WO2022021561A1 - Goods sorting system and sorting method - Google Patents

Goods sorting system and sorting method Download PDF

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Publication number
WO2022021561A1
WO2022021561A1 PCT/CN2020/115312 CN2020115312W WO2022021561A1 WO 2022021561 A1 WO2022021561 A1 WO 2022021561A1 CN 2020115312 W CN2020115312 W CN 2020115312W WO 2022021561 A1 WO2022021561 A1 WO 2022021561A1
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Prior art keywords
sorting
receiving table
control unit
transparent
recognition
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PCT/CN2020/115312
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French (fr)
Chinese (zh)
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赵雍
卢贤刚
孙文平
王康康
丁有爽
邵天兰
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梅卡曼德(北京)机器人科技有限公司
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Priority to CN202010749970.7A priority Critical patent/CN111672774B/en
Priority to CN202010749970.7 priority
Application filed by 梅卡曼德(北京)机器人科技有限公司 filed Critical 梅卡曼德(北京)机器人科技有限公司
Publication of WO2022021561A1 publication Critical patent/WO2022021561A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/34Sorting according to other particular properties
    • B07C5/3412Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/02Measures preceding sorting, e.g. arranging articles in a stream orientating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/361Processing or control devices therefor, e.g. escort memory

Abstract

A goods sorting system, an acquisition unit (100) of the sorting system comprising a 3D intelligent camera (101) and a mechanical arm (120). A control unit (400) recognizes a mixing box by means of the 3D intelligent camera (101) and controls the mechanical arm (102) to drive a clamp (103) to move so as to acquire goods from the mixing box and further move to an order recognition unit (200). The order recognition unit (200) comprises a transparent recognition table (201) and order recognition cameras (202) which face the transparent recognition table (201) and are in communicative connection with a control unit (400). The placement space on the surface of the transparent recognition table (201) is fully covered by the field of view of the order recognition cameras (202) such that the control unit (400) recognizes the order corresponding to the goods. A recognition response unit (300) comprises a sorting pusher (302), a sorting receiving table (303), a receiving table transmission part (304), and sorting boxes (305) which are arranged at certain scale positions of the receiving table transmission part (304). Thus the control unit (400) can push the goods to the sorting receiving table (303) according to the match result, and the receiving table transmission part (304) places the goods into the corresponding sorting box (305).

Description

一种货品分拣系统及分拣方法A kind of goods sorting system and sorting method 技术领域technical field
本申请涉及仓储物流智能化领域,尤其涉及一种货品分拣系统及分拣方法。The present application relates to the field of warehousing and logistics intelligence, and in particular, to a product sorting system and sorting method.
背景技术Background technique
仓储物流,即对多种类海量货品进行存储管理、且根据出库需求拣选货品并输出,出库需求通常以电商平台上购买者的订单为准。通常理解,根据单笔订单拣选相应货品并进行出库,而完成一次拣选。然而现实情况中由于大多购买者零散下单,因此一次根据多笔订单拣选相应货品存放至混料框,以实现批量处理、提高拣选效率。进而,在出库之前需要增加“分拣”环节,将混料框中的各货品依据订单进行分类。Warehousing and logistics refers to the storage and management of various types of massive goods, and the selection and output of goods according to the outbound requirements. The outbound requirements are usually subject to the purchaser's order on the e-commerce platform. It is generally understood that a pick is completed by picking the corresponding item according to a single order and carrying it out of the warehouse. However, in reality, since most buyers place orders scatteredly, the corresponding products are selected according to multiple orders at a time and stored in the mixing box to realize batch processing and improve picking efficiency. Furthermore, it is necessary to add a "sorting" link before leaving the warehouse, and classify each item in the mixing box according to the order.
目前,“分拣”主要依赖人工操作进行,若电商平台下单量增加,随即产生差错率高、分拣速度慢、劳动成本大等问题。At present, "sorting" mainly relies on manual operations. If the number of orders placed on the e-commerce platform increases, problems such as high error rate, slow sorting speed, and high labor costs will arise.
发明内容SUMMARY OF THE INVENTION
本申请旨在至少在一定程度上解决相关技术中的技术问题之一。The present application aims to solve one of the technical problems in the related art at least to a certain extent.
为此,第一方面,本发明实施例提供一种货品分拣系统,包括:获取单元、订单识别单元、识别响应单元以及控制单元;To this end, in a first aspect, an embodiment of the present invention provides a product sorting system, including: an acquisition unit, an order identification unit, an identification response unit, and a control unit;
获取单元包括:与控制单元通信连接的3D智能相机、以及与控制单元通信连接的机械手臂,其中,3D智能相机被控制单元控制拍摄混料框,机械手臂根据控制单元发出的信息进行移动,机械手臂的操作末端固定有与控制单元通信连接的夹具,夹具通过机械手臂带动移动并受控制单元的控制而启停以从混料框获取货品至订单识别单元;The acquisition unit includes: a 3D smart camera communicatively connected to the control unit, and a robotic arm communicatively connected to the control unit, wherein the 3D smart camera is controlled by the control unit to shoot the mixing frame, and the robotic arm moves according to information sent by the control unit, and the mechanical The operating end of the arm is fixed with a fixture that is connected to the control unit in communication, and the fixture is driven by the mechanical arm to move and is controlled by the control unit to start and stop to obtain the goods from the mixing box to the order recognition unit;
订单识别单元包括:透明识别台、以及面向透明识别台放置的与控制单元通信连接的订单识别相机,透明识别台的台面放置空间被订单识别相机的拍摄视野全覆盖,订单识别相机受控制单元控制拍摄台面放置空间内的货品;The order recognition unit includes: a transparent recognition table, and an order recognition camera placed facing the transparent recognition table and connected to the control unit. The table placement space of the transparent recognition table is fully covered by the shooting field of view of the order recognition camera, and the order recognition camera is controlled by the control unit. Photograph the goods in the space on the countertop;
识别响应单元包括:与控制单元通信连接的分类推送器、分类接料台、与控制单元通信连接的接料台传送部、以及设置在接料台传送部的某些刻度位置的分类料框;分类接料台设置在透明识别台的分类推送器所在侧的相对侧;接料台传送部使分类接料台在各刻度位置间移动,以使分类接料台在不同分类料框间移动;透明识别台所在平面高于分类接料台的最高面;The identification and response unit includes: a sorting pusher connected to the control unit, a sorting receiving table, a receiving table conveying part communicatively connected with the control unit, and a sorting material frame arranged at some scale positions of the receiving table conveying part; The sorting and receiving table is arranged on the opposite side of the side where the sorting pusher of the transparent identification table is located; the conveying part of the receiving table makes the sorting and receiving table move between the scale positions, so that the sorting and receiving table moves between different sorting material frames; The plane where the transparent identification table is located is higher than the highest plane of the sorting and receiving table;
控制单元用于控制3D智能相机、订单识别相机拍摄,并接收3D智能相机、订单识别 相机反馈的数据进行识别,根据识别结果控制夹具、分类推送器的启停,以及根据识别结果向接料台传送部、机械手臂发送信息使夹具、分类接料台移动至相应位置。The control unit is used to control the 3D smart camera and the order recognition camera to shoot, and to receive the data fed back by the 3D smart camera and the order recognition camera for recognition. The transmission part and the robotic arm send information to move the fixture and the sorting and receiving table to the corresponding position.
部分可选实施例中,透明识别台为矩形,分类推送器与分类接料台在透明识别台的一对边。In some optional embodiments, the transparent identification table is rectangular, and the classification pusher and the classification receiving table are on a pair of sides of the transparent identification table.
部分可选实施例中,订单识别相机的数量为6,包括:第一订单识别相机设置在距离透明识别台上表面d1处,第二订单识别相机设置在距离透明识别台下表面d2处,第三订单识别相机设置在距离透明识别台第一顶点的d3处,第四订单识别相机设置在距离透明识别台第二顶点的d4处,第五订单识别相机设置在距离透明识别台第三顶点的d5处,第六订单识别相机设置在距离透明识别台第四顶点的d6处。In some optional embodiments, the number of order recognition cameras is 6, including: the first order recognition camera is arranged at a distance d1 from the upper surface of the transparent recognition stage, the second order recognition camera is arranged at a distance from the lower surface of the transparent recognition stage d2, The third order recognition camera is set at d3 from the first vertex of the transparent recognition stage, the fourth order recognition camera is set at d4 from the second vertex of the transparent recognition stage, and the fifth order recognition camera is set at d4 from the third vertex of the transparent recognition stage At d5, the sixth order recognition camera is set at d6 from the fourth vertex of the transparent recognition stage.
部分可选实施例中,分类推送器包括气缸,气缸的输出端形成推送面,推送面的宽度与透明识别台尺寸相匹配。In some optional embodiments, the sorting pusher includes an air cylinder, the output end of the air cylinder forms a pushing surface, and the width of the pushing surface matches the size of the transparent identification table.
部分可选实施例中,接料台传送部包括水平线性模组、竖直线性模组、以及接料台翻转机构;竖直线性模组的端部与水平线性模组的滑块固定;接料台翻转机构与竖直线性模组的滑块固定以在竖直线性模组上滑动,接料台翻转机构的输出端与分类接料台相固定并受控制单元控制旋转以使分类接料台翻转。In some optional embodiments, the conveying part of the receiving table includes a horizontal linear module, a vertical linear module, and a turning mechanism of the receiving table; the end of the vertical linear module is fixed with the slider of the horizontal linear module; The material table turning mechanism is fixed with the slider of the vertical linear module to slide on the vertical linear module. The output end of the material receiving table turnover mechanism is fixed with the sorting material receiving table and is controlled by the control unit to rotate to make the sorting material receiving Table flips.
部分可选实施例中,透明识别台与分类接料台间设置分类滑槽。In some optional embodiments, a sorting chute is arranged between the transparent identification table and the sorting and receiving table.
部分可选实施例中,本申请实施例的系统还包括:分类货架;分类料框放置在分类货架上。In some optional embodiments, the system of the embodiments of the present application further includes: a sorting shelf; and a sorting material frame is placed on the sorting shelf.
部分可选实施例中,本申请实施例的系统还包括:料框传送部,料框传送部从3D智能相机下端始,穿过透明识别台下侧而延伸;控制单元还用于控制料框传送部的启停。In some optional embodiments, the system of the embodiment of the present application further includes: a material frame conveying part, the material frame conveying part starts from the lower end of the 3D smart camera and extends through the lower side of the transparent identification stage; the control unit is further configured to control the material frame The start and stop of the transmission section.
部分可选实施例中,本申请实施例的系统还包括:回退推送器,回退推送器面向透明识别台且设置在透明识别台的混料框所在侧的相对侧,且,回退推送器从透明识别台的分类推送器所在侧的相邻侧面向透明识别台放置,以避免进行推送操作时与分类推送器相碰撞。In some optional embodiments, the system of the embodiment of the present application further includes: a retracting pusher, the retracting pusher faces the transparent identification table and is arranged on the opposite side of the side where the mixing frame of the transparent identification table is located, and the retracting pusher is The pusher is placed from the adjacent side of the transparent identification table where the sorting pusher is located to the transparent identification table, so as to avoid collision with the sorting pusher during the push operation.
