, a sorting route receiving module 113, and an unloading control module 114, of which:
  • the loading control module 111 is used to control the unmanned sorting equipment 1 to automatically or manually load multiple packages on the package table or shelf.
  • the package information sending module 112 is used to obtain package list information and send the package list information to the sorting control platform 4.
  • the sorting route receiving module 113 is used to receive the sorting route planned by the sorting control platform 4.
  • the unloading control module 114 is used to control the unmanned sorting equipment 1 to traverse the package list according to the sorting route, and unload multiple packages to the corresponding destination sorting leaks in sequence.
  • the unloading control module 114 may be used to control the unmanned sorting equipment 1 to reach the destination sorting leak of the package to be sorted; obtain the positioning ground coordinates by controlling the landmark camera 13; determine the current sorting leak Whether the port is the purpose sorting leak for the package to be sorted; if the current sorting leak is the target sorting leak for the package to be sorted, unload the package to be sorted into the target sorting leak.
  • the sorting control device 11 is used to perform operations for implementing the sorting control method described in any of the above-mentioned embodiments (for example, the embodiment of FIG. 7 or FIG. 8).
  • the sorting control device 11 can also be used to determine whether there are unsorted packages in the unmanned sorting equipment 1; in the case that there are unsorted packages in the unmanned sorting equipment 1, Instruct the unloading control module 114 to continue to control the unmanned sorting equipment 1 to traverse the package list according to the sorting route, and unload multiple packages to the corresponding destination sorting leaks in turn; there is no unmanned sorting equipment 1
  • the unmanned sorting equipment 1 is controlled to travel to the package supply station or shelf, and the loading control module 111 is instructed to continue to control the unmanned sorting equipment 1 to load multiple packages on the package sorting station.
  • the sorting control device 11 can also be used to determine whether a sorting start instruction is received or whether the unmanned sorting equipment 1 is full; after receiving a sorting start instruction or unmanned sorting When the sorting equipment 1 is full, the package information sending module 112 is instructed to perform the operation of obtaining package list information and sending the package list information to the sorting control platform 4; when the sorting start instruction is not received and no sorting equipment 1 is received In the case of not being full, the loading control module 111 is instructed to continue the operation of controlling the unmanned sorting equipment 1 to load multiple packages on the parcel sorting table.
  • the sorting control device 11 can also be used to determine whether the package to be sorted has been unloaded into the target sorting leak through the package sensor 15; when the package to be sorted has been unloaded to the target sorting leak In the case of a leak in the picking port, the sorting control platform 4 is notified that the current package sorting is completed, and then the unloading control module 114 is instructed to continue to control the unmanned sorting device 1 to traverse the package list according to the sorting route to proceed.
  • Figure 10 is a schematic side view of other embodiments of the sorting control device of the present disclosure.
  • the sorting control device of the present disclosure may include a memory 118 and a processor 119, wherein:
  • the memory 118 is used to store instructions.
  • the processor 119 is configured to execute the instructions, so that the sorting control device 11 executes operations for implementing the sorting control method described in any of the foregoing embodiments (for example, the embodiment of FIG. 7 or FIG. 8).
  • the sorting control device provided by the above-mentioned embodiment of the present disclosure, compared with the related art dump truck, it is more efficient and loads more packages at a time.
  • the sorting speed of the packages in the above-mentioned embodiment of the present disclosure is faster and does not require independent travel. Lanes, related technology dump trucks need independent driving lanes.
  • the above-mentioned embodiments of the present disclosure can sort multiple packages at the same time, thereby improving the sorting efficiency.
  • a computer-readable storage medium wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, it implements any of the above-mentioned embodiments (for example, FIG. 7 Or the sorting control method described in the embodiment of FIG. 8).
  • the above-mentioned embodiments of the present disclosure Based on the computer-readable storage medium provided by the above-mentioned embodiments of the present disclosure, compared with the related art dump truck, it is more efficient and loads more packages at a time.
  • the above-mentioned embodiment of the present disclosure has faster package sorting speed and does not require independent In the driving lane, related technology dump trucks require independent driving lanes.
  • the above-mentioned embodiments of the present disclosure can sort multiple packages at the same time, thereby improving the sorting efficiency.
  • sorting control device and sorting control platform described above can be implemented as general-purpose processors, programmable logic controllers (PLC), digital signal processors (DSP), and application-specific integrated circuits for performing the functions described in this application (ASIC), Field Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, or any appropriate combination thereof.
