WO2022166324A1 - 分拣系统的管理方法、分拣系统、控制设备及存储介质 - Google Patents

分拣系统的管理方法、分拣系统、控制设备及存储介质 Download PDF

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Publication number
WO2022166324A1
WO2022166324A1 PCT/CN2021/132843 CN2021132843W WO2022166324A1 WO 2022166324 A1 WO2022166324 A1 WO 2022166324A1 CN 2021132843 W CN2021132843 W CN 2021132843W WO 2022166324 A1 WO2022166324 A1 WO 2022166324A1
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WIPO (PCT)
Prior art keywords
sorting
item
sorted
abnormality
image
Prior art date
Application number
PCT/CN2021/132843
Other languages
English (en)
French (fr)
Inventor
陈德平
王银学
徐庆才
金琦
童孝康
Original Assignee
北京迈格威科技有限公司
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Publication of WO2022166324A1 publication Critical patent/WO2022166324A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/10—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
    • B07C1/00—Measures preceding sorting according to destination
    • B07C1/02—Forming articles into a stream; Arranging articles in a stream, e.g. spacing, orientating
    • 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
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B07C3/04—Drum-type sorting machines or having circularly arranged sorting compartments
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • 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 application relates to the field of logistics technology, and in particular, to a management method of a sorting system, a sorting system, a control device and a storage medium.
  • Embodiments of the present application provide a sorting system management method, sorting system, control device, and storage medium, so as to at least improve the sorting caused by the inability of operators to timely learn about sorting abnormal conditions and handle them in the related art Inaccuracy issues.
  • the present application provides a management method for a sorting system.
  • the control method can be applied to a control device of the sorting system.
  • the sorting system can include a camera and a sorting device that are communicatively connected to the control device.
  • the method It may include: acquiring an image of the area where the sorting device is located, captured by the camera; based on the image of the area where the sorting device is located, determining whether there is a sorting abnormality in the sorting process of the sorting device; A sorting exception notification is generated.
  • the management method of the sorting system can monitor the sorting process of the sorting device by acquiring the image of the area where the sorting device is located, which is captured by the camera, and then determine the sorting device based on the image of the area where the sorting device is located. Whether there is a sorting abnormality in the sorting process, and when it is determined that there is an abnormality, a sorting abnormality notification is generated, so that the operator can timely understand the sorting abnormality and deal with it, thereby improving the sorting accuracy to a certain extent. sex.
  • the abnormality notification may include an image in which a sorting abnormality is detected and/or information on an item in which the sorting abnormality occurs.
  • the abnormality notification may include an image in which the sorting abnormality is detected and/or information on the item in which the sorting abnormality occurs, which helps the operator to quickly determine the item in which the sorting abnormality occurs.
  • the image in which the sorting abnormality is detected may include an indication of the item in which the sorting abnormality occurs; and/or the image in which the sorting abnormality is detected may include the image corresponding to the item in which the sorting abnormality occurs. Marking of the correct feeding port.
  • the image in which the sorting abnormality is detected includes the marking of the item with the sorting abnormality and/or the marking of the correct feeding port corresponding to the item with the sorting abnormality, which is helpful for the operator on the one hand.
  • Quickly identifying items that have a sorting anomaly helps the operator to determine the type of sorting anomaly, for example, item accumulation, omission, misalignment, or jamming.
  • each of the items to be sorted may be assigned a target position, if at least one item to be sorted on the sorting device is determined based on the image of the area where the sorting device is located.
  • the actually reached position is inconsistent with the corresponding target position, it is determined that there is a sorting abnormality, wherein the target position is the target connector port, and the actually reached position is the actually reached position connector port; or, the target The position is the target container, and the actually reached position is the actually reached position container.
  • the sorting device when it is determined that the actual arrival position of at least one item with sorting on the sorting device is inconsistent with the corresponding target position based on the image of the area where the sorting device is located, it is helpful to determine that the sorting is abnormal. It enables the operator to know the deviation of the items in a timely manner during sorting.
  • the image of the area where the sorting device is located may include a mark of the target position of the item to be sorted. After the item transfer is completed, it is determined that the actual arrival position of the item to be sorted is inconsistent with the marked target position, and it is determined that there is a sorting abnormality.
  • the marking of the target position of the item to be sorted in the image of the area where the sorting device is located is determined by determining the actual arrival position of the item to be sorted and the marked target position after the transfer of the item to be sorted is completed. Whether they are consistent or not can easily and intuitively determine the abnormal sorting caused by the deviation of the items during sorting.
  • the position change is smaller than a preset value, determine There is a sorting exception.
  • the method may further include: recording an image of the area where the sorting device is located in real time.
  • the method may further include: locating each item to be sorted based on the image of the area where the sorting device is located; When the piece port is less than the preset distance, mark the target port of the item to be sorted in the image of the area where the sorting device is located; the port where the item to be sorted is actually transferred is the same as the marked port.
  • the target connector ports of the items to be sorted are inconsistent, it is determined that there is a sorting abnormality.
  • each item to be sorted is positioned based on the image of the area where the sorting device is located, and when any item to be sorted is less than a preset distance from its corresponding target interface, the sorting
  • the target interface of the item to be sorted is marked in the image of the area where the device is located, which helps the operator to know the progress of the sorting process more intuitively.
  • the number of the cameras may be multiple, and each camera captures images of different areas of the sorting device, and the method may further include: according to the position of each item to be sorted, An image captured by a corresponding camera is acquired to determine whether there is an abnormality in the sorting process of the item to be sorted.
  • different cameras are used to capture images of different areas of the sorting device, which is helpful to realize the positioning of the items to be sorted.
  • the method may further include: determining, based on the abnormal notification, an item with an abnormal sorting; determining theoretical transfer information of the item, the theoretical transfer information including the theoretical transfer timing and theoretical transfer speed of the item; The PLC log information acquires the actual transfer information of the item, the actual transfer information includes the actual transfer timing and actual transfer speed of the item; an abnormality analysis report is generated based on the theoretical transfer information and the actual transfer information.
  • generating an abnormality analysis report helps the operator to further understand the cause of the sorting abnormality.
  • the sorting system may further include a container conveyor that is communicatively connected to the control device and is provided corresponding to each connector port, and the containers corresponding to each connector port are placed in the corresponding
  • the method may further include: acquiring an image of the area where each container conveyor is located, captured by the camera; determining whether a container is fully loaded based on the image of the area where each container conveyor is located; if any container is fully loaded, replacing the container Fully loaded container.
  • the method may further include: determining the full load situation of multiple containers on the same container conveyor based on the image of the area where each container conveyor is located; based on the full load situation of the multiple containers on the same container conveyor, controlling The frequency with which items to be sorted are transferred to the plurality of containers.
  • the present application also provides a sorting system, which may include: a control device; a camera and a sorting device connected in communication with the control device; wherein the control device includes a memory and a processor, and the memory is Computer-readable instructions are stored, and when executed by the processor, the computer-readable instructions cause the processor to perform the aforementioned management method of the sorting system.
  • the present application also provides a control device, which can be applied to a sorting system
  • the control device can include a memory and a processor
  • the memory can store computer-readable instructions
  • the computer-readable instructions are When the processor executes, the processor can be made to execute the aforementioned management method of the sorting system.
  • the present application further provides a non-volatile readable storage medium storing computer-readable instructions, and when the computer-readable instructions are executed by a processor, the processor can cause the processor to execute the aforementioned management method of a sorting system.
  • FIG. 1 is a structural block diagram of a sorting system provided by an embodiment of the present application.
  • FIG. 2 is a schematic structural diagram of a sorting system according to an embodiment of the present application.
  • FIG. 3 is a structural block diagram of a control device provided by an embodiment of the present application.
  • FIG. 4 is a flowchart of a management method of a sorting system provided by an embodiment of the present application.