第二方面,本申请实施例提供一种货品分拣方法,包括:In a second aspect, an embodiment of the present application provides a method for sorting goods, including:
控制3D智能相机拍摄混料框,并接收3D智能相机所拍摄的第一数据;Control the 3D smart camera to shoot the mixing frame, and receive the first data captured by the 3D smart camera;
识别第一数据确定当前最优获取货品,并计算最优获取货品的位置姿态;Identify the first data to determine the current optimally obtained goods, and calculate the position and attitude of the optimally obtained goods;
根据位置姿态确定获取信息,发送获取信息至机械手臂,以使得固定在机械手臂的操作末端的夹具移动到获取位置并形成获取姿态;Determine the acquisition information according to the position and attitude, and send the acquisition information to the robotic arm, so that the fixture fixed at the operation end of the robotic arm moves to the acquisition position and forms the acquisition attitude;
控制夹具启动,以获取最优获取货品;Control the start of the fixture to obtain the best acquisition of goods;
发送预规划的机械手臂的操作末端的移动路径,使得夹具获取的最优获取货品被带动移动至透明识别台的台面放置空间,控制夹具停止,将最优获取货品放置台面放置空间;Send the pre-planned moving path of the operation end of the robotic arm, so that the optimally obtained goods obtained by the fixture are driven to move to the table placement space of the transparent identification table, control the fixture to stop, and place the optimally acquired goods in the table placement space;
控制订单识别相机拍摄最优获取货品,并接收订单识别相机所拍摄的第二数据;在预设订单标识集中匹配与第二数据中的订单标识相对应的目标标识,控制分类推送器启动将最优获取货品推送至分类接料台,并根据目标标识的匹配结果控制接料台传送部将分类接料台运送至与目标标识相对应的分类料框处并将最优获取货品置入。Control the order recognition camera to photograph the optimally obtained goods, and receive the second data captured by the order recognition camera; match the target identifier corresponding to the order identifier in the second data in the preset order identifier set, and control the classification pusher to start the most The optimally obtained goods are pushed to the sorting and receiving table, and according to the matching result of the target identification, the transmission part of the receiving table is controlled to transport the sorting and receiving table to the sorting material frame corresponding to the target identification, and the optimally obtained goods are placed.
部分可选实施例中,本申请实施例的方法,还包括:In some optional embodiments, the methods of the embodiments of the present application further include:
若识别到混料框中无货品,则控制料框传送部启动,将下一个混料框移动至3D智能相机的拍摄视野。If it is recognized that there is no product in the mixing box, the control material box conveying part is activated to move the next mixing box to the shooting field of view of the 3D smart camera.
部分可选实施例中,若匹配成功,则控制接料台传送部将分类接料台运送至目标标识相对应的分类料框处并将最优获取货品置入;若匹配失败,则控制接料台传送部将分类接料台运送至匹配失败类对应的分类料框处并将最优获取货品置入。In some optional embodiments, if the matching is successful, the conveying part of the control receiving table will be transported to the classification material frame corresponding to the target identification and the optimally obtained goods will be placed; if the matching fails, the receiving part will be controlled. The material table transfer part transports the classification material receiving table to the classification material frame corresponding to the matching failure class and places the optimally obtained goods.
本申请提供的一种货品分拣系统,包括获取单元100、订单识别单元200、识别相应单元300、以及控制单元400,可以实现基于机器的智能分拣,代替人工操作,随即解决了现有技术中差错率高、分拣速度慢、劳动成本大等问题。此外,本申请实施例中的订单识别单元200的订单识别相机202可以对透明识别台201上的货品进行各角度无视野死角扫描,进而提高了对于货品的识别精准度,相对于现有技术,进一步提高了分拣速度、降低了差错率。A product sorting system provided by the present application includes an acquisition unit 100, an order identification unit 200, a corresponding identification unit 300, and a control unit 400, which can realize machine-based intelligent sorting instead of manual operation, and immediately solve the problem of the prior art. There are problems such as high error rate, slow sorting speed and high labor cost. In addition, the order recognition camera 202 of the order recognition unit 200 in the embodiment of the present application can scan the goods on the transparent recognition table 201 from various angles without blind spots, thereby improving the recognition accuracy of the goods. Compared with the prior art, The sorting speed is further improved and the error rate is reduced.
本申请提供的一种货品分拣方法,基于电子设备对货品分拣系统进行控制,实现了基于机器的智能分拣,代替人工操作,随即解决了现有技术中差错率高、分拣速度慢、劳动成本大等问题。A product sorting method provided by the present application controls the product sorting system based on electronic equipment, realizes intelligent sorting based on machines, replaces manual operation, and immediately solves the problems of high error rate and slow sorting speed in the prior art. , high labor costs, etc.
附图说明Description of drawings
本申请上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解,其中:The above and/or additional aspects and advantages of the present application will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:
图1为本申请实施例提供的货品分拣系统的一结构示意图;1 is a schematic structural diagram of a product sorting system provided by an embodiment of the present application;
图2为本申请实施例提供的货品分拣系统的获取单元的一结构示意图;2 is a schematic structural diagram of an acquisition unit of a product sorting system provided by an embodiment of the present application;
图3a为本申请实施例提供的货品分拣系统的订单识别单元的一结构示意图;3a is a schematic structural diagram of an order identification unit of a product sorting system according to an embodiment of the present application;
图3b为本申请实施例提供的货品分拣系统的相机安装架的一结构示意图;FIG. 3b is a schematic structural diagram of a camera mounting frame of a product sorting system according to an embodiment of the present application;
图4a为本申请实施例提供的货品分拣系统的推送器的可选位置关系示意图;4a is a schematic diagram of an optional positional relationship of a pusher of a product sorting system according to an embodiment of the present application;
图4b为本申请实施例提供的货品分拣系统的推送器的可选结构示意图;FIG. 4b is a schematic diagram of an optional structure of a pusher of a product sorting system according to an embodiment of the present application;
图4c为本申请实施例提供的货品分拣系统的识别响应单元的结构示意图;FIG. 4c is a schematic structural diagram of an identification response unit of a product sorting system provided by an embodiment of the present application;
图4d-图4f为本申请实施例提供的货品分拣系统的接料台传送部的可选结构原理示意图;4d-4f are schematic schematic diagrams of optional structures of the transfer part of the receiving table of the product sorting system according to the embodiment of the present application;
图4g为本申请实施例提供的货品分拣系统的接料台翻转机构的一结构示意图;FIG. 4g is a schematic structural diagram of the overturning mechanism of the receiving table of the product sorting system according to the embodiment of the application;
图4h为本申请实施例提供的货品分拣系统的接料台传送部的一结构示意图;FIG. 4h is a schematic structural diagram of the conveying part of the receiving table of the product sorting system according to the embodiment of the application;
图4i为本申请实施例提供的货品分拣系统的接料台传送部的另一结构示意图;FIG. 4i is another schematic structural diagram of the transfer part of the receiving table of the product sorting system according to the embodiment of the application;
图4j为本申请实施例提供的货品分拣系统的另一结构示意图;FIG. 4j is another schematic structural diagram of a product sorting system provided by an embodiment of the present application;
图4k为本申请实施例提供的货品分拣系统的又一结构示意图;FIG. 4k is another schematic structural diagram of a product sorting system provided by an embodiment of the present application;
图5a-图5d为本申请实施例提供的货品分拣系统的控制单元的通信关系示意图;5a-5d are schematic diagrams of communication relationships of the control unit of the product sorting system according to the embodiment of the present application;
图6是本发明可选实施例的电子设备的结构框图。FIG. 6 is a structural block diagram of an electronic device according to an optional embodiment of the present invention.
附图标记:Reference number:
获取单元-100、3D智能相机-101、机械手臂-102、夹具-103、3D智能相机支架-104、订单识别单元-200、透明识别台-201、订单识别相机-202、第一订单识别相机-2021、第二订单识别相机-2022、第三订单识别相机-2023、第四订单识别相机-2024、第五订单识别相机-2025、第六订单识别相机-2026、识别单元支架-203、识别相机安装架-204、相机安装孔-2041、安装架固定孔-2042、旋转弧形孔道-2043、Acquisition Unit-100, 3D Smart Camera-101, Robot Arm-102, Fixture-103, 3D Smart Camera Stand-104, Order Recognition Unit-200, Transparent Recognition Stage-201, Order Recognition Camera-202, First Order Recognition Camera -2021, 2nd order recognition camera-2022, 3rd order recognition camera-2023, 4th order recognition camera-2024, 5th order recognition camera-2025, 6th order recognition camera-2026, recognition unit bracket-203, recognition Camera mounting bracket-204, camera mounting hole-2041, mounting bracket fixing hole-2042, rotating arc hole-2043,
识别响应单元-300、回退推送器-301、分类推送器-302、气缸-3010、条状刚性件-3011、定向支架-3012、定向滑块-3013、滑道-3014、分类接料台-303、接料台传送部-304、水平线性模组-3041、竖直线性模组-3042、接料台翻转机构3043、电机-30410、锥齿轮-30411、丝杆30412、滑块30413、同步杆-30414、旋转气缸-30415、分类料框-305、分类货架-3051、分类滑槽-3052、回退滑槽-3053、Identification Response Unit-300, Backward Pusher-301, Sorting Pusher-302, Cylinder-3010, Strip Rigid Part-3011, Orientation Bracket-3012, Orientation Slider-3013, Slideway-3014, Sorting Table -303, receiving table transmission part-304, horizontal linear module-3041, vertical linear module-3042, receiving table turning mechanism 3043, motor-30410, bevel gear-30411, screw 30412, slider 30413, Synchronous rod-30414, rotary cylinder-30415, sorting material frame-305, sorting rack-3051, sorting chute-3052, retracting chute-3053,
控制单元-400、料框传送部-500。Control unit-400, material frame conveying part-500.
具体实施方式detailed description
下面详细描述本申请的实施例,实施例的示例在附图中示出,其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的,旨在用于解释本申请,而不能理解为对本申请的限制。Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to be used to explain the present application, but should not be construed as a limitation to the present application.
第一方面,本申请实施例提供一种货品分拣系统,下面参考附图描述本申请实施例的分拣系统。In a first aspect, an embodiment of the present application provides a product sorting system, and the sorting system of the embodiment of the present application is described below with reference to the accompanying drawings.
如图1所示,本申请实施例的一种货品分拣系统,包括:获取单元100、订单识别单元200、识别响应单元300以及控制单元400。As shown in FIG. 1 , a product sorting system according to an embodiment of the present application includes: an acquisition unit 100 , an order identification unit 200 , an identification response unit 300 , and a control unit 400 .
获取单元100受控制单元400控制而获取混料框内的货品,运送至订单识别单元200,订单识别单元200获取货品各表面,以支持控制单元400识别匹配订单标识,识别响应单元300根据识别匹配结果,将货品运送至相应位置。进而完成一个货品的分拣。The acquisition unit 100 is controlled by the control unit 400 to acquire the goods in the mixing box, and deliver them to the order recognition unit 200. The order recognition unit 200 acquires each surface of the goods to support the control unit 400 to recognize and match the order identifier, and the recognition response unit 300 matches the recognition As a result, the goods are delivered to the corresponding locations. Then complete the sorting of an item.