  • PLC programmable logic controllers
  • DSP digital signal processors
  • ASIC application-specific integrated circuits for performing the functions described in this application
  • FPGA Field Programmable Gate Array

Abstract

一种分拣控制方法、装置、平台和系统、无人分拣设备。分拣控制方法包括：控制无人分拣设备（1）装载多个包裹；获取包裹列表信息，将包裹列表信息发送到分拣控制平台（4）；接收分拣控制平台规划的分拣路线；控制无人分拣设备按照分拣路线遍历包裹列表进行行进，将多个包裹依次卸载到对应的目的分拣漏口（2），比相关技术的翻板车更加高效，可以同时分拣多个包裹，从而提高了分拣效率。

Description

分拣控制方法、装置、平台和系统、无人分拣设备
相关申请的交叉引用
本申请是以CN申请号为201911036058.0，申请日为2019年10月29日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及仓储领域，特别涉及一种分拣控制方法、装置、平台和系统、无人分拣设备。
背景技术
相关技术仓库的生产，自动化设备都已经大规模使用，特别是无人设备的使用，而在包裹分拣环节更是大量的无人设备的使用，来提高分拣效率。
发明内容
根据本公开的一个方面，提供一种分拣控制方法，包括：
控制无人分拣设备装载多个包裹；
获取包裹列表信息，将包裹列表信息发送到分拣控制平台；
接收分拣控制平台规划的分拣路线；
控制无人分拣设备按照分拣路线遍历包裹列表进行行进，将多个包裹依次卸载到对应的目的分拣漏口。
在本公开的一些实施例中，所述控制无人分拣设备按照分拣路线遍历包裹列表进行行进，将多个包裹依次卸载到对应的目的分拣漏口包括：
控制无人分拣设备到达待分拣包裹的目的分拣漏口；
通过控制地标摄像头获取定位地面坐标；
判断当前分拣漏口是否为待分拣包裹的目的分拣漏口；
在当前分拣漏口为待分拣包裹的目的分拣漏口的情况下，将待分拣包裹卸载到目的分拣漏口中。
在本公开的一些实施例中，所述控制无人分拣设备装载多个包裹包括：控制无人分拣设备从供包台或货架装载多个包裹。
在本公开的一些实施例中，所述分拣控制方法还包括：
判断无人分拣设备是否存在未分拣包裹；
在无人分拣设备存在未分拣包裹的情况下，执行控制无人分拣设备到达待分拣包裹的目的分拣漏口的步骤；
在无人分拣设备不存在未分拣包裹的情况下，控制无人分拣设备行进至供包台或货架，执行控制无人分拣设备装载多个包裹的步骤。
在本公开的一些实施例中，所述分拣控制方法还包括：
判断是否接收到分拣开始指令或无人分拣设备是否装满；
在接收到分拣开始指令或无人分拣设备装满的情况下，执行获取包裹列表信息，将包裹列表信息发送到分拣控制平台的步骤；
在未接收到分拣开始指令且无人分拣设备未装满的情况下，继续执行控制无人分拣设备装载多个包裹的步骤。
在本公开的一些实施例中，所述分拣控制方法还包括：
通过包裹感应装置判断待分拣包裹是否已卸载到目的分拣漏口中；
在待分拣包裹已卸载到目的分拣漏口中的情况下，通知分拣控制平台当前包裹分拣完成，之后继续执行按照分拣路线遍历包裹列表进行行进的步骤。
在本公开的一些实施例中，所述将待分拣包裹卸载到目的分拣漏口中包括：
控制多层包裹运输带将待分拣包裹进行传送，传送到目的分拣漏口中。
根据本公开的另一方面，提供一种分拣控制装置，包括：
装载控制模块，用于控制无人分拣设备装载多个包裹；
包裹信息发送模块，用于获取包裹列表信息，将包裹列表信息发送到分拣控制平台；
分拣路线接收模块，用于接收分拣控制平台规划的分拣路线；
卸载控制模块，用于控制无人分拣设备按照分拣路线遍历包裹列表进行行进，将多个包裹依次卸载到对应的目的分拣漏口。
在本公开的一些实施例中，所述分拣控制装置用于执行实现如上述任一实施例所述的分拣控制方法的操作。
根据本公开的另一方面，提供一种分拣控制装置，包括：
存储器，用于存储指令；
处理器，用于执行所述指令，使得所述分拣控制装置执行实现如上述任一实施例所述的分拣控制方法的操作。
根据本公开的另一方面，提供一种无人分拣设备，包括分拣控制装置和包裹扫描摄像头，其中：
包裹扫描摄像头设置在无人分拣设备的顶部；
包裹扫描摄像头，用于在无人分拣设备装载多个包裹的情况下，采集包裹信息，识别出包裹；将包裹信息发送给分拣控制装置；