  • Icons sorting system 100; sorting device 10; camera 20; control device 30; connecting device 40; connecting device 50; Position 63; second loading position 101; second unloading position 102; conveyor 11; sorting trolley 12; splice assembly 41; rotating device 42; splice slot 411; container conveyor 412; container 413; processor 31 ; Memory 32.
  • the sorting system applicable to the management method provided by the present application introduce. It can be understood that the sorting system introduced here is only an example of the sorting system to which the management method provided in the present application is applicable, and the present application is not limited thereto.
  • the sorting system 100 may include a sorting device 10 , a camera 20 and a control device 30 .
  • the control device 30 can be connected to the sorting device 10 and the camera 20 in communication, respectively.
  • the sorting device 10 can be used to sort items to be sorted.
  • the camera 20 may be used to capture images and/or videos of the area where the sorting system 100 is located. By setting a camera in the sorting system, the images and/or videos captured by the camera can be used to monitor the operation process of the sorting equipment, and the location of the items to be sorted in the sorting system can also be determined according to the collected images. location situation.
  • the sorting system may further include a pick-up device 40 .
  • the pick-up device 40 can be arranged around the sorting device 10 .
  • the pick-up device 40 may be used for placing containers to receive items sorted by the sorting device 10 .
  • the sorting system 100 may further include a docking device 50 , and the control device 30 may be connected in communication with the docking device 50 .
  • the docking device 50 can be used to interface with the splice device 40 , receive a full container from the splice device 40 , or transfer empty containers to the splice device 40 .
  • the sorting system 100 may further include a part feeding device 60 , and the control device 30 may be connected in communication with the part feeding device 60 . Under the control of the control device 30 , the parts feeding device 60 may be disposed adjacent to the sorting device 10 for conveying the items to be sorted to the sorting device 10 .
  • the component feeding device 60 may include a first loading position 61 , a first unloading position 62 and a feeding waiting position 63 .
  • the first upper loading position 61 and the first unloading position 62 may be located at opposite ends of the conveyor belt structure.
  • the supply waiting position 63 may be located between the first upper loading position 61 and the first unloading position 62 . Items to be sorted can be put into the feeding device 60 from the first upper cargo position 61 .
  • the feeding device 60 may be used to transfer the items to be sorted from the first loading position 61 to the first unloading position 62 .
  • the feeding device 60 may be a conveyor belt structure, for example, the conveyor belt structure may be realized by rollers, belts, chains, rollers, or conveying rollers, or the like.
  • the first upper cargo position 61 may be provided with a weighing device for detecting the weight of the items placed on the first upper cargo position 61 .
  • the sorting device 10 may be disposed adjacent to the feeding device 60 for sorting the items to be sorted after receiving the items to be sorted transferred from the feeding device 60 .
  • the sorting device 10 may have a second loading position 101 and a second unloading position 102 .
  • the second upper deck 101 may be disposed adjacent to the first unload deck 62 .
  • the number of the second unloading positions 102 may be multiple, and the multiple second unloading positions 102 may be arranged at intervals.
  • a plurality of second unloading positions 102 may be arranged at equal intervals.
  • the sorting device 10 can be used to receive the items to be sorted transferred from the part supplying device 60 at the second loading position 101, and transfer the items to be sorted to the second unloading position 102 corresponding to the items to be sorted. sorting.
  • the sorting device 10 may include a conveying device 11 and a sorting cart 12 .
  • the sorting trolley 12 can be arranged on the conveyor 11 .
  • the sorting trolley 12 may be used to carry the items to be sorted.
  • the transfer device 11 can be used to transfer the sorting trolley 12 .
  • the supply device 60 can transfer the items to be sorted from the first unloading position 62 to the sorting trolley 12 that has reached the second upper cargo position 101 superior.
  • the transfer device 11 can transfer the sorting trolley 12 that has received the item to be sorted transferred from the first unloading position 62 to the second unloading position 102 corresponding to the item to be sorted, so that the item to be sorted can be transferred to the second unloading position 102 corresponding to the item to be sorted. Sort.
  • the conveying speed of the conveying device 11 can be set as required, and the conveying device 11 can convey the sorting trolley 12 at a constant speed or at a variable speed.
  • the conveying device 11 may be a closed rotary circulation structure, that is, the start point and the end point of the rotary circulation structure are connected together, so that the sorting transposition 10 is in a closed loop, for example, a circular rotary circulation structure, an elliptical rotary structure Circulation structure, circular rotary circulation structure, rectangular rotary circulation structure or irregularly shaped rotary circulation structure designed according to the equipment installation site.
  • the closed rotary circulation structure can realize the continuous circulation and flow sorting of the goods, maintain the continuous movement state, avoid the parking of the goods, improve the sorting efficiency, and save the installation space of the equipment.
  • the conveying device 11 may also be an open linear or curved linear structure with a start point and an end point, such as an L-shaped, U-shaped, or linear structure.
  • the second upper loading position 101 and the plurality of second unloading positions 102 may be arranged at intervals along the conveying device 11 .
  • the number of sorting carts 12 may be multiple.
  • a plurality of sorting trolleys 12 can be arranged on the conveyor 11 at intervals.
  • a plurality of sorting trolleys 12 may be arranged on the outer periphery of the conveying device 11 at equal intervals.
  • the number of the sorting trolleys 12 may be equal to the sum of the numbers of the second loading positions 101 and the second unloading positions 102 .
  • the height of the table of the sorting trolley 12 and the table of the first unloading position 62 may be the same.
  • the sorting trolley 12 can be implemented as any one of a non-partition conveyor belt, a partition conveyor belt, a conveying roller, a tipping tray, and a tipping bucket.
  • the conveying direction of the sorting trolley 12 may be different from the conveying direction of the conveying device 11 , so that the items located on the sorting trolley 12 are delivered from the sorting device 10 to the corresponding containers.
  • the conveying direction of the sorting trolley can be perpendicular to the conveying direction of the conveyor 11, so that the sorting trolley can deliver the items to this section of the conveyor 11 inside or outside the container.
  • the conveying direction of the sorting trolley can be perpendicular to the tangential direction of the conveying device 11 section (also referred to as the radial direction of the conveying device 11 ), so as to separate
  • the picking cart delivers the items to the container inside or outside the conveyor 11 of this section.
  • the conveying device is a circular rotary circulation structure
  • the conveying direction of the sorting trolley 12 may be the radial direction of the conveying device 11 .
  • the conveying direction of the sorting trolley 12 may be a direction close to the rotating shaft along the radial direction of the conveying device 11 and/or a direction away from the rotating shaft along the radial direction of the conveying device 11 .
  • the pick-up device 40 can be arranged around the sorting device 10, and the pick-up device 40 can be used for placing containers to receive the items sorted by the sorting trolley.
  • the connector device 40 may include a plurality of connector assemblies 41 .
  • a plurality of splice assemblies 41 may be disposed around the conveyor 11.
  • a plurality of joint assemblies 41 may be arranged around the conveying device 11 at equal intervals.
  • the number of the connector assemblies 41 may correspond to the number of the second unloading positions 102 , and the connector assemblies 41 may be arranged in a one-to-one correspondence with the second unloading positions 102 .
  • the connecting device 40 may further include a rotating device 42 , each connecting assembly 41 may be disposed on the rotating device 42 , and the rotating device 42 can drive each connecting assembly 41 to rotate around the sorting device 10 .
  • Each splice assembly 41 may include a container conveyor 412, which may be used to place containers 413, and by controlling the container conveyor 412, at least one container opening on the container conveyor 412 may be aligned with the sorting trolley 12 to Receive the items delivered by the sorting trolley 12 .
  • each connector assembly 41 may further include a connector slot 411 .
  • the connector slot 411 may have a funnel structure.