以下将结合各单元的截图,分别对获取单元100、订单识别单元200、识别响应单元300、及控制单元400进行介绍。The acquisition unit 100 , the order identification unit 200 , the identification response unit 300 , and the control unit 400 will be introduced below in conjunction with the screenshots of each unit.
获取单元100可如图2所示,包括:与控制单元400通信连接的3D智能相机101、以及与控制单元400通信连接的机械手臂102。3D智能相机101被控制单元400控制拍摄混料框,并返回拍摄图像至控制单元400,进而控制单元400对混料框内货品分布情况进行识别判断确定最容易获取的货品,而后确定机械手臂102获取该货品的信息,机械手臂102根据控制单元400发出的信息进行移动,移动至所确定货品处,机械手臂102的操作末端固定有与控制单元400通信连接的夹具103,夹具103通过机械手臂102带动移动,当机械手臂102按照上述信息移动至所确定货品处,夹具103正处于对准所确定货品的状态,进而夹具103受控制单元400的控制而启停以从混料框获取货品,并移动至订单识别单元200。As shown in FIG. 2 , the acquisition unit 100 may include: a 3D smart camera 101 communicatively connected to the control unit 400 , and a robotic arm 102 communicatively connected to the control unit 400 . The 3D smart camera 101 is controlled by the control unit 400 to shoot the mixing frame, And return the captured image to the control unit 400, and then the control unit 400 recognizes and judges the distribution of the goods in the mixing frame to determine the most easily obtained goods, and then determines that the robotic arm 102 obtains the information of the goods, and the robotic arm 102 sends the information according to the control unit 400. The information of the robot arm 102 is moved to the determined goods. The operation end of the robot arm 102 is fixed with a clamp 103 that is communicatively connected to the control unit 400. The clamp 103 is driven to move by the robot arm 102. When the robot arm 102 moves to the determined product according to the above information At the goods, the jig 103 is in the state of being aligned with the determined goods, and then the jig 103 is controlled by the control unit 400 to start and stop to obtain the goods from the mixing box and move to the order recognition unit 200 .
部分实施例中,混料框放置在地面或者高于地面的某一平台,3D智能相机101位于混料框上方,镜头向下朝向混料框以拍摄混料框内货品。若分拣环境在室内,则3D智能相机101可固定在屋顶,可选地,3D智能相机101可固定在3D智能相机支架104上,实现相机位置的灵活调整。3D智能相机支架104可如图2所示。In some embodiments, the mixing frame is placed on the ground or a platform higher than the ground, the 3D smart camera 101 is located above the mixing frame, and the lens faces the mixing frame downward to photograph the goods in the mixing frame. If the sorting environment is indoors, the 3D smart camera 101 can be fixed on the roof. Optionally, the 3D smart camera 101 can be fixed on the 3D smart camera bracket 104 to realize flexible adjustment of the camera position. The 3D smart camera mount 104 may be as shown in FIG. 2 .
对于所分拣货品,可以为物流行业的任意可以装进料筐的小型货品,本申请实施例不做具体限定。The sorted goods may be any small goods in the logistics industry that can be loaded into feeding baskets, which are not specifically limited in the embodiments of the present application.
需要说明的是,部分实施例中的“获取”,即为夹具103通过某种方式,实现其本身与一货品的固定关系,使得该货品被夹具103带动移动。可选地,夹具103角度可调。夹具103的获取方式可以为吸盘吸取,当夹具103受控制单元400控制而启动,吸盘内部处于真空状态,进而可以吸取货品完成获取操作。在另一部分实施例中,夹具103的获取方式还可以为夹爪抓取,当夹具103受控制单元400控制而启动,夹爪闭合,进而可以抓取货品完成获取操作。It should be noted that “acquiring” in some embodiments means that the fixture 103 achieves a fixed relationship between itself and a product in a certain way, so that the product is driven to move by the fixture 103 . Optionally, the angle of the clamp 103 is adjustable. The acquisition method of the gripper 103 may be suction by a suction cup. When the gripper 103 is activated under the control of the control unit 400 , the inside of the suction cup is in a vacuum state, and then the product can be suctioned to complete the obtaining operation. In another part of the embodiment, the acquisition method of the fixture 103 can also be grasping by the clamping jaws. When the clamping fixture 103 is activated under the control of the control unit 400, the clamping jaws are closed, and then the goods can be grasped to complete the acquisition operation.
对于机械手臂102,本申请实施例不做具体限定,部分实施例中,机械手臂102可以为6轴工业机器人手臂、或者4轴工业机器人手臂。The robotic arm 102 is not specifically limited in the embodiments of the present application. In some embodiments, the robotic arm 102 may be a 6-axis industrial robot arm or a 4-axis industrial robot arm.
订单识别单元200可以包括:透明识别台201、以及面向透明识别台201放置的与控制单元400通信连接的订单识别相机202,透明识别台201的台面放置空间被订单识别相机202的拍摄视野全覆盖,订单识别相机202受控制单元400控制拍摄台面放置空间内的货品。The order recognition unit 200 may include: a transparent recognition table 201 and an order recognition camera 202 placed facing the transparent recognition table 201 and connected to the control unit 400 in communication, the table placement space of the transparent recognition table 201 is fully covered by the shooting field of view of the order recognition camera 202 , the order recognition camera 202 is controlled by the control unit 400 to photograph the goods in the space on the table top.
透明识别台201用于放置货品,使得订单识别相机202对货品进行无视野死角拍摄,以识别货品所对应的订单标识,为后续识别相应单元300提供识别结果。The transparent identification table 201 is used to place the goods, so that the order identification camera 202 can take pictures of the goods without a blind angle, so as to identify the order identification corresponding to the goods, and provide the identification result for the subsequent identification corresponding unit 300 .
本领域技术人员可以理解到的是,某一空间被某一视野全覆盖的含义,即该视野可以从任意角度观察被覆盖空间,正如视野范围形成球形,而被覆盖空间位于球形内。部分实施例中,可在透明识别台201周围布设多个订单识别相机202以实现拍摄视野全覆盖于透明识别台201的台面放置空间。可选地,多个订单识别相机202可以布设在透明识别台201的上面、下面、前面、后面、左面、右面;或者,可以布设在透明识别台201的上面、下面、以及台面所形成的形状的对角线延伸线上。Those skilled in the art can understand the meaning that a certain space is completely covered by a certain field of view, that is, the field of view can observe the covered space from any angle, just as the field of view forms a sphere, and the covered space is located within the sphere. In some embodiments, a plurality of order recognition cameras 202 may be arranged around the transparent recognition table 201 to realize that the shooting field of view completely covers the table placement space of the transparent recognition table 201 . Optionally, a plurality of order recognition cameras 202 may be arranged on the top, bottom, front, back, left, and right sides of the transparent recognition table 201; the diagonal extension line.
部分实施例中,透明识别台201可以为透明材质制成的任意形状的台面,本申请实施例不做限定。可选地,透明识别台201可以为矩形、圆形、多边形、甚至可以为不规则形状。In some embodiments, the transparent identification table 201 may be a table top of any shape made of a transparent material, which is not limited in the embodiments of the present application. Optionally, the transparent identification stage 201 may be rectangular, circular, polygonal, or even irregular.
具体实施例中,订单识别单元200可如图3a所示,订单识别相机的数量为6,包括:第一订单识别相机2021设置在距离透明识别台201上表面d1处,第二订单识别相机2022设置在距离透明识别台201下表面d2处,第三订单识别相机2023设置在距离透明识别台201第一顶点的d3处,第四订单识别相机2024设置在距离透明识别台201第二顶点的d4处,第五订单识别相机2025设置在距离透明识别台201第三顶点的d5处,第六订单识别相机2026设置在距离透明识别台201第四顶点的d6处。需要说明的是,本申请实施例中的第一、第二、第三、第四、第五、第六,意欲为对多台订单识别相机202(或多个顶点)进行排序,以方便展开说明,并无无其他意义。In a specific embodiment, the order recognition unit 200 may be as shown in FIG. 3a, the number of order recognition cameras is 6, including: the first order recognition camera 2021 is arranged at a distance d1 from the upper surface of the transparent recognition stage 201, the second order recognition camera 2022 The third order recognition camera 2023 is set at d3 from the first vertex of the transparent recognition stage 201, and the fourth order recognition camera 2024 is set at d4 from the second vertex of the transparent recognition stage 201. , the fifth order recognition camera 2025 is set at d5 from the third vertex of the transparent recognition stage 201 , and the sixth order recognition camera 2026 is set at d6 from the fourth vertex of the transparent recognition stage 201 . It should be noted that the first, second, third, fourth, fifth, and sixth in the embodiments of the present application are intended to sort multiple order recognition cameras 202 (or multiple vertices) to facilitate expansion Description has no other meaning.
需要说明的是,部分实施例中的d1-d6的具体数值,可以根据实际需求设定,各数值可以相等、也可以不等,本申请实施例不做具体限定,可选d3-d6可以为同一数值。对于部分实施例中的多台订单识别相机202的排列顺序,可以任意进行设定,本申请实施例不做具体限定。部分透明识别台201带有顶点的实施例,对于顶点的排列顺序,本申请实施例不做具体限定。It should be noted that the specific values of d1-d6 in some embodiments may be set according to actual needs, and the values may be equal or unequal, which are not specifically limited in the embodiments of the present application, and optional d3-d6 may be the same value. The arrangement order of the multiple order recognition cameras 202 in some embodiments may be arbitrarily set, which is not specifically limited in the embodiments of the present application. In the embodiment in which the partially transparent identification stage 201 has vertices, the arrangement order of the vertices is not specifically limited in this embodiment of the present application.
在某些应用场景中,订单体现为某一形式的编码,因此部分实施例中,订单识别相机202可以为扫码相机。当然,在部分实施例中,订单识别相机202还可以为图形识别相机,以进行图形形式的订单标识进行识别。In some application scenarios, the order is embodied in a certain form of code, so in some embodiments, the order recognition camera 202 may be a code scanning camera. Of course, in some embodiments, the order identification camera 202 may also be a graphic identification camera, so as to perform identification of the order identification in a graphic form.
部分实施例中,订单识别单元200可以放置在如图3a所示的识别单元支架203上。In some embodiments, the order identification unit 200 may be placed on the identification unit support 203 as shown in FIG. 3a.