分拣控制装置，用于获取包裹列表信息，将包裹列表信息发送到分拣控制平台，以便分拣控制平台规划分拣路线；接收分拣控制平台规划的分拣路线；控制无人分拣设备按照分拣路线遍历包裹列表进行行进，将多个包裹依次卸载到对应的目的分拣漏口。
在本公开的一些实施例中，所述无人分拣设备还包括地标摄像头，其中：
分拣控制装置，用于控制无人分拣设备到达待分拣包裹的目的分拣漏口，其中，地面上设置有多个分拣漏口，一个分拣漏口对应一个包裹目的地；
地标摄像头，设置于无人分拣设备底部，用于定位地面地标，以便分拣控制装置判断当前分拣漏口是否为待分拣包裹的目的分拣漏口，其中，一个地面地标用于标识一个分拣漏口；
分拣控制装置还用于在当前分拣漏口为待分拣包裹的目的分拣漏口的情况下，将待分拣包裹卸载到目的分拣漏口中。
在本公开的一些实施例中，所述无人分拣设备还包括车体包裹分拣口，其中：
车体包裹分拣口设置在车体底部；
分拣控制装置，用于控制车体包裹分拣口对准的分拣漏口，使得通过车体包裹分拣口将待分拣包裹卸载到目的分拣漏口中。
在本公开的一些实施例中，所述无人分拣设备还包括包裹感应装置，其中：
包裹感应装置，用于在包裹到达目的分拣漏口、进行包裹分拣卸载的情况下，检测包裹是否掉入目的分拣漏口；在包裹掉入目的分拣漏口的情况下，向分拣控制装置发送消息，提示包裹成功完成分拣。
在本公开的一些实施例中，所述无人分拣设备还包括包裹运输带，其中：
多层包裹运输带设置在无人分拣设备内；
包裹运输带，用于在无人分拣设备内，将包裹按顺序进行隔离和运输。
在本公开的一些实施例中，所述无人分拣设备还包括万向轮和动力装置，其中：
万向轮，用于根据分拣控制装置的指令，驱动无人分拣设备进行前后左右的移动；
动力装置，用于提供车体移动的动力和包裹运输带移动的动力。
在本公开的一些实施例中，所述分拣控制装置为如上述任一实施例所述的分拣控制装置。
根据本公开的另一方面，提供一种分拣控制系统，包括分拣控制平台和无人分拣设备，其中：
分拣控制平台，用于接收无人分拣设备发送的包裹列表信息；根据包裹列表信息规划分拣路线，并将分拣路线下发给无人分拣设备；
无人分拣设备，用于控制无人分拣设备装载多个包裹；获取包裹列表信息，将包裹列表信息发送到分拣控制平台；接收分拣控制平台规划的分拣路线；控制无人分拣设备按照分拣路线遍历包裹列表进行行进，将多个包裹依次卸载到对应的目的分拣漏口。
在本公开的一些实施例中，无人分拣设备为如上述任一实施例所述的分拣控制装置。
在本公开的一些实施例中，所述分拣控制系统还包括分拣漏口和地面地标，其中：
分拣漏口和地面地标设置于地面上，其中，一个分拣漏口对应一个包裹目的地；
地面地标，用于标识分拣漏口，其中，一个地面地标用于标识一个分拣漏口；
无人分拣设备，用于按照地面地标进行包裹分拣行进，到达目的分拣漏口的地标后，进行包裹卸载。
根据本公开的另一方面，提供一种计算机可读存储介质，其中，所述计算机可读存储介质存储有计算机指令，所述指令被处理器执行时实现如上述任一实施例所述的分拣控制方法。
附图说明
为了更清楚地说明本公开实施例或相关技术中的技术方案，下面将对实施例或相关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公开的一些实施例，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为本公开分拣控制系统一些实施例的示意图。
图2为本公开分拣控制系统另一些实施例的示意图。
图3为本公开无人分拣设备一些实施例的示意图。
图4为本公开无人分拣设备另一些实施例的侧面示意图。
图5为本公开无人分拣设备另一些实施例的正面示意图。
图6为本公开无人分拣设备另一些实施例的底部示意图。
图7为本公开分拣控制方法一些实施例的侧面示意图。
图8为本公开分拣控制方法另一些实施例的侧面示意图。
图9为本公开分拣控制装置一些实施例的侧面示意图。
图10为本公开分拣控制装置另一些实施例的侧面示意图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本公开的范围。
同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。
在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
相关技术的技术方案一般是基于翻板AGV(Automated Guided Vehicle，自动导引运输车)实现，但该方案当前效率比人工要高很多，但是还是有提升的空间。