  • the splice slot 411 may be provided adjacent to the conveying device 11 . There may be a height difference between the plane where the upper notch of the connector slot 411 is located and the table surface of the sorting trolley 12 , and the height of the table surface of the sorting trolley 12 may be higher than the height of the plane where the notch of the connector slot 411 is located.
  • the splice slot 411 can be erected on the container conveyor 412 , the relative position to the container conveyor 412 is fixed, and it is disposed adjacent to the conveying device 11 .
  • the lower slot of the connector slot 411 can be aligned with the conveying table of the container conveyor 412 , and the container opening on the container conveyor 412 can be aligned with the lower slot of the connector slot 411 by adjusting the container conveyor 412 .
  • the connecting slot By arranging the connecting slot, the items can be accurately dropped into the container, so as to prevent the items from falling out of the container when the sorting trolley 12 delivers the items.
  • the container conveyor 412 may extend in the radial direction of the conveyor 11 .
  • the container conveyor 412 can be used to place the containers 413 and can be reciprocated in the radial direction in order to switch the containers 413 .
  • the container conveyor 412 may be a conveyor belt structure, which may be implemented, for example, by rollers, belts, chains, rollers, or transfer rollers, or the like.
  • the docking device 50 may be arranged outside the connector device 40 .
  • the connecting device 50 may be a conveyor belt structure.
  • each connector assembly 41 is driven to rotate around the sorting device 10 by the rotating device 42 , so that the end of the container conveyor 412 of each connector assembly 41 is away from the rotation axis of the rotating device 42 and one end of the connecting device 50 Alignment, whereby, through the docking device 50 in cooperation with the container conveyor 412, the full container is transferred to the manual work station for loading and unloading, or the empty container is replenished on the container conveyor 412 for receiving self-connecting pieces Items dropped from slot 411.
  • the plurality of connector assemblies 41 may be along the inner edge of the conveying device 11 (that is, the side edge of the conveying device 11 that is close to the rotating shaft) and the outer edge of the conveying device 11 (that is, the conveying device 11 is far away from the shaft).
  • One side edge of the rotating shaft) is arranged around the conveying device 11 .
  • the number of the connector assemblies 41 may be twice the number of the sorting trolleys.
  • the splice assemblies 41 located at the inner edge of the conveying device 11 and the splice assemblies 41 located at the outer edge of the conveying device 11 in the same radial direction may share a container conveyor.
  • the plurality of connector assemblies 41 may also be arranged around the conveying device 11 along the inner edge of the conveying device 11 (ie, the edge of the conveying device 11 on one side of the conveying device 11 close to the rotating shaft).
  • the camera 20 can be used to capture images of the area where the sorting device 10 is located, the area where the part receiving device 40 is located, and the area where the part feeding device 60 is located, so that the control device 30 can control the corresponding devices based on the images in each area.
  • the camera 20 may be a wide-angle camera, a panoramic camera, or the like. In this embodiment, the camera 20 may be a panoramic camera, and in this case, the number of cameras 20 may be one. In other embodiments, the camera 20 may be other cameras. At this time, the number of cameras 20 may be multiple, and may be installed and fixed corresponding to each device of the sorting system 100, so as to obtain images of the area where the corresponding device is located.
  • the control device 30 can be connected with the sorting device 10 , the camera 20 , the part connecting device 40 , the connecting device 50 and the part feeding device 60 , and is used to control the operation of each device and equipment.
  • the control device 30 may include a processor 31 and a memory 32 . It can be understood that the components and structures of the control device introduced here are only examples, and the control device 30 of the present application is not limited thereto, and the control device 30 may also have other components and structures as required.
  • the processor 31, the memory 32 and other components that may be present in the control device 30 can be directly or indirectly electrically connected to each other, for example, through one or more communication connections, so as to realize data transmission or interaction.
  • the memory 32 may be used to store programs or computer-readable instructions, for example, programs or computer-readable instructions corresponding to the control methods appearing later.
  • the processor 31 may be used to be triggered to execute a program or computer-readable instructions corresponding to the control method, so as to execute the control method described later.
  • an embodiment of the present application provides a management method of a sorting system, and the management method can be applied to the control device 30 of the sorting system 100 .
  • the management method of the sorting system may include the following steps.
  • step S11 an image of the area where the sorting device is located, captured by the camera, is acquired.
  • Step S12 based on the image of the area where the sorting device is located, determine whether there is a sorting abnormality in the sorting process of the sorting device.
  • step S13 if there is an abnormality, a sorting abnormality notification is generated.
  • step S11 is different according to different types of cameras.
  • the number of cameras can be one.
  • the camera is used to capture the overall image of the sorting system.
  • the control device can extract the image of the area where the sorting device is located from the overall image.
  • the number of cameras can be multiple, and the cameras can be set corresponding to each mechanism of the sorting system, and used to collect images of the area where the corresponding mechanism is located.
  • the camera can capture images in real time.
  • the control device can directly acquire the image of the area where the sorting device is located and captured by the camera set corresponding to the sorting device.
  • the corresponding relationship between the installation position of the camera and the mechanism may be stored in the control device, and the control device may determine the camera corresponding to the sorting device based on the corresponding relationship, and then obtain the area where the sorting device is located that is captured by the camera. Image.
  • Step S12 based on the image of the area where the sorting device is located, determine whether there is a sorting abnormality in the sorting process of the sorting device.
  • each item to be sorted can be assigned a target position. If based on the image of the area where the sorting device is located, the actual arrival position of at least one item to be sorted on the sorting device is determined and the corresponding When the target positions are inconsistent, it is determined that there is a sorting abnormality, in which the target position is the target connector port, and the actually reached position is the actually reached position connector port; or, the target position is the target container, and the actually reached position is the actual arrived position. location container.
  • the connector port can be understood as the opening of the container in the foregoing embodiment, or the upper notch of the connector slot, and the like.
  • the image of the area where the sorting device is located may include a mark of the target position of the item to be sorted. After completion, it is determined that the actual arrival position of the item to be sorted is inconsistent with the marked target position, and it is determined that there is a sorting abnormality. Thereby, it is possible to easily and intuitively identify the abnormality of the sorting caused by the misalignment of the items during sorting.
  • the preset duration may be the duration of one cycle of rotation of the conveying device of the sorting device.
  • step S13 if there is an abnormality, a sorting abnormality notification is generated.
  • the abnormality notification may include an image in which a sorting abnormality is detected and/or information on an item in which the sorting abnormality occurs. Thereby, it is helpful for the operator to quickly identify the item in which the sorting abnormality has occurred.
  • the image in which the sorting abnormality is detected may include an indication of the item in which the sorting abnormality occurs; and/or the image in which the sorting abnormality is detected may include the image of the correct feeding port corresponding to the item in which the sorting abnormality occurs. marked.
  • the type of sorting abnormality for example, the accumulation, omission, misalignment or jamming of the items Wait.
  • the management method of the sorting system can monitor the sorting process of the sorting device by acquiring the image of the area where the sorting device is located, which is captured by the camera, and then determine the sorting process based on the image of the area where the sorting device is located. Whether there is a sorting abnormality in the sorting process of the sorting device, when it is determined that there is an abnormality, a sorting abnormality notification is generated, so that the operator can timely understand the sorting abnormality and deal with it, thus improving the sorting to a certain extent. Picking accuracy.
  • the method may further include: recording an image of the area where the sorting device is located in real time.
  • recording the image of the area where the sorting device is located in real time on the one hand, it provides a basis for analyzing whether there is a sorting abnormality based on the image of the area where the sorting device is located. Picking exceptions for re-stocking, traceability, etc.
  • the method may further include: locating each item to be sorted based on the image of the area where the sorting device is located; when any item to be sorted is less than a preset distance from its corresponding target connector port, Mark the target port of the item to be sorted in the image of the area where the sorting device is located; mark the target port of the item to be sorted between the port where the item to be sorted is actually transferred and the marked target port of the item to be sorted When the ports are inconsistent, it is determined that there is a sorting abnormality. This helps the operator to know the progress of the sorting process more intuitively.