部分实施例中,订单识别相机202通过如图3b所示的识别相机安装架204固定。识别相机安装架204呈现为缺少一个面的长方体,包括相机安装孔2041、安装架固定孔2042、旋转弧形孔道2043。相机安装孔2041为条形孔道,两个相机安装孔2041平行布置于订单识别相机202的安装面(图3b中只示出一个相机安装孔2041)。安装架固定孔2042为圆形孔,开设在相机安装架204的顶面(或底面)。旋转弧形孔道2043呈现为弧形,围绕安装架固定孔2042布设,当相机安装架204安装订单识别相机202且通过安装架固定孔2042 固定在固定位置后,可通过在旋转弧形孔道2043上设置一钉头直径大于旋转弧形孔道2043的螺钉,目的在于紧固相机安装架204的同时,对相机安装架204进行旋转,进而带动订单识别相机202旋转,进行角度调节。In some embodiments, the order recognition camera 202 is fixed by the recognition camera mount 204 as shown in FIG. 3b. The identification camera mounting bracket 204 is presented as a rectangular parallelepiped lacking one face, and includes a camera mounting hole 2041 , a mounting bracket fixing hole 2042 , and a rotating arc-shaped hole 2043 . The camera mounting holes 2041 are strip-shaped holes, and two camera mounting holes 2041 are arranged in parallel on the mounting surface of the order recognition camera 202 (only one camera mounting hole 2041 is shown in FIG. 3 b ). The mounting bracket fixing hole 2042 is a circular hole and is opened on the top surface (or bottom surface) of the camera mounting bracket 204 . The rotating arc-shaped hole 2043 is arc-shaped and is arranged around the fixing hole 2042 of the mounting frame. When the camera mounting frame 204 installs the order recognition camera 202 and is fixed in a fixed position through the fixing hole 2042 of the mounting frame, it can pass through the rotating arc-shaped hole 2043 A screw with a head diameter larger than the rotating arc hole 2043 is provided for the purpose of rotating the camera mounting bracket 204 while tightening the camera mounting bracket 204 , thereby driving the order recognition camera 202 to rotate for angle adjustment.
识别响应单元300包括:与控制单元通信连接的分类推送器302、分类接料台303、与控制单元400通信连接的接料台传送部304、以及设置在接料台传送部304的某些刻度位置的分类料框305。分类接料台303设置在透明识别台201的分类推送器所在侧的相对侧;接料台传送部304使分类接料台303在各刻度位置间移动,以使分类接料台303在不同分类料框305间移动;透明识别台201所在平面高于分类接料台303的最高面。The identification response unit 300 includes: a sorting pusher 302 communicatively connected with the control unit, a sorting receiving table 303 , a receiving table conveying part 304 communicatively connected with the control unit 400 , and some scales provided on the receiving table transmitting part 304 Location of sorting bins 305. The sorting and receiving table 303 is arranged on the opposite side of the side where the sorting pusher is located on the transparent identification table 201; The material frame 305 moves between the material frames; the plane where the transparent identification table 201 is located is higher than the highest surface of the sorting material receiving table 303 .
部分实施例中,识别响应单元300还包括,回退推送器301,回退推送器301面向透明识别台201且设置在透明识别台201的混料框所在侧的相对侧,且,回退推送器301从透明识别台201的分类推送器所在侧的相邻侧面向透明识别台201放置,以避免进行推送操作时与分类推送器302相碰撞。In some embodiments, the identification and response unit 300 further includes a push back pusher 301, the push back pusher 301 faces the transparent identification table 201 and is arranged on the opposite side of the side where the mixing frame of the transparent identification table 201 is located, and the push back is pushed back. The pusher 301 is placed toward the transparent identification table 201 from the adjacent side of the transparent identification table 201 where the sorting pusher is located, so as to avoid collision with the sorting pusher 302 during the push operation.
部分实施例中,实际使用过程中,识别响应单元300根据识别结果,进行响应。响应过程体现为分类推送器302启动,将透明识别台201的台面放置空间的货品推送至分类接料台303,被接料台传送部304运送至相应分类料框305内。分类料框305有多个,不同分类料框305对应不同订单,以及其中一个分类料框305对应匹配失败的情况,用于放置匹配失败的货品。In some embodiments, during actual use, the identification response unit 300 responds according to the identification result. The response process is embodied in that the sorting pusher 302 is activated, and the goods in the table placement space of the transparent identification table 201 are pushed to the sorting and receiving table 303 , and are transported to the corresponding sorting material frame 305 by the receiving table conveying part 304 . There are multiple sorting frames 305 , different sorting frames 305 correspond to different orders, and one of the sorting frames 305 corresponds to a situation where the matching fails, and is used to place the failed matching goods.
需要说明的是,部分实施例中透明识别台201的某一物体所在侧的相对侧为,透明识别台201的该侧相面向的一侧。举例而言,若一物体在透明识别台201的左侧,透明识别台201左侧所面向的一侧为右侧,则相对侧为透明识别台201的右侧;若推送器在透明识别台201的一侧,即以透明识别台201为参考,推送器所在的一侧所面向的一侧为相对侧。或者,若以透明识别台201为参考,以透明识别台201的俯视视角,相对侧的组合可以包括透明识别台201的上下侧、或者左右侧、或者左上侧右下侧、或者右上侧左下侧;若以透明识别台201的侧视视角,相对侧可以包括透明识别台201的前后侧、或者左右侧、或者左前侧右后侧、或者右前侧左后侧。It should be noted that, in some embodiments, the opposite side to the side where an object of the transparent identification table 201 is located is the side facing the side of the transparent identification table 201 . For example, if an object is on the left side of the transparent identification table 201, and the side facing the left side of the transparent identification table 201 is the right side, the opposite side is the right side of the transparent identification table 201; if the pusher is on the transparent identification table One side of 201, that is, with the transparent identification table 201 as a reference, the side facing the side where the pusher is located is the opposite side. Or, if the transparent identification table 201 is used as a reference, and from the top view of the transparent identification table 201, the combination of opposite sides may include the upper and lower sides of the transparent identification table 201, or the left and right sides, or the upper left side and the lower right side, or the upper right side and the lower left side. If the transparent identification table 201 is viewed from the side, the opposite side may include the front and rear sides of the transparent identification table 201, or the left and right sides, or the left front side and the right rear side, or the right front side and the left rear side.
另外需要说明的是,部分实施例中的相邻侧指,两推送器的端部相连,例如回退推送器301的推送面的左侧与分类推送器302的推送面的右侧相邻近,具体可如图4a所示,图4a以俯视视角示出两推送器的相对位置,其中的箭头方向为推送器的推出方向。本领域技术人员应该理解到的是,为了使回退推送器301、分类推送器302分别能实现其对应的推送功能,两推送器的推送面所形成的夹角应大于等于90度,以使得其中一个进行推送操作时不会触碰到另一个。In addition, it should be noted that, in some embodiments, the adjacent sides refer to the ends of the two pushers being connected, for example, the left side of the push surface of the retracting pusher 301 is adjacent to the right side of the push surface of the classification pusher 302 4a, which shows the relative positions of the two pushers from a top view, in which the direction of the arrows is the push-out direction of the pushers. It should be understood by those skilled in the art that, in order to enable the push-back pusher 301 and the classified pusher 302 to respectively implement their corresponding push functions, the included angle formed by the push surfaces of the two pushers should be greater than or equal to 90 degrees, so that the One of them pushes without touching the other.
部分实施例中,透明识别台201为矩形,分类推送器302与分类接料台303在透明识别台201的一对边。另一些实施例中,若透明识别台201为矩形,回退推送器301与混料框在透明识别台201的一对边,分类推送器302与分类接料台303在透明识别台201的另一对边。In some embodiments, the transparent identification table 201 is rectangular, and the sorting pusher 302 and the sorting and receiving table 303 are on a pair of sides of the transparent identification table 201 . In other embodiments, if the transparent identification table 201 is a rectangle, the retracting pusher 301 and the mixing frame are on a pair of sides of the transparent identification table 201 , and the sorting pusher 302 and the sorting receiving table 303 are on the other side of the transparent identification table 201 . a pair of sides.
本领域技术人员可以理解到的是,矩形的对边为,矩形4条边中相对的边,一个矩形可以有两组对边。Those skilled in the art can understand that the opposite sides of a rectangle are the opposite sides among the four sides of the rectangle, and a rectangle may have two groups of opposite sides.
部分实施例中,分类推送器302包括气缸3010,气缸3010的输出端形成推送面,推送面的宽度与透明识别台201尺寸相匹配。举例而言,若透明识别台的尺寸为300mm*400mm的矩形,若分类推送器302设置在400mm边一侧,则分类推送器302的推送面宽度为400mm,若分类推送器302设置在300mm边一侧,则分类推送器302的推送面宽度为300mm。或者,若透明识别台为直径350mm的圆形,则分类推送器302的推送面宽度为350mm。再或者,若透明识别台为六边形,其所形成的最大宽度为400mm,则分类推送器302的推送面宽度为400mm。需要说明的是,以上所列举为较佳实施例,以实现推送面覆盖于透明识别台201,确保货品被推送时不会被遗漏,实际上,推送面尺寸可以依据需求任意设定,以上列举实施例并不对本申请构成限定。部分实施例中的回退推送器301与分类推送器302具有相同构造。In some embodiments, the sorting pusher 302 includes an air cylinder 3010 , the output end of the air cylinder 3010 forms a pushing surface, and the width of the pushing surface matches the size of the transparent identification table 201 . For example, if the size of the transparent identification table is a rectangle of 300mm*400mm, if the sorting pusher 302 is set on one side of the 400mm side, the width of the pushing surface of the sorting pusher 302 is 400mm, and if the sorting pusher 302 is set on the 300mm side On one side, the width of the pushing surface of the sorting pusher 302 is 300mm. Alternatively, if the transparent identification stage is a circle with a diameter of 350 mm, the width of the pushing surface of the sorting pusher 302 is 350 mm. Alternatively, if the transparent identification table is hexagonal, and the maximum width formed by the transparent identification table is 400 mm, the width of the pushing surface of the sorting pusher 302 is 400 mm. It should be noted that the above list is a preferred embodiment, so that the push surface is covered on the transparent identification table 201 to ensure that the goods will not be missed when being pushed. In fact, the size of the push surface can be arbitrarily set according to the requirements. The embodiments do not limit the present application. The fallback pusher 301 in some embodiments has the same construction as the classification pusher 302 .
部分实施例中,回退推送器301(或分类推送器302)可如图4b所示,气缸3010的输出端固定条状刚性件3011形成推送面。部分较佳实施例中,为了维持推送面的稳定,在条状刚性件3011两端固定定向支架3012,定向支架3012下侧固定定向滑块3013,定向滑块3013配合推送器底面上的滑道3014实现条状刚性件3011按照固定方向移动,不至于发生侧倾。In some embodiments, the retracting pusher 301 (or the sorting pusher 302 ) may be as shown in FIG. 4 b , and the output end of the air cylinder 3010 is fixed with a strip-shaped rigid member 3011 to form a pushing surface. In some preferred embodiments, in order to maintain the stability of the pushing surface, directional brackets 3012 are fixed on both ends of the strip-shaped rigid member 3011, and directional sliders 3013 are fixed on the lower side of the directional bracket 3012. 3014 realizes that the strip-shaped rigid member 3011 moves in a fixed direction so as not to roll.
以下以图4c(1)为示意性实施例,对识别响应单元300进行示意性说明,识别响应单元300包括:与控制单元通信连接的分类推送器302、分类接料台303、与控制单元400通信连接的接料台传送部304、以及设置在接料台传送部304的某些刻度位置的分类料框305(图4c(1)未示出,分类料框305示意可见图1)。透明识别台201为矩形;分类接料台303设置在透明识别台201的分类推送器302所在侧的相对侧;接料台传送部304使分类接料台303在各刻度位置间移动,以使分类接料台303在不同分类料框305(图4c(1)未示出)间移动;透明识别台201所在平面高于分类接料台303的最高面。The identification and response unit 300 is schematically described below by taking FIG. 4 c ( 1 ) as an exemplary embodiment. The identification and response unit 300 includes: a sorting pusher 302 , a sorting receiving table 303 , and a control unit 400 communicatively connected to the control unit The transfer part 304 of the receiving table connected in communication, and the sorting material frame 305 (not shown in FIG. 4c(1), the schematic diagram of the sorting material frame 305 can be seen in FIG. The transparent identification table 201 is rectangular; the sorting and receiving table 303 is arranged on the opposite side of the side where the sorting pusher 302 of the transparent identification table 201 is located; The sorting and receiving table 303 moves between different sorting material frames 305 (not shown in FIG. 4 c ( 1 )); the plane where the transparent identification table 201 is located is higher than the highest surface of the sorting and receiving table 303 .