鉴于以上技术问题中的至少一项，本公开提供了一种分拣控制方法、装置、平台和系统、无人分拣设备，提高了仓库内包裹的分拣效率。
图1为本公开分拣控制系统一些实施例的示意图。如1所示，本公开分拣控制系统可以包括分拣控制平台4和无人分拣设备1，其中：
分拣控制平台4，用于接收无人分拣设备1发送的包裹列表信息；根据包裹列表信息规划分拣路线，并将分拣路线下发给无人分拣设备1。
无人分拣设备1，用于控制无人分拣设备1行进至供包台或货架，自动或人工装载多 个包裹；获取包裹列表信息，将包裹列表信息发送到分拣控制平台4；接收分拣控制平台4规划的分拣路线；控制无人分拣设备1按照分拣路线遍历包裹列表进行行进，将多个包裹依次卸载到对应的目的分拣漏口。
在本公开的一些实施例中，供包台可以为包裹分拣台。
在本公开的一些实施例中，无人分拣设备1可以实现为分拣车。
基于本公开上述实施例提供的分拣控制系统，比相关技术翻板车更加高效，可以同时分拣多个包裹，提高了分拣效率。
图2为本公开分拣控制系统另一些实施例的示意图。图2实施例的分拣控制系统除了包含图1实施例的分拣控制平台1(图2中未示出)和无人分拣设备1之外，还可以包括分拣漏口(包裹分拣漏口)2和地面地标3，其中：
分拣漏口2和地面地标3设置于地面上，其中，一个分拣漏口2对应一个包裹目的地。
在本公开的一些实施例中，一个分拣漏口2对应一个站点或城市等目的地，分拣车根据包裹的目的站点或目的城市行进到对应的分拣漏口2上，卸载包裹。
在本公开的一些实施例中，分拣漏口2是在地面中有包裹卸载口，包裹进入该口后会流向周转箱或周转袋，装车运送到目的地。
在本公开的一些实施例中，如图1所示，每个分拣漏口2可以对应北京、上海、南京等一个目的城市。
地面地标3，用于标识分拣漏口2，其中，一个地面地标3用于标识一个分拣漏口2。无人分拣设备1，用于按照地面地标3进行包裹分拣行进，到达目的分拣漏口的地标后，进行包裹卸载。
在本公开的一些实施例中，如图1所示，在每个分拣漏口2的四周可以设置前后左右四个地面地标3。
在本公开的一些实施例中，无人分拣设备1可以为分拣车；地面地标3可以为分拣车地标。
在本公开的一些实施例中，无人分拣设备1，用于将承载包裹运送到对应的分拣漏口2，将包裹从车体下面漏到具体的漏口中。
在本公开的一些实施例中，在一个仓库中可以设置有多个无人分拣设备1。
例如：在图1实施例中，所述分拣控制系统可以包括3个无人分拣设备1，3个无人分拣设备1运行于包含16个分拣漏口2的分拣区域，每个分拣漏口2四周设置4个地面地标3。
在本公开的一些实施例中，本公开无人分拣设备1，可以用于在供包台或货架装载多个包裹；获取包裹列表信息，将包裹列表信息发送到分拣控制平台4；接收分拣控制平台4规划的分拣路线；按照分拣路线遍历包裹列表进行行进，将多个包裹依次卸载到对应的目的分拣漏口。
基于本公开上述实施例提供的分拣控制系统，其包含的无人分拣设备(无人分拣车)与相关技术的翻板车相比，一次装载包裹更多(翻板AGV一次只能转载一个包裹)，本公开上述实施例包裹的分拣速度更快，且不用独立的行进车道，相关技术翻板车需要独立的行进车道。
本公开上述实施例提出一种可高效自动分拣AGV，比较之前相关技术的翻板车更加高效，本公开上述实施例可以同时分拣多个包裹，从而提高了分拣效率。
下面具体实施例对图1或图2实施例中无人分拣设备1的结构和功能进行说明。
图3为本公开无人分拣设备一些实施例的示意图。如3所示，本公开无人分拣设备(例如图1或图2实施例的无人分拣设备1)可以包括分拣控制装置11和包裹扫描摄像头12，其中：
包裹扫描摄像头12设置在无人分拣设备1的顶部。
包裹扫描摄像头12，用于在无人分拣设备1在供包台或货架装载多个包裹的情况下，采集包裹信息，识别出包裹；将包裹信息发送给分拣控制装置。
分拣控制装置11，用于获取包裹列表信息，将包裹列表信息发送到分拣控制平台4，以便分拣控制平台4规划分拣路线；接收分拣控制平台4规划的分拣路线；控制无人分拣设备1按照分拣路线遍历包裹列表进行行进，将多个包裹依次卸载到对应的目的分拣漏口。
在本公开的一些实施例中，本公开无人分拣设备可以实现为无人分拣车。
图4为本公开无人分拣设备另一些实施例的侧面示意图。图5为本公开无人分拣设备另一些实施例的正面示意图。图6为本公开无人分拣设备另一些实施例的底部示意图。图4-图6实施例的无人分拣设备除了包含图3实施例的分拣控制装置11(图4-图6中未示出)和包裹扫描摄像头12之外，还可以包括地标摄像头13(如图6所示)，其中：
分拣控制装置11，用于控制无人分拣设备1到达待分拣包裹的目的分拣漏口，其中，地面上设置有多个分拣漏口2，一个分拣漏口2对应一个包裹目的地。