  • the preset distance may be the distance of a second unloading position. That is to say, the conveying device transfers the items to be sorted to a second unloading position through the sorting trolley to reach the second unloading position corresponding to the target port.
  • the number of cameras may be multiple, and each camera may capture images of different areas of the sorting device.
  • the method may further include: acquiring images captured by the corresponding cameras according to the position of each item to be sorted, to obtain images from the corresponding cameras. Determine whether there is an abnormality in the sorting process of the item to be sorted.
  • the images of different areas of the sorting device are captured by different cameras, which helps to realize the positioning of the items to be sorted.
  • the method may further include: determining an item with an abnormal sorting based on the abnormal notification; determining theoretical transfer information of the item, where the theoretical transfer information includes the theoretical transfer timing and theoretical transfer speed of the item; obtaining the item based on the PLC log information
  • the actual transfer information includes the actual transfer timing and actual transfer speed of the item; an exception analysis report is generated based on the theoretical transfer information and the actual transfer information.
  • an exception analysis report it helps the operator to further understand the cause of the sorting exception.
  • the theoretical transfer timing and the theoretical transfer speed can be configured through the system.
  • the method when the sorting system further includes a container conveyor that is communicatively connected to the control device and is set corresponding to each connector port, and the containers corresponding to each connector port are placed on the corresponding container conveyors, the method also further The method may include: acquiring an image of the area where each container conveyor is located by a camera; determining whether a container is fully loaded based on the image of the area where each container conveyor is located; if a container is fully loaded, replacing the fully loaded container. This contributes to a continuous and smooth sorting process.
  • the method may further include: determining the full load situation of multiple containers on the same container conveyor based on the image of the area where each container conveyor is located; How often each container transfers items to be sorted.
  • a computer-readable storage medium provided by an embodiment of the present application can store computer-readable instructions thereon, and when the program is executed by a processor, the steps in the above sorting method can be implemented.
  • Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • ROM read only memory
  • PROM programmable ROM
  • EPROM electrically programmable ROM
  • EEPROM electrically erasable programmable ROM
  • an embodiment of the present application also provides a computer program, which can implement the steps in the above sorting method when the program is executed by a processor.
  • the disclosed apparatus and method may be implemented in other manners.
  • the apparatus embodiments described above are only illustrative.
  • the division of the units is only a logical function division.
  • multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces, indirect coupling or communication connection of devices or units, which may be in electrical, mechanical or other forms.
  • units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional module in each embodiment of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.
  • the present application provides a management method, a sorting system, a control device and a storage medium for a sorting system.