以下以图4c(2)为另一示意性实施例,对识别响应单元300进行示意性说明,识别响应单元300包括:与控制单元400通信连接的回退推送器301、与控制单元通信连接的分类推送器302、分类接料台303、与控制单元400通信连接的接料台传送部304、以及设置在接料台传送部304的某些刻度位置的分类料框305(图4c(2)未示出,分类料框305示 意可见图1)。透明识别台201为矩形,混料框设置在透明识别台201的一边处,回退推送器301面向透明识别台201且设置在透明识别台201的混料框所在侧的相对侧,分类推送器302从透明识别台201的回退推送器所在侧的相邻侧面向透明识别台201放置,以避免进行推送操作时与回退推送器301相碰撞;分类接料台303设置在透明识别台201的分类推送器302所在侧的相对侧;接料台传送部304使分类接料台303在各刻度位置间移动,以使分类接料台303在不同分类料框305(图4c(2)未示出)间移动;透明识别台201所在平面高于混料框的最高面;透明识别台201所在平面高于分类接料台303的最高面。The identification response unit 300 is schematically described below by taking FIG. 4c(2) as another exemplary embodiment. The identification response unit 300 includes: a fallback pusher 301 communicatively connected to the control unit 400, a pusher 301 communicatively connected to the control unit The sorting pusher 302, the sorting receiving table 303, the receiving table conveying part 304 which is communicatively connected with the control unit 400, and the sorting material frame 305 arranged at some scale positions of the receiving table conveying part 304 (Fig. 4c(2)) Not shown, the sorting material frame 305 is schematically shown in FIG. 1). The transparent identification table 201 is rectangular, the mixing frame is arranged at one side of the transparent identification table 201, the retracting pusher 301 faces the transparent identification table 201 and is arranged on the opposite side of the mixing frame of the transparent identification table 201, and the classification pusher 302 is placed on the transparent identification table 201 from the adjacent side of the transparent identification table 201 where the retracting pusher is located, so as to avoid collision with the retracting pusher 301 during the pushing operation; the sorting and receiving table 303 is arranged on the transparent identification table 201 On the opposite side of the side where the sorting pusher 302 is located; the feeding table conveying part 304 moves the sorting feeding table 303 between the scale positions, so that the sorting feeding table 303 is in a different sorting material frame 305 (Fig. 4c(2) not shown The plane where the transparent identification table 201 is located is higher than the highest surface of the mixing frame; the plane where the transparent identification table 201 is located is higher than the highest surface of the sorting and receiving table 303 .
对于接料台传送部304,部分实施例中,接料台传送部304包括水平线性模组3041、竖直线性模组3042、以及接料台翻转机构3043;竖直线性模组3042的端部与水平线性模组3041的滑块30413固定;接料台翻转机构3043与竖直线性模组3042的滑块30413固定以在竖直线性模组3042上滑动,接料台翻转机构3043的输出端与分类接料台303相固定并受控制单元400控制旋转以使分类接料台303翻转。可以理解到的是,水平线性模组3041为水平放置的线性模组,竖直线性模组3042为竖直放置的线性模组。需要说明的是,部分实施例中竖直线性模组3042的上端部与水平线性模组3041的滑块30413固定,另一部分实施例中竖直线性模组3042的下端部与水平线性模组3041的滑块30413固定,或者,竖直线性模组3042的上下两端分别与一个滑块30413固定,两滑块30413属于不同水平线性模组3041。For the feeding table transfer part 304, in some embodiments, the feeding table transfer part 304 includes a horizontal linear module 3041, a vertical linear module 3042, and a feeding table turning mechanism 3043; the end of the vertical linear module 3042 It is fixed with the slider 30413 of the horizontal linear module 3041; the turning mechanism 3043 of the receiving table is fixed with the sliding block 30413 of the vertical linear module 3042 to slide on the vertical linear module 3042, and the output end of the turning mechanism 3043 of the receiving table is fixed It is fixed with the sorting and receiving table 303 and controlled by the control unit 400 to rotate to make the sorting and receiving table 303 turn over. It can be understood that the horizontal linear module 3041 is a linear module placed horizontally, and the vertical linear module 3042 is a linear module placed vertically. It should be noted that in some embodiments, the upper end of the vertical linear module 3042 is fixed to the slider 30413 of the horizontal linear module 3041, and in other embodiments, the lower end of the vertical linear module 3042 is fixed to the horizontal linear module 3041 The slider 30413 is fixed, or the upper and lower ends of the vertical linear module 3042 are respectively fixed with a slider 30413, and the two sliders 30413 belong to different horizontal linear modules 3041.
部分实施例中提及的线性模组,可以用电机30410通过锥齿轮30411带动丝杆30412转动以实现滑块30413的线性移动,移动原理可如图4d所示。也可以通过电机30410直接带动丝杆30412转动以实现滑块30413的线性移动,移动原理可如图4e所示。或者,还可以在前述实施例的基础上,用电机30410通过锥齿轮30411带动同步杆30414转动,进而带动两个丝杆30412转动以实现两个滑块30413的同步线性移动,移动原理可如图4f。For the linear module mentioned in some embodiments, the motor 30410 can be used to drive the screw 30412 to rotate through the bevel gear 30411 to realize the linear movement of the slider 30413. The moving principle can be shown in Figure 4d. It is also possible to directly drive the screw 30412 to rotate through the motor 30410 to realize the linear movement of the slider 30413. The movement principle can be shown in Figure 4e. Alternatively, on the basis of the foregoing embodiment, the motor 30410 can be used to drive the synchronizing rod 30414 to rotate through the bevel gear 30411, thereby driving the two screw rods 30412 to rotate to realize the synchronous linear movement of the two sliders 30413. The moving principle can be shown in the figure 4f.
在另一部分实施例中,线性模组可以用电机30410带动同步带轮转动,以使同步带某一部分线性移动。或者,在前述实施例基础上,用电机30410通过带动同步杆30414转动,进而带动两个同步带轮转动,以使两个同步带某一部分同步线性移动。In another embodiment, the linear module can use the motor 30410 to drive the synchronous pulley to rotate, so as to make a certain part of the synchronous belt move linearly. Alternatively, on the basis of the foregoing embodiment, the motor 30410 drives the synchronizing rod 30414 to rotate, and then drives the two synchronous pulleys to rotate, so that a certain part of the two synchronous belts can move synchronously and linearly.
需要说明的是,图4d-图4f中的箭头,为相应部件的转动方向。部分实施例对应图片中的滑块30413只为进行滑块移动的示意性说明,其形状并不对本申请起到限定作用。It should be noted that the arrows in FIGS. 4d to 4f are the rotation directions of the corresponding components. The slider 30413 in the corresponding pictures of some embodiments is only a schematic illustration of moving the slider, and its shape does not limit the present application.
接料台翻转机构3043一端固定在竖直线性模组3042的滑块30413上,另一端与分类接料台303相固定,实现接料台的翻转。示意性实施例可如图4g所示,翻转机构可以包括旋转气缸30415。One end of the material receiving table turning mechanism 3043 is fixed on the slider 30413 of the vertical linear module 3042, and the other end is fixed with the sorting material receiving table 303, so as to realize the inversion of the material receiving table. An illustrative embodiment may be shown in FIG. 4g, and the flipping mechanism may include a rotating cylinder 30415.
部分实施例中,接料台传送部304可示意性地如图4h所示。水平线性模组3041的电机30410转动,带动上部的水平线性模组3041的滑块30413(图4h中未示出)、以及通 过同步杆30414(图4h中未示出)带动下部的水平线性模组3041的滑块30413(图4h中未示出)同步移动,以使得固定在滑块30413(图4h中未示出)上的竖直线性模组3042左右移动。竖直线性模组3042的电机30410转动,带动竖直线性模组3042的滑块30413(图4h中未示出)上下移动,进而带动分类接料台303移动。In some embodiments, the transfer part 304 of the receiving table can be schematically shown in FIG. 4h. The motor 30410 of the horizontal linear module 3041 rotates to drive the slider 30413 (not shown in Figure 4h) of the upper horizontal linear module 3041, and the lower horizontal linear module through the synchronizing rod 30414 (not shown in Figure 4h). The sliders 30413 (not shown in Fig. 4h) of the group 3041 move synchronously, so that the vertical linear modules 3042 fixed on the sliders 30413 (not shown in Fig. 4h) move left and right. The motor 30410 of the vertical linear module 3042 rotates, and drives the slider 30413 (not shown in FIG. 4h ) of the vertical linear module 3042 to move up and down, thereby driving the sorting table 303 to move.
在部分可选实施例中,接料台传送部304的结构还可示意性地如图4i所示。In some optional embodiments, the structure of the transfer part 304 of the receiving table can also be schematically shown in FIG. 4i.
对于分类接料台303,部分实施例中可以为平面形状、框形状、或者可以为图4h、图4i中所示形状,本申请实施例不做具体限定。The sorting and receiving table 303 may be a plane shape, a frame shape, or may be the shape shown in FIG. 4h and FIG. 4i in some embodiments, which is not specifically limited in the embodiment of the present application.
部分实施例中,分类料框305可以放置于地面上、或者放置在低于接料台传送部304最低高度的平台上。在一种优选实施例中,分类料框305可以放置在分类货架3051上,如图4i所示。In some embodiments, the sorting material frame 305 can be placed on the ground, or placed on a platform lower than the lowest height of the transfer part 304 of the receiving table. In a preferred embodiment, the sorting bins 305 may be placed on sorting shelves 3051, as shown in Figure 4i.
在部分较佳实施例中,可在透明识别台201与分类接料台303间设置分类滑槽3052,可选地,可在透明识别台201与混料框间设置回退滑槽3053。具体可如图4j所示。In some preferred embodiments, a sorting chute 3052 can be provided between the transparent identification table 201 and the sorting and receiving table 303 , and optionally, a retracting chute 3053 can be provided between the transparent identification table 201 and the mixing frame. Specifically, it can be shown in Figure 4j.
部分实施例中,本申请实施例提供的系统还包括料框传送部500,料框传送部500从3D智能相机101下端始,穿过透明识别台201下侧而延伸;控制单元400还用于控制料框传送部500的启停。部分实施例中,料框传送部500可以为滚筒输送机、皮带输送机等,示意性地,可如图4k所示。In some embodiments, the system provided by the embodiments of the present application further includes a material frame conveying part 500, which starts from the lower end of the 3D smart camera 101 and extends through the lower side of the transparent identification stage 201; the control unit 400 is also used for Controls the start and stop of the magazine conveying unit 500 . In some embodiments, the material frame conveying part 500 may be a roller conveyor, a belt conveyor, etc., which may be schematically shown in FIG. 4k.