地标摄像头13，设置于无人分拣设备1底部，用于定位地面地标3，以便分拣控制装置11判断当前分拣漏口是否为待分拣包裹的目的分拣漏口，其中，一个地面地标3用于 标识一个分拣漏口2，当前分拣漏口为无人分拣设备1当前所到达的分拣漏口2。
分拣控制装置11还用于在当前分拣漏口为待分拣包裹的目的分拣漏口的情况下，将待分拣包裹卸载到目的分拣漏口中。
在本公开的一些实施例中，地标摄像头13为无人分拣设备1底部用来识别地面地标的装置，无人分拣设备1通过识别地标的信息来控制行进方向。
在本公开的一些实施例中，地标摄像头13的数量和位置与地面地标的数量和位置相对应。
例如：在图6实施例中，所述无人分拣设备包含4个地标摄像头13，以便分别定位分拣漏口2前后左右的4个地面地标，以实现目的分拣漏口的准确定位。
在本公开的一些实施例中，如图4-图6所示，所述无人分拣设备1还可以包括车体包裹分拣口14，其中：
车体包裹分拣口14设置在车体底部。
分拣控制装置11，用于控制车体包裹分拣口14对准的分拣漏口2(即如图5所示的地面包裹分拣口)，使得通过车体包裹分拣口14将待分拣包裹卸载到目的分拣漏口中。地面包裹分拣口是在地面中有包裹卸载口，包裹进入地面包裹分拣口后会流向周转箱或周转袋，装车运送到目的地。
在本公开的一些实施例中，如图4和图5所示，所述无人分拣设备1还可以包括包裹感应装置15，其中：
包裹感应装置15，用于在包裹到达目的分拣漏口、进行包裹分拣卸载的情况下，检测包裹是否掉入目的分拣漏口；在包裹掉入目的分拣漏口的情况下，向分拣控制装置11发送消息，提示包裹成功完成分拣。
本公开上述实施例在一个包裹到达目的分拣漏口后，需要进行包裹分拣卸载时，包裹掉入分拣漏口时会触发包裹感应装置，标识该包裹成功完成分拣。
在本公开的一些实施例中，如图4和图5所示，所述无人分拣设备1还可以包括包裹运输带16，其中：
多层包裹运输带16设置在无人分拣设备1内。
包裹运输带16，用于在无人分拣设备1内，将包裹按顺序进行隔离和运输。
在本公开的一些实施例，无人分拣设备1内可以包含几层的包裹运输带16，以便能多装几个包裹，可以将包裹按顺序进行隔离，保证顺序。
在本公开的一些实施例中，如图4和图5所示，所述无人分拣设备1可以包括三层包 裹运输带16。
在本公开的一些实施例中，所述无人分拣设备1也可以不包括包裹运输带，而采用如小区自提柜那种形式的格挡箱来装载包裹。
在本公开的一些实施例中，如图4-图6所示，所述无人分拣设备1还可以包括万向轮17和动力装置18，其中：
万向轮17，用于根据分拣控制装置11的指令，驱动无人分拣设备1进行前后左右的移动。
动力装置18，用于提供车体移动的动力和包裹运输带16移动的动力。
基于本公开上述实施例提供的无人分拣设备(无人分拣车)，与相关技术的翻板车相比，一次装载包裹更多(翻板AGV一次只能转载一个包裹)，本公开上述实施例包裹的分拣速度更快，且不用独立的行进车道，相关技术翻板车需要独立的行进车道。
本公开上述实施例提出一种可高效自动分拣AGV，比较之前相关技术的翻板车更加高效，本公开上述实施例可以同时分拣多个包裹，从而提高了分拣效率。
图7为本公开分拣控制方法一些实施例的侧面示意图。优选的，本实施例可由本公开分拣控制装置(例如图3实施例的分拣控制装置11)或无人分拣设备(例如图1-图6任一实施例的分拣控制装置)执行。该方法可以包括以下步骤：
步骤71，控制无人分拣设备1装载多个包裹。
在本公开的一些实施例中，在步骤71可以包括：控制无人分拣设备1行进至供包台或货架，自动或人工装载多个包裹到无人分拣设备1。
步骤72，获取包裹列表信息，将包裹列表信息发送到分拣控制平台4。
步骤73，接收分拣控制平台4规划的分拣路线。
步骤74，控制无人分拣设备1按照分拣路线遍历包裹列表进行行进，将多个包裹依次卸载到对应的目的分拣漏口。
在本公开的一些实施例中，在步骤74可以包括：
步骤741，控制无人分拣设备1到达待分拣包裹的目的分拣漏口。
步骤742，通过控制地标摄像头13获取定位地面坐标。
步骤743，判断当前分拣漏口是否为待分拣包裹的目的分拣漏口，其中，当前分拣漏口为无人分拣设备1当前所到达的分拣漏口2。
步骤744，在当前分拣漏口为待分拣包裹的目的分拣漏口的情况下，将待分拣包裹卸 载到目的分拣漏口中。
在本公开的一些实施例中，在步骤74之后，或步骤74进行之中，所述分拣控制方法还可以包括：判断无人分拣设备1是否存在未分拣包裹；在无人分拣设备1存在未分拣包裹的情况下，继续执行步骤74，控制无人分拣设备1到达待分拣包裹的目的分拣漏口；在无人分拣设备1不存在未分拣包裹的情况下，控制无人分拣设备1行进至供包台或货架，执行步骤71。