  • the management method is applied to the control device of the sorting system, and the sorting system includes a camera and a sorting device that are communicatively connected to the control device.
  • the method includes: acquiring an image of the area where the sorting device is located, photographed by a camera; determining whether there is a sorting abnormality in the sorting process of the sorting device based on the image of the area where the sorting device is located; if there is an abnormality, generating a sorting abnormality notification.
  • the present application generates a sorting abnormality notification when there is an abnormality, and can handle the sorting abnormality in time, thereby improving the sorting efficiency.
  • management method of the sorting system, the sorting system, the control device and the storage medium of the present application are reproducible and can be applied in various applications.
  • the management method of the sorting system, the sorting system, the control device and the storage medium of the present application can be applied to the field of logistics technology and the like.

Abstract

一种分拣系统的管理方法、分拣系统、控制设备及存储介质，该管理方法应用于分拣系统的控制设备，分拣系统包括与控制设备通信连接的摄像头及分拣装置，分拣系统、控制设备及存储介质包括存储有执行该管理方法的计算机可读指令，该管理方法包括：获取摄像头拍摄的分拣装置所在区域的图像；基于分拣装置所在区域的图像，确定分拣装置的分拣过程是否存在分拣异常；若存在异常，则生成分拣异常通知。通过分拣异常通知，能够及时对分拣异常的情况进行处理，由此提升分拣效率。

Description

分拣系统的管理方法、分拣系统、控制设备及存储介质
相关申请的交叉引用
本申请要求于2021年02月08日提交中国国家知识产权局的申请号为202110173498.1、名称为“分拣系统的管理方法，分拣系统，控制设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及物流技术领域，具体而言，涉及一种分拣系统的管理方法、分拣系统、控制设备及存储介质。
背景技术
物流领域中，通常会涉及到对货物进行分拣。传统的采用人工分拣的方式效率低下且分拣错误率较高。为实现分拣自动化，相关技术中开发有货物分拣系统。然而，现有的货物分拣系统无法及时获知分拣的进展情况，使得操作员无法及时地获悉分拣异常情况并进行处理，由此导致分拣准确性欠佳。
发明内容
本申请实施例提供了一种分拣系统的管理方法、分拣系统、控制设备及存储介质，用以至少改善相关技术中操作员无法及时地获悉分拣异常情况并进行处理所导致的分拣准确性欠佳的问题。
本申请提供一种分拣系统的管理方法，所述控制方法可以应用于分拣系统的控制设备，所述分拣系统可以包括与所述控制设备通信连接的摄像头及分拣装置，所述方法可以包括：获取所述摄像头拍摄的所述分拣装置所在区域的图像；基于所述分拣装置所在区域的图像，确定所述分拣装置的分拣过程是否存在分拣异常；若存在异常，则生成分拣异常通知。
本申请所提供的分拣系统的管理方法，通过获取摄像头拍摄的分拣装置所在区域的图像，能够对分拣装置的分拣过程进行监控，然后基于分拣装置所在区域的图像确定分拣装置的分拣过程是否存在分拣异常，在确定存在异常时，生成分拣异常通知，由此使得操作员能够及时了解到分拣异常的情况并进行处理，从而在一定程度上提升了分拣准确性。
可选地，所述异常通知中可以包括检测到分拣异常的图像和/或发生分拣异常的物品信息。
本申请实施例中，异常通知中可以包括检测到分拣异常的图像和/或发生分拣异常的物品信息，有助于使得操作员快速地确定发生分拣异常的物品。
可选地，所述检测到分拣异常的图像中可以包括对发生分拣异常的物品的标示；和/或所述检测到分拣异常的图像中可以包括发生分拣异常的物品所对应的正确投料口的标示。
本申请实施例中，检测到分拣异常的图像中包括对发生分拣异常的物品的标示和/或发生分拣异常的物品所对应的正确投料口的标示，一方面有助于使得操作员快速地确定发生分拣异常的物品，另一方面，有助于使得操作员确定分拣异常的类型，例如，物品堆积，遗漏，投偏或卡件等。
可选地，每一个所述待分拣的物品均可以分配有一个目标位置，若基于所述分拣装置所在区域的图像，确定所述分拣装置上的至少一个所述待分拣的物品实际到达的位置与对应的目标位置不一致时，确定存在分拣异常，其中，所述目标位置为目标接件口，所述实际到达的位置为实际到达的位置接件口；或者，所述目标位置为目标容器，所述实际到达的位置为实际到达的位置容器。
本申请实施例中，通过在基于分拣装置上所在区域的图像确定分拣装置上的至少一个带分拣的物品实际到达的位置与对应的目标位置不一致时，确定分拣异常，有助于使得操作员及时地获知分拣时物品投偏的情况。
可选地，在每个所述待分拣的物品转移的过程中，所述分拣装置所在区域的图像中可以包括该待分拣的物品的目标位置的标注，若在该待分拣的物品转移完成后确定该待分拣的物品实际到达的位置与标注的目标位置不一致，则确定存在分拣异常。
本申请实施例中，分拣装置所在区域的图像中对待分拣的物品的目标位置的标注，在待分拣的物品转移完成后通过确定待分拣的物品实际到达的位置与标注的目标位置是否一致，能够较为简便且直观地确定分拣时物品投偏所导致的分拣异常的情况。
可选地，若基于所述分拣装置所在区域的图像，确定所述分拣装置上的至少一个所述待分拣的物品在所述分拣小车上的停留时长超出预设时长时，确定存在分拣异常。
本申请实施例中，基于分拣装置所在区域的图像，在确定分拣装置上的至少一个待分拣的物品在分拣小车上的停留时长超出预设时长时，确定存在分拣异常，有助于操作员及时获悉物品滞留在分拣装置所导致的分拣异常情况。
可选地，若基于连续的多张所述分拣装置所在区域的图像，确定至少一个所述待分拣的物品在转移至一个所述接件口后，位置变化小于预设值时，确定存在分拣异常。
本申请实施例中，基于连续的多张分拣装置所在区域的图像在确定至少一个待分拣的物品在转移至一个接件口后，位置变化小于预设值时，确定存在分拣异常，有助于使得操作员及时获悉物品卡件所导致的分拣异常情况。
可选地，所述方法还可以包括：实时记录所述分拣装置所在区域的图像。
本申请实施例中，通过实时记录分拣装置所在区域的图像，一方面为基于分拣装置所在区域的图像进行是否存在分拣异常的分析提供基础，另一方面，便于后续操作员在获悉分拣异常通知后对分拣异常进行复盘、溯源等。
可选地，所述方法还可以包括：基于所述分拣装置所在区域的图像，对每个所述待分拣的物品进行定位；在任一所述待分拣的物品距离其对应的目标接件口小于预设距离时，在所述分拣装置所在区域的图像中对该待分拣的物品的目标接件口进行标注；在该待分拣的物品实际转移的接件口与标注的该待分拣的物品的目标接件口不一致时，确定存在分拣异常。
本申请实施例中，通过基于分拣装置所在区域的图像对每个待分拣的物品进行定位，在任一待分拣的物品距离其对应的目标接件口小于预设距离时，在分拣装置所在区域的图像中对该待分拣的物品的目标接件口进行标注，有助于操作员更为直观地获悉分拣过程的进展情况。
可选地，所述摄像头的数量可以为多个，每个所述摄像头拍摄所述分拣装置不同区域的图像，所述方法还可以包括：根据每个所述待分拣的物品的位置，获取对应的摄像头拍摄的图像，以确定该待分拣的物品的分拣过程是否存在异常。
本申请实施例中，通过不同的摄像头拍摄分拣装置不同区域的图像，有助于实现对待分拣的物品的定位。
可选地，所述方法还可以包括：基于所述异常通知确定发生分拣异常的物品；确定该物品的理论转移信息，所述理论转移信息包括该物品的理论转移时机及理论转移速度；基于PLC日志信息获取该物品的实际转移信息，所述实际转移信息包括该物品的实际转移时机及实际转移速度；基于所述理论转移信息及所述实际转移信息生成异常分析报告。