控制单元400用于控制3D智能相机101、订单识别相机202拍摄,并接收3D智能相机101、订单识别相机202反馈的数据进行识别,根据识别结果控制夹具103、分类推送器302的启停,以及根据识别结果向接料台传送部304、机械手臂102发送信息使夹具103、分类接料台303移动至相应位置。The control unit 400 is used to control the 3D smart camera 101 and the order recognition camera 202 to shoot, and to receive the data fed back by the 3D smart camera 101 and the order recognition camera 202 for recognition, and to control the start and stop of the fixture 103 and the classification pusher 302 according to the recognition result, and According to the recognition result, information is sent to the receiving table transfer part 304 and the robot arm 102 to move the clamp 103 and the sorting receiving table 303 to the corresponding positions.
可选地,控制单元400还用于控制回退推送器301的启停。Optionally, the control unit 400 is further configured to control the start and stop of the rollback pusher 301 .
部分实施例中,控制单元400与其他各组件的通信关系,可如图5a所示,控制单元400控制3D智能相机101拍摄混料框,以用于识别混料框内货品分布情况进而引导机械手臂102带动夹具103移动货品处,控制夹具103获取一货品,在获取该货品后,继续引导机械手臂103移动,将货品放置在透明识别台201上;而后控制单元400控制订单识别相机202拍摄货品各角度表面,进行订单识别;控制单元400根据订单识别结果控制分类推送器302启动,将货品推送至分类接料台303,分类接料台303可被接料台传送部304带动移动;控制单元400控制接料台传送部304将带有货品的分类接料台303运送至相应分类料框305内,进而完成一个货品的分拣。In some embodiments, the communication relationship between the control unit 400 and other components can be as shown in FIG. 5a. The control unit 400 controls the 3D smart camera 101 to photograph the mixing frame, so as to identify the distribution of goods in the mixing frame and guide the machine. The arm 102 drives the gripper 103 to move the product, controls the gripper 103 to obtain a product, and after obtaining the product, continues to guide the robotic arm 103 to move and place the product on the transparent identification table 201; then the control unit 400 controls the order identification camera 202 to photograph the product Order recognition is performed on each angle surface; the control unit 400 controls the sorting pusher 302 to start according to the order recognition result, and pushes the goods to the sorting and receiving table 303, and the sorting and receiving table 303 can be driven by the receiving table transmission part 304 to move; the control unit 400 controls the receiving table transfer part 304 to transport the sorting receiving table 303 with the goods to the corresponding sorting material frame 305, thereby completing the sorting of one goods.
部分实施例中,控制单元400与接料台传送部304的通信关系,可如图5b所示,控制 单元400控制水平线性模组3041开启,以使得竖直线性模组3042沿水平方向移动,此外控制单元400控制竖直线性模组开启,以使得分类接料台303在竖直方向上移动,进而使得分类接料台303移动至某一分类料框305附近;而后控制单元400控制接料台翻转机构3043启动,完成分类接料台303的翻转,将其上货品倾倒至该分类料框305。In some embodiments, the communication relationship between the control unit 400 and the transfer part 304 of the receiving table can be as shown in FIG. 5b, the control unit 400 controls the horizontal linear module 3041 to open, so that the vertical linear module 3042 moves in the horizontal direction, In addition, the control unit 400 controls the opening of the vertical linear module, so that the sorting and receiving table 303 is moved in the vertical direction, so that the sorting and receiving table 303 is moved to the vicinity of a certain sorting material frame 305; then the control unit 400 controls the material receiving The table inversion mechanism 3043 is activated to complete the inversion of the sorting and receiving table 303 , and dump the products on it to the sorting material frame 305 .
部分实施例中,控制单元400与接料台传送部304的通信关系,可如图5c所示,控制单元400控制电机30410的启停,进而通过前述部分相关实施例的机械原理,驱使水平线性模组3041、竖直线性模组3042共同作用,使得分类接料台303移动至某一分类料框附近,而后控制单元400控制接料台翻转机构3043的旋转气缸30415启动,完成分类接料台303的翻转。In some embodiments, the communication relationship between the control unit 400 and the transfer part 304 of the receiving table can be as shown in FIG. 5c , the control unit 400 controls the start and stop of the motor 30410, and then drives the horizontal linearity through the mechanical principles of the aforementioned some related embodiments. The module 3041 and the vertical linear module 3042 work together to make the sorting and receiving table 303 move to the vicinity of a certain sorting material frame, and then the control unit 400 controls the rotating cylinder 30415 of the turning mechanism 3043 of the receiving table to start, and the sorting and receiving table is completed. 303 flip.
部分实施例中,控制单元400与其他各组件的通信关系,可如图5d所示,控制单元400控制3D智能相机101拍摄混料框,以用于识别混料框内货品分布情况进而引导机械手臂102带动夹具103移动货品处,控制夹具103获取一货品,在获取该货品后,继续引导机械手臂103移动,将货品放置在透明识别台201上;而后控制单元400控制订单识别相机202拍摄货品各角度表面,进行订单识别;控制单元400根据订单识别结果,或者控制回退推送器301启动,将货品推回至混料框,或者控制分类推送器302启动,将货品推送至分类接料台303,分类接料台303可被接料台传送部304带动移动;控制单元400控制接料台传送部304将带有货品的分类接料台303运送至相应分类料框305内,进而完成一个货品的分拣。部分实施例中,控制单元400还用于控制料框传送部500的启停。具体,若在混料框中未识别到货品,则启动料框传送部500;或者,识别到某一个货品多次被回退推送器301推回,而混料框中无其他货品,则启动料框传送部500。In some embodiments, the communication relationship between the control unit 400 and other components can be as shown in FIG. 5d. The control unit 400 controls the 3D smart camera 101 to photograph the mixing frame, so as to identify the distribution of goods in the mixing frame and guide the machine. The arm 102 drives the gripper 103 to move the product, controls the gripper 103 to obtain a product, and after obtaining the product, continues to guide the robotic arm 103 to move and place the product on the transparent identification table 201; then the control unit 400 controls the order identification camera 202 to photograph the product Order recognition is performed on the surfaces of each angle; the control unit 400, according to the result of the order recognition, or controls the back pusher 301 to start, pushes the goods back to the mixing box, or controls the classification pusher 302 to start, and pushes the goods to the classification receiving table 303, the sorting and receiving table 303 can be moved by the receiving table conveying part 304; the control unit 400 controls the receiving table conveying part 304 to transport the sorting and receiving table 303 with the goods to the corresponding sorting material frame 305, and then completes a sorting of goods. In some embodiments, the control unit 400 is also used to control the start and stop of the material frame conveying part 500 . Specifically, if no goods are identified in the mixing box, the material box transmission part 500 is activated; or, if it is recognized that a certain commodity has been pushed back by the return pusher 301 for many times, but there are no other goods in the mixing box, it is activated The material frame conveying unit 500.
本申请提供的一种货品分拣系统,包括获取单元100、订单识别单元200、识别相应单元300、以及控制单元400,可以实现基于机器的智能分拣,代替人工操作,随即解决了现有技术中差错率高、分拣速度慢、劳动成本大等问题。此外,本申请实施例中的订单识别单元200的订单识别相机202可以对透明识别台201上的货品进行各角度无视野死角扫描,进而提高了对于货品的识别精准度,相对于现有技术,进一步提高了分拣速度、降低了差错率。A product sorting system provided by the present application includes an acquisition unit 100, an order identification unit 200, a corresponding identification unit 300, and a control unit 400, which can realize machine-based intelligent sorting instead of manual operation, and immediately solve the problem of the prior art. There are problems such as high error rate, slow sorting speed and high labor cost. In addition, the order recognition camera 202 of the order recognition unit 200 in the embodiment of the present application can scan the goods on the transparent recognition table 201 from various angles without blind spots, thereby improving the recognition accuracy of the goods. Compared with the prior art, The sorting speed is further improved and the error rate is reduced.
第二方面,本申请实施例提供一种货品分拣方法,具体由某一形式的控制单元执行,该控制单元可以为某一种具有数据通信、数据计算、数据存储能力的电子设备,还可以为具有上述能力的硬件系统,对于电子设备的具体形式,本申请实施例不做具体限定。本申请实施例的货品分拣方法,应用于本申请第一方面提供的货品分拣系统。In the second aspect, the embodiments of the present application provide a method for sorting goods, which is specifically executed by a certain form of control unit. The control unit may be an electronic device with data communication, data calculation, and data storage capabilities, or may also In order to be a hardware system having the above-mentioned capabilities, the embodiment of the present application does not specifically limit the specific form of the electronic device. The goods sorting method of the embodiment of the present application is applied to the goods sorting system provided by the first aspect of the present application.
以下对本申请实施例提供的货品分拣方法进行详细介绍。The product sorting method provided by the embodiment of the present application will be described in detail below.
本申请实施例提供的货品分拣方法,包括:控制3D智能相机101拍摄混料框,并接收3D智能相机101所拍摄的第一数据;识别第一数据确定当前最优获取货品,并计算最优获取货品的位置姿态;根据位置姿态确定获取信息,发送获取信息至机械手臂102,以使得固定在机械手臂102的操作末端的夹具103移动到获取位置并形成获取姿态;控制夹具103启动,使夹具103与最优获取货品固定,以获取最优获取货品;The goods sorting method provided by the embodiment of the present application includes: controlling the 3D smart camera 101 to photograph the mixing frame, and receiving the first data photographed by the 3D smart camera 101; identifying the first data to determine the current optimally obtained goods, and calculating the most Obtain the position and attitude of the goods; determine the acquisition information according to the position and attitude, and send the acquisition information to the robotic arm 102, so that the fixture 103 fixed at the operation end of the robotic arm 102 moves to the acquisition position and forms the acquisition posture; control the fixture 103 to start, so that The fixture 103 is fixed with the optimally obtained goods to obtain the optimally obtained goods;
发送预规划的机械手臂102的操作末端的移动路径,使得夹具103获取的最优获取货品被带动移动至透明识别台201的台面放置空间,控制夹具103停止,进而解除夹具103与最优获取货品的固定,将最优获取货品放置台面放置空间;Send the pre-planned movement path of the operation end of the robotic arm 102, so that the optimally obtained goods obtained by the fixture 103 are driven to move to the table placement space of the transparent identification table 201, and the fixture 103 is controlled to stop, and then the fixture 103 and the optimally obtained goods are released. fixed, and the optimally obtained goods will be placed on the countertop space;
控制订单识别相机202拍摄最优获取货品,并接收订单识别相机202所拍摄的第二数据;在预设订单标识集中匹配与第二数据中的订单标识相对应的目标标识,控制分类推送器302启动将最优获取货品推送至分类接料台303,并根据所述目标标识的匹配结果控制接料台传送部304将分类接料台303运送至相应分类料框305处并将最优获取货品置入。Control the order identification camera 202 to photograph the optimally obtained goods, and receive the second data captured by the order identification camera 202; match the target identification corresponding to the order identification in the second data in the preset order identification set, and control the classification pusher 302 Start to push the optimally obtained goods to the sorting and receiving table 303, and control the receiving table transfer part 304 according to the matching result of the target identification to transport the sorting and receiving table 303 to the corresponding sorting material frame 305 and obtain the optimally obtained goods. Insert.