在本公开的一些实施例中，在步骤71之后，或步骤71进行之中，所述分拣控制方法还可以包括：判断是否接收到分拣开始指令或无人分拣设备1是否装满；在接收到分拣开始指令或无人分拣设备1装满的情况下，执行步骤72；在未接收到分拣开始指令且无人分拣设备1未装满的情况下，继续执行步骤71。
在本公开的一些实施例中，在步骤744之后，所述分拣控制方法还可以包括：通过包裹感应装置15判断待分拣包裹是否已卸载到目的分拣漏口中；在待分拣包裹已卸载到目的分拣漏口中的情况下，通知分拣控制平台4当前包裹分拣完成，之后继续执行步骤74中，按照分拣路线遍历包裹列表进行行进的步骤。
图8为本公开分拣控制方法另一些实施例的侧面示意图。优选的，本实施例可由本公开分拣控制装置(例如图3实施例的分拣控制装置11)或无人分拣设备(例如分拣车)执行。该方法可以包括以下步骤：
步骤81，分拣车在供包台或货架进行包裹装车，可以是人工装载，也可以是自动装载。每个包裹进行分拣车扫描，分拣车识别出该包裹。
步骤82，分拣车扫描每个包裹后，都判断包裹是否满车(每个分拣车的传送带都有一定的包裹承载量)或是否人工触发开始分拣(未满车可以人工触发)；如果为否，继续执行步骤81；如果为是，执行步骤82。
步骤83，分拣车将包裹列表的信息发送给控制系统，控制系统根据包裹列表规划出分拣车的分拣路线返回给分拣车。
步骤84，分拣车按照规划的路线遍历包裹列表进行行进，如果不存在未分拣的包裹，执行步骤85；如果存在，执行步骤86。
步骤85，分拣车行进到包裹分拣台装载包裹，之后执行步骤81。
步骤86，分拣车到达待分拣包裹的目的分拣漏口，采用地标摄像头13定位地面坐标，确定分拣漏口2为待分拣包裹的目的分拣漏口。
步骤87，分拣车最底层传送带将待分拣包裹进行传送，传送到分拣漏口2中。
步骤88，包裹落入分拣漏口2后会触发包裹感应装置15，分拣车通知控制系统当前包裹分拣完成；执行步骤84。
基于本公开上述实施例提供的分拣控制方法，与相关技术的翻板车相比，更加高效，一次装载更多包裹，本公开上述实施例包裹的分拣速度更快，且不用独立的行进车道，相关技术翻板车需要独立的行进车道。本公开上述实施例可以同时分拣多个包裹，从而提高了分拣效率。
图9为本公开分拣控制装置一些实施例的侧面示意图。如图9所示，本公开分拣控制装置(例如图3实施例所述的分拣控制装置11)可以包括装载控制模块111、包裹信息发送模块112、分拣路线接收模块113和卸载控制模块114，其中：
装载控制模块111，用于控制无人分拣设备1在供包台或货架，自动或人工装载多个包裹。
包裹信息发送模块112，用于获取包裹列表信息，将包裹列表信息发送到分拣控制平台4。
分拣路线接收模块113，用于接收分拣控制平台4规划的分拣路线。
卸载控制模块114，用于控制无人分拣设备1按照分拣路线遍历包裹列表进行行进，将多个包裹依次卸载到对应的目的分拣漏口。
在本公开的一些实施例中，卸载控制模块114可以用于控制无人分拣设备1到达待分拣包裹的目的分拣漏口；通过控制地标摄像头13获取定位地面坐标；判断当前分拣漏口是否为待分拣包裹的目的分拣漏口；在当前分拣漏口为待分拣包裹的目的分拣漏口的情况下，将待分拣包裹卸载到目的分拣漏口中。
在本公开的一些实施例中，所述分拣控制装置11用于执行实现如上述任一实施例(例如图7或图8实施例)所述的分拣控制方法的操作。
在本公开的一些实施例中，所述分拣控制装置11还可以用于判断无人分拣设备1是否存在未分拣包裹；在无人分拣设备1存在未分拣包裹的情况下，指示卸载控制模块114继续执行控制无人分拣设备1按照分拣路线遍历包裹列表进行行进，将多个包裹依次卸载到对应的目的分拣漏口的操作；在无人分拣设备1不存在未分拣包裹的情况下，控制无人分拣设备1行进至供包台或货架，指示装载控制模块111继续执行控制无人分拣设备1在包裹分拣台装载多个包裹的操作。
在本公开的一些实施例中，所述分拣控制装置11还可以用于判断是否接收到分拣开 始指令或无人分拣设备1是否装满；在接收到分拣开始指令或无人分拣设备1装满的情况下，指示包裹信息发送模块112执行获取包裹列表信息，将包裹列表信息发送到分拣控制平台4的操作；在未接收到分拣开始指令且无人分拣设备1未装满的情况下，指示装载控制模块111继续执行控制无人分拣设备1在包裹分拣台装载多个包裹的操作。