本申请实施例中，通过生成异常分析报告，有助于使得操作员进一步地了解导致分拣异常的原因。
可选地，所述分拣系统还可以包括与所述控制设备通信连接且与各接件口对应设置的容器输送机，与各接件口对应设置的所述容器分别放置在对应的所述容器输送机上，所述方法还可以包括：获取所述摄像头拍摄的各容器输送机所在区域的图像；基于各容器输送机所在区域的图像，确定是否有容器满载；若有容器满载，则更换该满载的容器。
本申请实施例中，通过获取摄像头拍摄的各容器输送机所在区域的图像，基于各容器输送机所在区域的图像，在确定有容器满载时，更换盖曼在的容器，有助于分拣过程持续性地顺畅进行。
可选地，若基于各容器输送机所在区域的图像，确定至少一个所述容器输送机上的多个容器均满载时，更换所述至少一个容器输送机上所有满载的容器。
可选地，所述方法还可以包括：基于各容器输送机所在区域的图像，确定同一容器输送机上的多个容器的满载情况；基于所述同一容器输送机上的多个容器的满载情况，控制向该多个容器转移待分拣的物品的频率。
本申请还提供一种分拣系统，该分拣系统可以包括：控制设备；与所述控制设备通信连接的摄像头、分拣装置；其中，所述控制设备包括存储器和处理器，所述存储器中存储有计算机可读指令，所述计算机可读指令被所述处理器执行时，使得所述处理器执行前述分拣系统的管理方法。
本申请还提供一种控制设备，该控制设备可以应用于分拣系统，所述控制设备可以包括存储器和处理器，所述存储器中可以存储有计算机可读指令，所述计算机可读指令被所述处理器执行时，可以使得所述处理器执行前述分拣系统的管理方法。
本申请还提供一种存储有计算机可读指令的非易失性可读存储介质，所述计算机可读指令被处理器执行时，可以使得所述处理器执行前述分拣系统的管理方法。
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本申请一实施例提供的分拣系统的结构框图。
图2为本申请一实施例提供的分拣系统的结构示意图。
图3为本申请一实施例提供的控制设备的结构框图。
图4为本申请一实施例提供的分拣系统的管理方法的流程图。
图标：分拣系统100；分拣装置10；摄像头20；控制设备30；接件装置40；接驳装置50；供件装置60；第一上货位61；第一卸货位62；供件等候位63；第二上货位101；第二卸货位102；传送装置11；分拣小车12；接件组件41；旋转装置42；接件槽411；容器输送机412；容器413；处理器31；存储器32。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
为便于理解本申请所提供的分拣系统的管理方法的技术方案，在展开介绍本申请所提供的分拣系统的管理方法之前，先对本申请所提供的管理方法所适用的分拣系统的进行介绍。可以理解，此处所介绍的分拣系统仅为本申请所提供的管理方法所适用的分拣系统的示例，本申请并不以此为限。
请参阅图1及图2，本申请一实施例提供了一种分拣系统100，该分拣系统100可以包括分拣装置10、摄像头20及控制设备30。控制设备30可以分别与分拣装置10及摄像头20通信连接。分拣装置10可以用于对待分拣的物品进行分拣。摄像头20可以用于拍摄分拣系统100所在区域的图像和/或视频。通过在分拣系统中设置摄像装置，能够利用摄像装置拍摄的图像和/或视频来监控分拣设备的作业过程，还可以根据采集到的图像确定待分拣的物品在分拣系统中所处的位置情况。
可选地，在另一实施例中，分拣系统还可以包括接件装置40。接件装置40可以围绕分拣装置10设置。接件装置40上可以用于放置容器，以接收分拣装置10分拣的物品。
可选地，在另一实施例中，分拣系统100还可以包括接驳装置50，控制设备30可以与接驳装置50通信连接。在控制设备30的控制下，接驳装置50可以用于与接件装置40对接，从接件装置40上接收满载的容器，或者将空容器传送至接件装置40上。通过在分拣系统中设置接驳装置，能够自动完成容器的更换，提高了作业效率，节省了人工成本。
可选地，在另一实施例中，分拣系统100还可以包括供件装置60，控制设备30可以与供件装置60通信连接。在控制设备30的控制下，供件装置60可以邻近分拣装置10设置，用于向分拣装置10传送待分拣的物品。
供件装置60可以包括第一上货位61、第一卸货位62及供件等候位63。第一上货位61及第一卸货位62可以位于传送带结构的相对两端。供件等候位63可以位于第一上货位61与第一卸货位62之间。需要分拣的物品可以从第一上货位61放入供件装置60。供件装置60可以用于将待分拣的物品从第一上货位61传送至第一卸货位62。供件装置60可以为传送带结构，例如，该传送带结构可以通过辊筒、皮带、链条、滚轴或者传送滚轮等实现。
在一个实施例中，第一上货位61可以设置有称重装置，用于检测放置在第一上货位61上的物品的重量。
分拣装置10可以邻近供件装置60设置，用于在接收到自供件装置60转移的待分拣的物品之后，对待分拣的物品进行分拣。
分拣装置10可以具有第二上货位101及第二卸货位102。第二上货位101可以邻近第一卸货位62设置。第二卸货位102的数量可以为多个，多个第二卸货位102可以间隔设置。可选地，多个第二卸货位102可以等间隔设置。分拣装置10可以用于在第二上货位101接收自供件装置60转移的待分拣的物品，并将待分拣的物品传送到该待分拣的物品对应的第二卸货位102进行分拣。
本实施例中，分拣装置10可以包括传送装置11及分拣小车12。分拣小车12可以设置在传送装置11上。分拣小车12可以用于承载待分拣的物品。传送装置11可以用于传送分拣小车12。当传送装置11传送分拣小车12到达第二上货位101时，供件装置60可以将 待分拣的物品从第一卸货位62转移至该到达第二上货位101的分拣小车12上。传送装置11可以将接收有自第一卸货位62转移的待分拣的物品的分拣小车12传送至与该待分拣的物品对应的第二卸货位102，以便对该待分拣的物品进行分拣。
可以理解，传送装置11的传送速度可根据需要进行设定，而且，传送装置11可以匀速传送分拣小车12，也可以变速传送分拣小车12。
本实施例中，传送装置11可以为闭合式回转循环结构，即回转循环结构的起点和终点衔接在一起，使得分拣转置10呈闭合环状，比如，圆形回转循环结构、椭圆形回转循环结构、环形回转循环结构、矩形回转循环结构或根据设备安装场地设计的不规则形状的回转循环结构。采用闭合式回转循环结构能够实现货物的持续循环流动分拣，保持持续运动状态，避免货物的停置，能够提高分拣效率，并且更为节省设备安装空间。可以理解，其他实施例中，传送装置11还可以为设置有起点和终点的开放式直线形状或曲线形状的线形结构，如L型、U型、直线型结构。
第二上货位101及多个第二卸货位102可以沿传送装置11间隔设置。
分拣小车12的数量可以是多个。多个分拣小车12可以间隔地设置在传送装置11上。本实施例中，多个分拣小车12可以等间距地间隔设置在传送装置11的外周缘。可选地，分拣小车12的数量可以等于第二上货位101及第二卸货位102的数量之和。
在一个实施例中，分拣小车12的台面与第一卸货位62的台面之间可以存在高度差，且第一卸货位62的台面所在高度可以高于分拣小车12的台面所在高度，以便将位于第一卸货位62上的待分拣的物品转移至分拣小车12上。在另一实施例中，分拣小车12的台面与第一卸货位62的台面的高度可以相同。
本实施例中，分拣小车12可实现为无隔板输送带、隔板输送带、输送辊、倾翻式托盘、倾翻式翻斗中的任意一种。分拣小车12的传送方向可以不同于传送装置11的传送方向，以便将位于分拣小车12上的物品自分拣装置10投送至对应的容器内。例如，若分拣小车12当前所在的传送装置11段为直线段，则分拣小车的传送方向可以为与传送装置11的传送方向垂直，以便分拣小车将物品投送至该段传送装置11内侧或外侧的容器中。若分拣小车12当前所在的传送装置11段为弧线段，则分拣小车的传送方向可以为与传送装置11段的切线方向垂直(也可称为传送装置11的径向)，以便分拣小车将物品投送至该段传送装置11内侧或外侧的容器中。例如，如图2所示传送装置为圆形回转循环结构，则分拣小车12的传送方向可以为传送装置11的径向。具体地，分拣小车12的传送方向可以是沿传送装置11的径向向靠近转轴的方向和/或沿传送装置11的径向向远离转轴的方向。
接件装置40可以围绕分拣装置10设置，接件装置40上可以用于放置容器，以接收分拣小车分拣的物品。本实施例中，接件装置40可以包括多个接件组件41。多个接件组件 41可以环绕传送装置11设置。进一步地，多个接件组件41可以等间隔地环绕传送装置11设置。接件组件41的数量可以与第二卸货位102的数量对应，且接件组件41可以与第二卸货位102一一对应设置。可选地，接件装置40还可以包括旋转装置42，各接件组件41均可以设置在旋转装置42上，旋转装置42可带动各接件组件41围绕分拣装置10转动。
各接件组件41可以包括容器输送机412，容器输送机412可以用于放置容器413，通过控制容器输送机412可使得容器输送机412上的至少一个容器开口与分拣小车12对准，以接收分拣小车12投递的物品。