部分实施例中,若识别到混料框中无货品,则控制料框传送部500启动,将下一个混料框移动至3D智能相机101的拍摄视野。In some embodiments, if it is recognized that there is no product in the mixing box, the control material box transfer part 500 is activated to move the next mixing box to the shooting field of view of the 3D smart camera 101 .
具体地,若匹配成功,则控制接料台传送部304将分类接料台303运送至目标标识相对应的分类料框处并将最优获取货品置入;若匹配失败,则控制接料台传送部304将分类接料台303运送至匹配失败类对应的分类料框处并将最优获取货品置入。Specifically, if the matching is successful, the transfer part 304 of the receiving table is controlled to transport the sorting table 303 to the sorting material frame corresponding to the target identification and the optimally obtained goods are placed; if the matching fails, the receiving table is controlled The conveying part 304 transports the sorting and receiving table 303 to the sorting frame corresponding to the matching failure category and places the optimally obtained goods.
部分实施例中,第一数据包括像素数据、深度数据、或者两者的组合。In some embodiments, the first data includes pixel data, depth data, or a combination of both.
部分实施例中的最优获取货品,为当前状态下的混料框中各货品中最易抓取的一个,最优获取货品的确定,可以依据相关现有技术中的抓取策略实现。The optimally obtained item in some embodiments is the one that is easiest to grab among the items in the mixing box in the current state, and the determination of the optimally obtained item can be realized according to the grabbing strategy in the related art.
部分实施例中的获取信息可以包括但不限于位置信息、姿态信息。The acquired information in some embodiments may include, but is not limited to, location information and attitude information.
部分实施例中的预规划的机械手臂101的移动路径,可以根据现有的机器人路径规划方法进行,本申请实施例不做具体限定。The pre-planned movement path of the robotic arm 101 in some embodiments may be performed according to an existing robot path planning method, which is not specifically limited in this embodiment of the present application.
部分实施例中,在预设订单标识集中匹配目标标识,若匹配失败,可能第二数据中不存在订单标识,也就是说,订单识别相机202并未识别到订单标识;还可能由于第二数据中的订单标识不在所预设的订单标识集中。In some embodiments, the target identifier is matched in the preset order identifier set. If the matching fails, the order identifier may not exist in the second data, that is to say, the order recognition camera 202 does not recognize the order identifier; The order ID in is not in the preset order ID set.
部分实施例中,在预设订单标识集中匹配目标标识,若匹配成功,则控制分类推送器302启动将最优获取货品推送至分类接料台303,并控制接料台传送部304将分类接料台303运送至相应分类料框305处并将最优获取货品置入。多个分类料框305与设订单标识集中相应订单相对应,且存在一个分类料框305其对应匹配失败情况下的标识,用于置入匹配失败的货品。In some embodiments, the target identifier is matched in the preset order identifier set. If the match is successful, the sorting pusher 302 is controlled to start to push the optimally obtained goods to the sorting and receiving table 303, and the transfer part 304 of the receiving table is controlled to send the sorting and receiving. The bins 303 are transported to the corresponding sorting bins 305 and the optimally obtained goods are placed. A plurality of classification boxes 305 correspond to corresponding orders in the set order identification set, and there is one classification box 305 corresponding to the identification in the case of failure to match, which is used to place the goods that fail to match.
部分实施例中若匹配失败,则控制回退推送器301启动,将货品推送回混料框。In some embodiments, if the matching fails, the control rollback pusher 301 is activated to push the goods back to the mixing box.
部分实施例中所提及的预设订单标识集与分类料框305放置位置相对应,且存在一个放置位置用于放置匹配失败情况下所用的料框。也就是说,预设订单标识集中的每一订单标识,都唯一对应一个位置,各订单标识所对应位置上分别固定一个分类料框305,用以在匹配成功后,将货品置入相应订单的分类料框305,且存在一个位置用于放置匹配失败情况下对应的料框,用于在匹配失败时,将货品置入。若混料框中无可匹配的货品,部分情况下可能由于当前订单标识集中所对应的订单货品均已分拣完成,则可选地可以更新订单标识集,以进行下一阶段的分拣。The preset order identification set mentioned in some embodiments corresponds to the placement position of the sorting frame 305 , and there is a placement position for placing the frame used in the case of failure to match. That is to say, each order identifier in the preset order identifier set uniquely corresponds to a position, and a sorting material frame 305 is fixed on the corresponding position of each order identifier, so as to place the goods in the corresponding order after the matching is successful. The material frame 305 is sorted, and there is a position for placing the corresponding material frame in the case of a matching failure, for placing the goods in the matching failure. If there is no matching item in the mixing box, in some cases, the order items corresponding to the current order ID set may have been sorted, and the order ID set may optionally be updated for the next stage of sorting.
接料台传送部304具体可以包括水平线性模组3041、竖直线性模组3042、以及接料台翻转机构3043,水平线性模组3041、竖直线性模组3042标有刻度,某些刻度处对应订单标识的位置,进而部分实施例中,对接料台传送部304的控制体现为对水平线性模组3041、竖直线性模组3042移动程度的控制,以及对接料台翻转机构3043翻转状态的控制。The transfer part 304 of the receiving table may specifically include a horizontal linear module 3041, a vertical linear module 3042, and a turning mechanism 3043 of the receiving table. The horizontal linear module 3041 and the vertical linear module 3042 are marked with scales. Corresponding to the position of the order identification, and in some embodiments, the control of the transfer part 304 of the feeding table is embodied in the control of the movement degree of the horizontal linear module 3041 and the vertical linear module 3042, and the control of the turning state of the turning mechanism 3043 of the feeding table. control.
部分实施例中,线性模组包括电机30410,因此通过控制电机30410处于启动状态的时长,进而控制水平线性模组3041、竖直线性模组3042的移动程度。In some embodiments, the linear module includes the motor 30410 , so by controlling the duration of the motor 30410 in the activated state, the moving degree of the horizontal linear module 3041 and the vertical linear module 3042 is controlled.
部分实施例中,接料台翻转机构3043包括旋转气缸30415,因此通过控制气缸30415的启动、停止,进而控制接料台翻转机构3043。In some embodiments, the turning mechanism 3043 of the receiving table includes a rotating cylinder 30415, so by controlling the start and stop of the air cylinder 30415, the turning mechanism 3043 of the receiving table is controlled.
本申请提供的一种货品分拣方法,基于电子设备对货品分拣系统进行控制,实现了基于机器的智能分拣,代替人工操作,随即解决了现有技术中差错率高、分拣速度慢、劳动成本大等问题。A product sorting method provided by the present application controls the product sorting system based on electronic equipment, realizes intelligent sorting based on machines, replaces manual operation, and immediately solves the problems of high error rate and slow sorting speed in the prior art. , high labor costs, etc.
本实施例还提供一种计算机可读存储介质,其上存储有计算机程序,其特征在于,该程序被处理器执行时实现如上的喷胶轨迹信息确定方法。This embodiment also provides a computer-readable storage medium on which a computer program is stored, characterized in that, when the program is executed by a processor, the above method for determining glue spray trajectory information is implemented.
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必须针对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一个或多个实施例或示例中以合适的方式结合。此外,在不相互矛盾的情况下,本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.
此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中,“多个”的含义是至少两个,例如两个, 三个等,除非另有明确具体的限定。In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless expressly and specifically defined otherwise.
为了实现上述实施例,本发明还提出了一种电子设备。In order to realize the above embodiments, the present invention also provides an electronic device.
图6是根据本发明一个实施例的电子设备的结构框图。如图6所示,该电子设备600可以包括:存储器610、处理器620及存储在存储器610上并可在处理器620上运行的计算机程序630,处理器620执行程序630,以实现本发明第二方面任一个实施例所述的货品分拣方法。FIG. 6 is a structural block diagram of an electronic device according to an embodiment of the present invention. As shown in FIG. 6 , the electronic device 600 may include: a memory 610, a processor 620, and a computer program 630 stored in the memory 610 and running on the processor 620. The processor 620 executes the program 630 to implement the first step of the present invention. The goods sorting method described in any one of the embodiments of the second aspect.
在此描述的逻辑和/或步骤,例如,可以被认为是用于实现逻辑功能的可执行指令的定序列表,可以具体实现在任何计算机可读介质中,以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用,或结合这些指令执行系统、装置或设备而使用。就本说明书而言,"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下:具有一个或多个布线的电连接部(电子装置),便携式计算机盘盒(磁装置),随机存取存储器(RAM),只读存储器(ROM),可擦除可编辑只读存储器(EPROM或闪速存储器),光纤装置,以及便携式光盘只读存储器(CDROM)。另外,计算机可读介质甚至可以是可在其上打印上述程序的纸或其他合适的介质,因为可以例如通过对纸或其他介质进行光学扫描,接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序,然后将其存储在计算机存储器中。The logic and/or steps described herein, for example, may be considered an ordered listing of executable instructions for implementing the logical functions, and may be embodied in any computer-readable medium for use in an instruction execution system, apparatus, or device (eg, computer-based systems, systems including processors, or other systems that can fetch instructions from and execute instructions from an instruction execution system, apparatus, or device) or in conjunction with such instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport the program for use by or in conjunction with an instruction execution system, apparatus, or apparatus. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections with one or more wiring (electronic devices), portable computer disk cartridges (magnetic devices), random access memory (RAM), Read Only Memory (ROM), Erasable Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the above-described program can be printed, as it may be possible, for example, by optically scanning the paper or other medium, followed by editing, interpretation or other suitable means as necessary Processing is performed to obtain the program electronically and then stored in computer memory.
应当理解,本申请的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中,多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。如,如果用硬件来实现和在另一实施方式中一样,可用本领域公知的下列技术中的任一项或他们的组合来实现:具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路,具有合适的组合逻辑门电路的专用集成电路,可编程门阵列(PGA),现场可编程门阵列(FPGA)等。It should be understood that various parts of this application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented by any one of the following techniques known in the art, or a combination thereof: discrete with logic gates for implementing logic functions on data signals Logic circuits, application specific integrated circuits with suitable combinational logic gates, Programmable Gate Arrays (PGA), Field Programmable Gate Arrays (FPGA), etc.
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成,所述的程序可以存储于一种计算机可读存储介质中,该程序在执行时,包括方法实施例的步骤之一或其组合。Those of ordinary skill in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the program is stored in a computer-readable storage medium. When executed, one or a combination of the steps of the method embodiment is included.
此外,在本申请各个实施例中的各功能单元可以集成在一个处理模块中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现,也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时,也可以存储在一个计算机可读 取存储介质中。In addition, each functional unit in each embodiment of the present application may be integrated into one processing module, or each unit may exist physically alone, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.
上述提到的存储介质可以是只读存储器,磁盘或光盘等。尽管上面已经示出和描述了本申请的实施例,可以理解的是,上述实施例是示例性的,不能理解为对本申请的限制,本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, and the like. Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limitations to the present application. Embodiments are subject to variations, modifications, substitutions and variations.