在本公开的一些实施例中，所述分拣控制装置11还可以用于通过包裹感应装置15判断待分拣包裹是否已卸载到目的分拣漏口中；在待分拣包裹已卸载到目的分拣漏口中的情况下，通知分拣控制平台4当前包裹分拣完成，之后指示卸载控制模块114继续执行控制无人分拣设备1按照分拣路线遍历包裹列表进行行进的操作。
图10为本公开分拣控制装置另一些实施例的侧面示意图。如图10所示，本公开分拣控制装置(例如图3实施例所述的分拣控制装置11)可以包括存储器118和处理器119，其中：
存储器118，用于存储指令。
处理器119，用于执行所述指令，使得所述分拣控制装置11执行实现如上述任一实施例(例如图7或图8实施例)所述的分拣控制方法的操作。
基于本公开上述实施例提供的分拣控制装置，与相关技术的翻板车相比，更加高效，一次装载更多包裹，本公开上述实施例包裹的分拣速度更快，且不用独立的行进车道，相关技术翻板车需要独立的行进车道。本公开上述实施例可以同时分拣多个包裹，从而提高了分拣效率。
根据本公开的另一方面，提供一种计算机可读存储介质，其中，所述计算机可读存储介质存储有计算机指令，所述指令被处理器执行时实现如上述任一实施例(例如图7或图8实施例)所述的分拣控制方法。
基于本公开上述实施例提供的计算机可读存储介质，与相关技术的翻板车相比，更加高效，一次装载更多包裹，本公开上述实施例包裹的分拣速度更快，且不用独立的行进车道，相关技术翻板车需要独立的行进车道。本公开上述实施例可以同时分拣多个包裹，从而提高了分拣效率。
在上面所描述的分拣控制装置和分拣控制平台可以实现为用于执行本申请所描述功能的通用处理器、可编程逻辑控制器(PLC)、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻 辑器件、分立硬件组件或者其任意适当组合。
至此，已经详细描述了本公开。为了避免遮蔽本公开的构思，没有描述本领域所公知的一些细节。本领域技术人员根据上面的描述，完全可以明白如何实施这里公开的技术方案。
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指示相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。
本公开的描述是为了示例和描述起见而给出的，而并不是无遗漏的或者将本公开限于所公开的形式。很多修改和变化对于本领域的普通技术人员而言是显然的。选择和描述实施例是为了更好说明本公开的原理和实际应用，并且使本领域的普通技术人员能够理解本公开从而设计适于特定用途的带有各种修改的各种实施例。

Claims (18)

  1. 一种分拣控制方法，包括：
    控制无人分拣设备装载多个包裹；
    获取包裹列表信息，将包裹列表信息发送到分拣控制平台；
    接收分拣控制平台规划的分拣路线；
    控制无人分拣设备按照分拣路线遍历包裹列表进行行进，将多个包裹依次卸载到对应的目的分拣漏口。
  2. 根据权利要求1所述的分拣控制方法，其中，所述控制无人分拣设备按照分拣路线遍历包裹列表进行行进，将多个包裹依次卸载到对应的目的分拣漏口包括：
    控制无人分拣设备到达待分拣包裹的目的分拣漏口；
    通过控制地标摄像头获取定位地面坐标；
    判断当前分拣漏口是否为待分拣包裹的目的分拣漏口；
    在当前分拣漏口为待分拣包裹的目的分拣漏口的情况下，将待分拣包裹卸载到目的分拣漏口中。
  3. 根据权利要求2所述的分拣控制方法，其中，
    所述控制无人分拣设备装载多个包裹包括：控制无人分拣设备从供包台或货架装载多个包裹；
    所述分拣控制方法还包括：
    判断无人分拣设备是否存在未分拣包裹；
    在无人分拣设备存在未分拣包裹的情况下，执行控制无人分拣设备到达待分拣包裹的目的分拣漏口的步骤；
    在无人分拣设备不存在未分拣包裹的情况下，控制无人分拣设备行进至供包台或货架，执行控制无人分拣设备装载多个包裹的步骤。
  4. 根据权利要求1-3中任一项所述的分拣控制方法，还包括：
    判断是否接收到分拣开始指令或无人分拣设备是否装满；
    在接收到分拣开始指令或无人分拣设备装满的情况下，执行获取包裹列表信息，将 包裹列表信息发送到分拣控制平台的步骤；
    在未接收到分拣开始指令且无人分拣设备未装满的情况下，继续执行控制无人分拣设备装载多个包裹的步骤。
  5. 根据权利要求1-3中任一项所述的分拣控制方法，还包括：
    通过包裹感应装置判断待分拣包裹是否已卸载到目的分拣漏口中；
    在待分拣包裹已卸载到目的分拣漏口中的情况下，通知分拣控制平台当前包裹分拣完成，之后继续执行按照分拣路线遍历包裹列表进行行进的步骤。