可选地，各接件组件41还可以包括接件槽411。接件槽411可以具有漏斗结构。接件槽411可以邻近传送装置11设置。接件槽411的上槽口所在平面与分拣小车12的台面之间可以具有高度差，且分拣小车12的台面所在高度可以高于接件槽411的槽口所在平面的高度。接件槽411可以架设在容器输送机412上，与容器输送机412的相对位置固定且邻近传送装置11设置。接件槽411的下槽口可以与容器输送机412的传送台面对准设置，通过调整容器输送机412可使得容器输送机412上的容器开口与接件槽411的下槽口对准。通过设置接件槽，可以使得物品准确落入容器中，避免分拣小车12投递物品时物品落入容器外。
容器输送机412可以沿传送装置11的径向延伸设置。容器输送机412可以用于放置容器413，且可以沿径向方向往复运动，以便切换容器413。容器输送机412可以为传送带结构，例如，该传送带结构可以通过辊筒、皮带、链条、滚轴或者传送滚轮等实现。
接驳装置50可以设置在接件装置40外侧。本实施例中，接驳装置50可以为传送带结构。本实施例中，通过旋转装置42带动各接件组件41围绕分拣装置10转动，使得各接件组件41的容器输送机412远离旋转装置42的转动轴心的一端与接驳装置50的一端对准，由此，通过接驳装置50与容器输送机412配合，将装满物品的容器传送到人工作业位进行装卸，或者将空容器补给到容器输送机412上，以便接收自接件槽411落下的物品。
可以理解，其他实施例中，多个接件组件41可以分别沿传送装置11的内侧边缘(即，传送装置11靠近转轴的一侧边缘)及传送装置11的外侧边缘(即，传送装置11远离转轴的一侧边缘)环绕传送装置11设置。此时，接件组件41的数量可以为分拣小车的数量的两倍。此时，同一径向上位于传送装置11内侧边缘的接件组件41及位于传送装置11外侧边缘的接件组件41可以共用一个容器输送机。
可以理解，其他实施例中，多个接件组件41也可以是沿传送装置11的内侧边缘(即，传送装置11靠近转轴的一侧边缘)环绕传送装置11设置。
摄像头20可以用于采集分拣装置10所在区域、接件装置40所在区域、供件装置60所在区域的图像，以便控制设备30基于各区域的图像对相应的装置进行控制。摄像头20 可以是广角摄像头，全景摄像头等。本实施例中，摄像头20可以为全景摄像头，此时，摄像头20的数量可以为一个。其他实施例中，摄像头20可以为其他摄像头。此时，摄像头20的数量可以为多个，且可以分别对应分拣系统100的各个装置进行安装固定，以便获取相应装置所在区域的图像。
控制设备30可以与分拣装置10、摄像头20、接件装置40、接驳装置50及供件装置60连接，用于控制各个装置及设备的运行。
请参看图3，控制设备30可以包括处理器31及存储器32。可以理解，此处所介绍的控制设备的组件及结构仅为示例，本申请的控制设备30并不限于此，根据需要，控制设备30还可以具有其他组件和结构。处理器31，存储器32及其他可能出现于控制设备30的组件相互之间可以直接或间接地电性连接，例如通过一条或多条通信总现连接，以实现数据的传输或交互。
存储器32可以用于存储程序或计算机可读指令，例如存储有后文出现的控制方法对应的程序或计算机可读指令。处理器31可以用于被触发执行控制方法对应的程序或计算机可读指令，以执行后文所介绍的控制方法。
接下来对本申请实施例所提供的分拣系统的管理方法进行详细介绍。
请参阅图4，本申请一实施例提供一种分拣系统的管理方法，该管理方法可以应用于分拣系统100的控制设备30。该分拣系统的管理方法可以包括以下步骤。
步骤S11，获取摄像头拍摄的分拣装置所在区域的图像。
步骤S12，基于分拣装置所在区域的图像，确定分拣装置的分拣过程是否存在分拣异常。
步骤S13，若存在异常，则生成分拣异常通知。
可以理解，根据摄像头类型的不同，步骤S11的实现方式有所不同。
当摄像头为全景摄像头时，摄像头的数量可以为一个。该摄像头用于采集分拣系统的整体图像。此时，控制设备可以在接收到摄像头所采集的分拣系统的整体图像后从该整体图像中提取出分拣装置所在区域的图像。
当摄像头为常规摄像头时，摄像头的数量可以为多个，摄像头可以分别对应分拣系统的各个机构设置，用于采集对应机构所在区域的图像。可选地，摄像头可以实时采集图像。此时，控制设备可以直接获取与分拣装置对应设置的摄像头所采集的分拣装置所在区域的图像。示例性地，控制设备内可以存储有摄像头的安装位置与机构的对应关系，控制设备可以基于该对应关系确定出与分拣装置对应的摄像头，然后，获取该摄像头所采集的分拣装置所在区域的图像。
步骤S12，基于分拣装置所在区域的图像，确定分拣装置的分拣过程是否存在分拣异 常。
一实施例中，每一个待分拣的物品均可以分配有一个目标位置，若基于分拣装置所在区域的图像，确定分拣装置上的至少一个待分拣的物品实际到达的位置与对应的目标位置不一致时，确定存在分拣异常，其中，目标位置为目标接件口，实际到达的位置为实际到达的位置接件口；或者，目标位置为目标容器，实际到达的位置为实际到达的位置容器。需要说明的是，接件口可以理解为前述实施例中容器的开口，或接件槽的上槽口等。通过在基于分拣装置上所在区域的图像确定分拣装置上的至少一个带分拣的物品实际到达的位置与对应的目标位置不一致时，确定分拣异常，有助于使得操作员及时地获知分拣时物品投偏的情况。
另一实施例中，在每个待分拣的物品转移的过程中，分拣装置所在区域的图像中可以包括该待分拣的物品的目标位置的标注，若在该待分拣的物品转移完成后确定该待分拣的物品实际到达的位置与标注的目标位置不一致，则确定存在分拣异常。由此，能够较为简便且直观地确定分拣时物品投偏所导致的分拣异常的情况。
又一实施例中，若基于分拣装置所在区域的图像，确定分拣装置上的至少一个待分拣的物品在分拣小车上的停留时长超出预设时长时，确定存在分拣异常。由此，有助于操作员及时获悉物品滞留在分拣装置所导致的分拣异常情况。可以理解，预设时长可以是分拣装置的传送装置转动一个周期的时长。
再一实施例中，若基于连续的多张分拣装置所在区域的图像，确定至少一个待分拣的物品在转移至一个接件口后，位置变化小于预设值时，确定存在分拣异常。需要说明的是，位置变化小于预设值则表明待分拣的物品在接件口处发生卡件。由此，通过基于连续的多张分拣装置所在区域的图像在确定至少一个待分拣的物品在转移至一个接件口后，位置变化小于预设值时，确定存在分拣异常，有助于使得操作员及时获悉物品卡件所导致的分拣异常情况。
步骤S13，若存在异常，则生成分拣异常通知。
一实施例中，异常通知中可以包括检测到分拣异常的图像和/或发生分拣异常的物品信息。由此，有助于使得操作员快速地确定发生分拣异常的物品。
可选地，检测到分拣异常的图像中可以包括对发生分拣异常的物品的标示；和/或检测到分拣异常的图像中可以包括发生分拣异常的物品所对应的正确投料口的标示。由此，一方面有助于使得操作员快速地确定发生分拣异常的物品，另一方面，有助于使得操作员确定分拣异常的类型，例如，物品堆积，遗漏，投偏或卡件等。
本申请实施例所提供的分拣系统的管理方法，通过获取摄像头拍摄的分拣装置所在区域的图像，能够对分拣装置的分拣过程进行监控，然后基于分拣装置所在区域的图像确定 分拣装置的分拣过程是否存在分拣异常，在确定存在异常时，生成分拣异常通知，由此使得操作员能够及时了解到分拣异常的情况并进行处理，从而在一定程度上提升了分拣准确性。
可以理解，该方法还可以包括：实时记录分拣装置所在区域的图像。通过实时记录分拣装置所在区域的图像，一方面为基于分拣装置所在区域的图像进行是否存在分拣异常的分析提供基础，另一方面，便于后续操作员在获悉分拣异常通知后对分拣异常进行复盘、溯源等。
可以理解，该方法还可以包括：基于分拣装置所在区域的图像，对每个待分拣的物品进行定位；在任一待分拣的物品距离其对应的目标接件口小于预设距离时，在分拣装置所在区域的图像中对该待分拣的物品的目标接件口进行标注；在该待分拣的物品实际转移的接件口与标注的该待分拣的物品的目标接件口不一致时，确定存在分拣异常。由此，有助于操作员更为直观地获悉分拣过程的进展情况。
其中，预设距离可以是一个第二卸货位的距离。也就是说，传送装置再通过分拣小车将待分拣的物品传送一个第二卸货位便可达到目标接件口所对应的第二卸货位。
可选地，摄像头的数量可以为多个，每个摄像头可以拍摄分拣装置不同区域的图像，方法还可以包括：根据每个待分拣的物品的位置，获取对应的摄像头拍摄的图像，以确定该待分拣的物品的分拣过程是否存在异常。通过不同的摄像头拍摄分拣装置不同区域的图像，有助于实现对待分拣的物品的定位。
可以理解，该方法还可以包括：基于异常通知确定发生分拣异常的物品；确定该物品的理论转移信息，理论转移信息包括该物品的理论转移时机及理论转移速度；基于PLC日志信息获取该物品的实际转移信息，实际转移信息包括该物品的实际转移时机及实际转移速度；基于理论转移信息及实际转移信息生成异常分析报告。通过生成异常分析报告，有助于使得操作员进一步地了解导致分拣异常的原因。其中，理论转移时机及理论转移速度可以通过系统配置。
可以理解，在分拣系统还包括与控制设备通信连接且与各接件口对应设置的容器输送机，且与各接件口对应设置的容器分别放置在对应的容器输送机上时，该方法还可以包括：获取摄像头拍摄的各容器输送机所在区域的图像；基于各容器输送机所在区域的图像，确定是否有容器满载；若有容器满载，则更换该满载的容器。由此，有助于分拣过程持续性地顺畅进行。
可选地，若基于各容器输送机所在区域的图像，确定至少一个容器输送机上的多个容器均满载时，更换至少一个容器输送机上所有满载的容器。