Claims (12)

  1. 一种货品分拣系统,其特征在于,包括:获取单元、订单识别单元、识别响应单元以及控制单元;A product sorting system, comprising: an acquisition unit, an order identification unit, an identification response unit and a control unit;
    所述获取单元包括:与所述控制单元通信连接的3D智能相机、以及与所述控制单元通信连接的机械手臂,其中,所述3D智能相机被所述控制单元控制拍摄混料框,所述机械手臂根据所述控制单元发出的信息进行移动,所述机械手臂的操作末端固定有与所述控制单元通信连接的夹具,所述夹具通过所述机械手臂带动移动并受所述控制单元的控制而启停以从混料框获取货品至所述订单识别单元;The acquisition unit includes: a 3D smart camera communicatively connected to the control unit, and a robotic arm communicatively connected to the control unit, wherein the 3D smart camera is controlled by the control unit to photograph the mixing frame, and the The robotic arm moves according to the information sent by the control unit, the operation end of the robotic arm is fixed with a clamp that is connected to the control unit in communication, and the clamp is driven to move by the robotic arm and controlled by the control unit And start and stop to get the goods from the mixing box to the order recognition unit;
    所述订单识别单元包括:透明识别台、以及面向所述透明识别台放置的与所述控制单元通信连接的订单识别相机,所述透明识别台的台面放置空间被所述订单识别相机的拍摄视野全覆盖,所述订单识别相机受所述控制单元控制拍摄所述台面放置空间内的货品;The order recognition unit includes: a transparent recognition table, and an order recognition camera placed facing the transparent recognition table and connected to the control unit in communication with the control unit; Full coverage, the order recognition camera is controlled by the control unit to photograph the goods in the space on the countertop;
    所述识别响应单元包括:与所述控制单元通信连接的分类推送器、分类接料台、与所述控制单元通信连接的接料台传送部、以及设置在所述接料台传送部的某些刻度位置的分类料框;所述分类接料台设置在所述透明识别台的分类推送器所在侧的相对侧;所述接料台传送部使所述分类接料台在各刻度位置间移动,以使所述分类接料台在不同分类料框间移动;所述透明识别台所在平面高于所述分类接料台的最高面;The recognition response unit includes: a sorting pusher connected to the control unit, a sorting receiving table, a receiving table conveying part communicatively connected to the control unit, and a certain part provided in the receiving table conveying part. The sorting material frame at some scale positions; the sorting and receiving table is arranged on the opposite side of the side where the sorting pusher of the transparent identification table is located; the transfer part of the receiving table makes the sorting and receiving table between each scale position moving, so that the sorting and receiving table moves between different sorting material frames; the plane where the transparent identification table is located is higher than the highest surface of the sorting and receiving table;
    所述控制单元用于控制所述3D智能相机、所述订单识别相机拍摄,并接收所述3D智能相机、所述订单识别相机反馈的数据进行识别,根据识别结果控制所述夹具、所述分类推送器的启停,以及根据识别结果向所述接料台传送部、所述机械手臂发送信息使所述夹具、所述分类接料台移动至相应位置。The control unit is used to control the 3D smart camera and the order recognition camera to shoot, and to receive the data fed back by the 3D smart camera and the order recognition camera for recognition, and to control the fixture and the classification according to the recognition result. Start and stop of the pusher, and send information to the transfer part of the receiving table and the mechanical arm according to the recognition result to move the clamp and the sorting and receiving table to the corresponding position.
  2. 根据权利要求1所述的系统,其特征在于,所述透明识别台为矩形,所述分类推送器与所述分类接料台在所述透明识别台的一对边。The system according to claim 1, wherein the transparent identification table is rectangular, and the sorting pusher and the sorting and receiving table are on a pair of sides of the transparent identification table.
  3. 根据权利要求2所述的系统,其特征在于,所述订单识别相机的数量为6,包括:第一订单识别相机设置在距离所述透明识别台上表面d1处,第二订单识别相机设置在距离所述透明识别台下表面d2处,第三订单识别相机设置在距离所述透明识别台第一顶点的d3处,第四订单识别相机设置在距离所述透明识别台第二顶点的d4处,第五订单识别相机设置在距离所述透明识别台第三顶点的d5处,第六订单识别相机设置在距离所述透明识别台第四顶点的d6处。The system according to claim 2, wherein the number of the order recognition cameras is 6, comprising: a first order recognition camera is arranged at a distance d1 from the upper surface of the transparent recognition stage, and a second order recognition camera is arranged at a distance of d1. At a distance d2 from the lower surface of the transparent identification stage, the third order identification camera is arranged at a distance d3 from the first vertex of the transparent identification stage, and the fourth order identification camera is arranged at a distance from the second vertex of the transparent identification stage at d4 , the fifth order recognition camera is arranged at d5 from the third vertex of the transparent recognition platform, and the sixth order recognition camera is arranged at d6 from the fourth vertex of the transparent recognition platform.
  4. 根据权利要求3所述的系统,其特征在于,所述分类推送器包括气缸,所述气缸的输出端形成推送面,所述推送面的宽度与所述透明识别台尺寸相匹配。The system according to claim 3, wherein the sorting pusher comprises an air cylinder, the output end of the air cylinder forms a pushing surface, and the width of the pushing surface matches the size of the transparent identification table.
  5. 根据权利要求1所述的系统,其特征在于,所述接料台传送部包括水平线性模组、 竖直线性模组、以及接料台翻转机构;所述竖直线性模组的端部与所述水平线性模组的滑块固定;所述接料台翻转机构与所述竖直线性模组的滑块固定以在所述竖直线性模组上滑动,所述接料台翻转机构的输出端与所述分类接料台相固定并受所述控制单元控制旋转以使所述分类接料台翻转。The system according to claim 1, wherein the transfer part of the receiving table comprises a horizontal linear module, a vertical linear module, and a turning mechanism of the receiving table; the end of the vertical linear module is connected to the The slider of the horizontal linear module is fixed; the turning mechanism of the receiving table is fixed with the sliding block of the vertical linear module to slide on the vertical linear module, and the turning mechanism of the receiving table is fixed. The output end is fixed with the sorting and receiving table and controlled by the control unit to rotate so as to turn the sorting and receiving table.
  6. 根据权利要求1所述的系统,其特征在于,所述透明识别台与所述分类接料台间设置分类滑槽。The system according to claim 1, wherein a sorting chute is arranged between the transparent identification table and the sorting and receiving table.
  7. 根据权利要求1所述的系统,其特征在于,还包括:分类货架;所述分类料框放置在所述分类货架上。The system of claim 1, further comprising: a sorting rack; the sorting material frame is placed on the sorting rack.
  8. 根据权利要求1所述的系统,其特征在于,还包括:料框传送部,所述料框传送部从所述3D智能相机下端始,穿过所述透明识别台下侧而延伸;所述控制单元还用于控制所述料框传送部的启停。The system according to claim 1, further comprising: a material frame conveying part, the material frame conveying part starts from the lower end of the 3D smart camera and extends through the lower side of the transparent identification stage; the The control unit is also used to control the start and stop of the material frame conveying part.
  9. 根据权利要求1所述的系统,其特征在于,还包括:回退推送器,所述回退推送器面向所述透明识别台且设置在所述透明识别台的混料框所在侧的相对侧,且,所述回退推送器从所述透明识别台的分类推送器所在侧的相邻侧面向所述透明识别台放置,以避免进行推送操作时与所述分类推送器相碰撞。The system according to claim 1, further comprising: a retracting pusher, the retracting pusher facing the transparent identification table and disposed on the opposite side of the side where the mixing frame of the transparent identification table is located , and the retracting pusher is placed from the adjacent side of the transparent identification table where the sorting pusher is located to the transparent identification table, so as to avoid collision with the sorting pusher during the pushing operation.
  10. 一种货品分拣方法,其特征在于,包括:A method for sorting goods, comprising:
    控制3D智能相机拍摄混料框,并接收所述3D智能相机所拍摄的第一数据;controlling the 3D smart camera to shoot the mixing frame, and receiving the first data captured by the 3D smart camera;
    识别所述第一数据确定当前最优获取货品,并计算所述最优获取货品的位置姿态;Identifying the first data to determine the current optimally obtained item, and calculating the position and attitude of the optimally obtained item;
    根据所述位置姿态确定获取信息,发送所述获取信息至机械手臂,以使得固定在所述机械手臂的操作末端的夹具移动到获取位置并形成获取姿态;Determine the acquisition information according to the position and attitude, and send the acquisition information to the robotic arm, so that the clamp fixed on the operation end of the robotic arm moves to the acquisition position and forms the acquisition attitude;
    控制所述夹具启动,以获取所述最优获取货品;controlling the start of the fixture to obtain the optimally obtained goods;
    发送预规划的所述机械手臂的操作末端的移动路径,使得所述夹具获取的所述最优获取货品被带动移动至透明识别台的台面放置空间,控制所述夹具停止,将所述最优获取货品放置所述台面放置空间;Send the pre-planned movement path of the operation end of the robotic arm, so that the optimally obtained goods acquired by the fixture are driven to move to the table placement space of the transparent identification table, control the fixture to stop, and set the optimal acquisition Obtain the goods and place the countertop placement space;
    控制订单识别相机拍摄所述最优获取货品,并接收所述订单识别相机所拍摄的第二数据;在预设订单标识集中匹配与所述第二数据中的订单标识相对应的目标标识,控制分类推送器启动将所述最优获取货品推送至分类接料台,并根据所述目标标识的匹配结果控制接料台传送部将所述分类接料台运送至相应分类料框处并将所述最优获取货品置入。Controlling the order recognition camera to photograph the optimally obtained goods, and receiving the second data captured by the order recognition camera; matching the target identifier corresponding to the order identifier in the second data in the preset order identifier set, and controlling The classification pusher starts to push the optimally obtained goods to the classification receiving table, and controls the receiving table transmission part to transport the classification receiving table to the corresponding classification material frame according to the matching result of the target identification Describe the optimal acquisition of item placement.
  11. 根据权利要求10所述的方法,其特征在于,还包括:The method of claim 10, further comprising:
    若识别到所述混料框中无货品,则控制料框传送部启动,将下一个混料框移动至所述3D智能相机的拍摄视野。If it is recognized that there is no product in the mixing box, the control material box conveying part is activated to move the next mixing box to the shooting field of view of the 3D smart camera.
  12. 根据权利要求10所述的方法,其特征在于,所述根据所述目标标识的匹配结果控 制接料台传送部将所述分类接料台运送至相应分类料框处并将所述最优获取货品置入,包括:The method according to claim 10, characterized in that, according to the matching result of the target identifiers, the conveying part of the receiving table is controlled to transport the sorting and receiving table to a corresponding sorting material frame and obtain the optimal Item placement, including:
    若匹配成功,则控制所述接料台传送部将所述分类接料台运送至所述目标标识相对应的分类料框处并将所述最优获取货品置入;If the matching is successful, the conveying part of the receiving table is controlled to transport the sorting receiving table to the sorting material frame corresponding to the target identification and placing the optimally obtained goods;
    若匹配失败,则控制所述接料台传送部将所述分类接料台运送至匹配失败类对应的分类料框处并将所述最优获取货品置入。If the matching fails, the conveying part of the receiving table is controlled to transport the sorting receiving table to the sorting material frame corresponding to the matching failure class and place the optimally obtained goods.
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