  6. 根据权利要求2或3所述的分拣控制方法，所述将待分拣包裹卸载到目的分拣漏口中包括：
    控制多层包裹运输带将待分拣包裹进行传送，传送到目的分拣漏口中。
  7. 一种分拣控制装置，包括：
    装载控制模块，用于控制无人分拣设备装载多个包裹；
    包裹信息发送模块，用于获取包裹列表信息，将包裹列表信息发送到分拣控制平台；
    分拣路线接收模块，用于接收分拣控制平台规划的分拣路线；
    卸载控制模块，用于控制无人分拣设备按照分拣路线遍历包裹列表进行行进，将多个包裹依次卸载到对应的目的分拣漏口；
    其中，所述分拣控制装置用于执行实现如权利要求1-6中任一项所述的分拣控制方法的操作。
  8. 一种分拣控制装置，包括：
    存储器，用于存储指令；
    处理器，用于执行所述指令，使得所述分拣控制装置执行实现如权利要求1-6中任一项所述的分拣控制方法的操作。
  9. 一种无人分拣设备，包括：
    包裹扫描摄像头，设置在无人分拣设备的顶部；用于在无人分拣设备装载多个包裹的情况下，采集包裹信息，识别出包裹，将包裹信息发送给分拣控制装置；
    分拣控制装置，用于获取包裹列表信息，将包裹列表信息发送到分拣控制平台，以便分拣控制平台规划分拣路线；接收分拣控制平台规划的分拣路线；控制无人分拣设备按照分拣路线遍历包裹列表进行行进，将多个包裹依次卸载到对应的目的分拣漏口。
  10. 根据权利要求9所述的无人分拣设备，还包括地标摄像头，其中：
    分拣控制装置还用于控制无人分拣设备到达待分拣包裹的目的分拣漏口，其中，地面上设置有多个分拣漏口，一个分拣漏口对应一个包裹目的地；
    地标摄像头，设置于无人分拣设备底部，用于定位地面地标，以便分拣控制装置判断当前分拣漏口是否为待分拣包裹的目的分拣漏口，其中，一个地面地标用于标识一个分拣漏口；
    分拣控制装置还用于在当前分拣漏口为待分拣包裹的目的分拣漏口的情况下，将待分拣包裹卸载到目的分拣漏口中。
  11. 根据权利要求10所述的无人分拣设备，还包括：
    车体包裹分拣口，设置在车体底部；
    其中，分拣控制装置还用于控制车体包裹分拣口对准的分拣漏口，使得通过车体包裹分拣口将待分拣包裹卸载到目的分拣漏口中。
  12. 根据权利要求11所述的无人分拣设备，还包括：
    包裹感应装置，用于在包裹到达目的分拣漏口、进行包裹分拣卸载的情况下，检测包裹是否掉入目的分拣漏口；在包裹掉入目的分拣漏口的情况下，向分拣控制装置发送消息，提示包裹成功完成分拣。
  13. 根据权利要求9-12中任一项所述的无人分拣设备，还包括：
    多层包裹运输带，设置在无人分拣设备内，用于将包裹按顺序进行隔离和运输。
  14. 根据权利要求13所述的无人分拣设备，还包括：
    万向轮，用于根据分拣控制装置的指令，驱动无人分拣设备进行前后左右的移动；
    动力装置，用于提供车体移动的动力和包裹运输带移动的动力。
  15. 根据权利要求9-12中任一项所述的无人分拣设备，其中，所述分拣控制装置为如权利要求7或8所述的分拣控制装置。
  16. 一种分拣控制系统，包括分拣控制平台和无人分拣设备，其中：
    分拣控制平台，用于接收无人分拣设备发送的包裹列表信息；根据包裹列表信息规划分拣路线，并将分拣路线下发给无人分拣设备；
    无人分拣设备，用于控制无人分拣设备装载多个包裹；获取包裹列表信息，将包裹列表信息发送到分拣控制平台；接收分拣控制平台规划的分拣路线；控制无人分拣设备按照分拣路线遍历包裹列表进行行进，将多个包裹依次卸载到对应的目的分拣漏口；
    其中，无人分拣设备为如权利要求9-15中任一项所述的分拣控制装置。
  17. 根据权利要求16所述的分拣控制系统，还包括：
    分拣漏口，设置于地面上，其中，一个分拣漏口对应一个包裹目的地；
    地面地标，设置于地面上，用于标识分拣漏口，其中，一个地面地标用于标识一个分拣漏口；
    其中，无人分拣设备还用于按照地面地标进行包裹分拣行进，到达目的分拣漏口的地标后，进行包裹卸载。
  18. 一种计算机可读存储介质，其中，所述计算机可读存储介质存储有计算机指令，所述指令被处理器执行时实现如权利要求1-6中任一项所述的分拣控制方法。
PCT/CN2020/109720 2019-10-29 2020-08-18 分拣控制方法、装置、平台和系统、无人分拣设备 WO2021082641A1 (zh)

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