可选地，该方法还可以包括：基于各容器输送机所在区域的图像，确定同一容器输送 机上的多个容器的满载情况；基于同一容器输送机上的多个容器的满载情况，控制向该多个容器转移待分拣的物品的频率。
基于同一发明构思，本申请实施例提供的一种计算机可读存储介质，其上可以存储有计算机可读指令，该程序被处理器执行时可以实现上述的分拣方法中的步骤。
如此处所使用的对存储器、存储、数据库或其它介质的任何引用可包括非易失性。合适的非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。
基于同一发明构思，本申请实施例还提供了一种计算机程序，该程序被处理器执行时可以实现上述的分拣方法中的步骤。
在本申请所提供的实施例中，应该理解到，所揭露装置和方法，可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，又例如，多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些通信接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
另外，作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
再者，在本申请各个实施例中的各功能模块可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或两个以上模块集成形成一个独立的部分。
在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。
以上所述仅为本申请的实施例而已，并不用于限制本申请的保护范围，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。
工业实用性
本申请提供一种分拣系统的管理方法、分拣系统、控制设备及存储介质，该管理方法应用于分拣系统的控制设备，分拣系统包括与控制设备通信连接的摄像头及分拣装置，方法包括：获取摄像头拍摄的分拣装置所在区域的图像；基于分拣装置所在区域的图像，确定分拣装置的分拣过程是否存在分拣异常；若存在异常，则生成分拣异常通知。本申请在存在异常时生成分拣异常通知，能够及时对分拣异常的情况进行处理，由此可以提升分拣 效率。
此外，可以理解的是，本申请的分拣系统的管理方法、分拣系统、控制设备及存储介质是可以重现的，并且可以应用在多种应用中。例如，本申请的分拣系统的管理方法、分拣系统、控制设备及存储介质可以应用于物流技术领域等。

Claims (20)

  1. 一种分拣系统的管理方法，其特征在于，所述管理方法应用于分拣系统的控制设备，所述分拣系统包括与所述控制设备通信连接的摄像头及分拣装置，所述方法包括：
    获取所述摄像头拍摄的所述分拣装置所在区域的图像；
    基于所述分拣装置所在区域的图像，确定所述分拣装置的分拣过程是否存在分拣异常；
    若存在异常，则生成分拣异常通知。
  2. 根据权利要求1所述的管理方法，其特征在于，所述异常通知中包括检测到分拣异常的图像和/或发生分拣异常的物品信息。
  3. 根据权利要求2所述的管理方法，其特征在于，所述检测到分拣异常的图像中包括对发生分拣异常的物品的标示；和/或
    所述检测到分拣异常的图像中包括发生分拣异常的物品所对应的正确投料口的标示。
  4. 根据权利要求1至3中的任一项所述的管理方法，其特征在于，每一个待分拣的物品均分配有一个目标位置，若基于所述分拣装置所在区域的图像，确定所述分拣装置上的至少一个所述待分拣的物品的实际到达的位置与对应的目标位置不一致时，确定存在分拣异常，
    其中，所述目标位置为目标接件口，所述实际到达的位置为实际到达的位置接件口；或者，所述目标位置为目标容器，所述实际到达的位置为实际到达的位置容器。
  5. 根据权利要求4所述的管理方法，其特征在于，在每个所述待分拣的物品转移的过程中，所述分拣装置所在区域的图像中包括该待分拣的物品的目标位置的标注，若在该待分拣的物品转移完成后确定该待分拣的物品的实际到达的位置与标注的目标位置不一致，则确定存在分拣异常。
  6. 根据权利要求1至3中的任一项所述的管理方法，其特征在于，若基于所述分拣装置所在区域的图像，确定所述分拣装置上的至少一个待分拣的物品在所述分拣装置的分拣小车上的停留时长超出预设时长时，确定存在分拣异常。
  7. 根据权利要求1至3中的任一项所述的管理方法，其特征在于，若基于连续的多张所述分拣装置所在区域的图像，确定至少一个待分拣的物品在转移至一个接件口后，位置变化小于预设值时，确定存在分拣异常。
  8. 根据权利要求1至7中的任一项所述的方法，其特征在于，所述方法还包括：
    实时记录所述分拣装置所在区域的图像。
  9. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    基于所述分拣装置所在区域的图像，对每个待分拣的物品进行定位；
    在任一所述待分拣的物品距离其对应的目标接件口小于预设距离时，在所述分拣装置所在区域的图像中对该待分拣的物品的目标接件口进行标注；
    在该待分拣的物品实际转移的接件口与标注的该待分拣的物品的目标接件口不一致时，确定存在分拣异常。
  10. 根据权利要求9所述的管理方法，其特征在于，所述摄像头的数量为多个，每个所述摄像头拍摄所述分拣装置不同区域的图像，所述方法还包括：
    根据每个所述待分拣的物品的位置，获取对应的摄像头拍摄的图像，以确定该待分拣的物品的分拣过程是否存在异常。
  11. 根据权利要求1至10中的任一项所述的管理方法，其特征在于，所述方法还包括：
    基于所述异常通知确定发生分拣异常的物品；
    确定该物品的理论转移信息，所述理论转移信息包括该物品的理论转移时机及理论转移速度；
    基于PLC日志信息获取该物品的实际转移信息，所述实际转移信息包括该物品的实际转移时机及实际转移速度；
    基于所述理论转移信息及所述实际转移信息生成异常分析报告。
  12. 根据权利要求1至11中的任一项所述的管理方法，其特征在于，所述分拣系统还包括与所述控制设备通信连接且与各接件口对应设置的容器输送机，与各接件口对应设置的所述容器分别放置在对应的所述容器输送机上，所述方法还包括：
    获取所述摄像头拍摄的各容器输送机所在区域的图像；
    基于各容器输送机所在区域的图像，确定是否有容器满载；
    若有容器满载，则更换该满载的容器。
  13. 根据权利要求12所述的管理方法，其特征在于，若基于各容器输送机所在区域的图像，确定至少一个所述容器输送机上的多个容器均满载时，更换所述至少一个容器输送机上所有满载的容器。
  14. 根据权利要求12所述的管理方法，其特征在于，所述方法还包括：
    基于各容器输送机所在区域的图像，确定同一容器输送机上的多个容器的满载情况；
    基于所述同一容器输送机上的多个容器的满载情况，控制向该多个容器转移待分 拣的物品的频率。
  15. 一种分拣系统，其特征在于，包括：
    控制设备；
    与所述控制设备通信连接的摄像头、分拣装置；
    其中，所述控制设备包括存储器和处理器，所述存储器中存储有计算机可读指令，所述计算机可读指令被所述处理器执行时，使得所述处理器执行根据权利要求1至14中的任一项所述的分拣系统的管理方法。
  16. 根据权利要求15所述的分拣系统，其特征在于，所述分拣系统还包括与所述控制设备通信连接的接驳装置，所述接驳装置用于与所述分拣系统的接件装置对接，以从所述接件装置上接收满载的容器或者将空容器传送至所述接件装置上。
  17. 根据权利要求16所述的分拣系统，其特征在于，所述分拣装置包括传送装置和多个分拣小车，所述多个分拣小车间隔地设置在所述传送装置上，所述传送装置为闭合式回转循环结构；
    所述接件装置包括多个接件组件，所述多个接件组件环绕所述传送装置设置，其中，所述接件组件包括容器输送机，所述容器输送机用于放置容器，通过控制所述容器输送机能够使得所述容器输送机上的至少一个容器的开口与所述分拣小车对准，以接收所述分拣小车投递的物品。
  18. 根据权利要求17所述的分拣系统，其特征在于，所述接件装置还包括旋转装置，所述多个接件组件均设置在所述旋转装置上，所述旋转装置能够带动所述多个接件组件围绕所述分拣装置转动。
  19. 一种控制设备，其特征在于，所述控制设备应用于分拣系统，所述控制设备包括存储器和处理器，所述存储器中存储有计算机可读指令，所述计算机可读指令被所述处理器执行时，使得所述处理器执行根据权利要求1至14中的任一项所述的分拣系统的管理方法。
  20. 一种存储有计算机可读指令的非易失性可读存储介质，所述计算机可读指令被处理器执行时，使得所述处理器执行根据权利要求1至14中的任一项所述的分拣系统的管理方法。
PCT/CN2021/132843 2021-02-08 2021-11-24 分拣系统的管理方法、分拣系统、控制设备及存储介质 WO2022166324A1 (zh)

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