WO2022227519A1 - 基于能识别货架转移的机器人货物分拣系统及其分拣方法 - Google Patents

基于能识别货架转移的机器人货物分拣系统及其分拣方法 Download PDF

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Publication number
WO2022227519A1
WO2022227519A1 PCT/CN2021/132455 CN2021132455W WO2022227519A1 WO 2022227519 A1 WO2022227519 A1 WO 2022227519A1 CN 2021132455 W CN2021132455 W CN 2021132455W WO 2022227519 A1 WO2022227519 A1 WO 2022227519A1
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Prior art keywords
goods
robot
sorting
unloading
fixed
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PCT/CN2021/132455
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English (en)
French (fr)
Inventor
朱建强
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浙江立镖机器人有限公司
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Application filed by 浙江立镖机器人有限公司 filed Critical 浙江立镖机器人有限公司
Priority to JP2023555670A priority Critical patent/JP2024509970A/ja
Priority to KR1020237031729A priority patent/KR20230145465A/ko
Priority to EP21938978.0A priority patent/EP4286065A1/en
Priority to US18/281,354 priority patent/US20240150117A1/en
Publication of WO2022227519A1 publication Critical patent/WO2022227519A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0485—Check-in, check-out devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles

Definitions

  • the present application relates to a robot goods sorting system and a sorting method based on the identification of rack transfer.
  • Sorting and unloading goods through sorting robots that is, self-navigating trolleys, has been widely used.
  • goods are usually unloaded at a predetermined outlet according to needs.
  • the packages in the same export are packaged and shipped.
  • the present application provides a robotic goods sorting system and a sorting method based on a rack-recognizing transfer.
  • a robotic goods sorting system based on the recognition of rack transfer which can include:
  • a plurality of movable racks are provided, each movable rack is provided with a plurality of cargo boxes for unloading goods, the movable rack is fixed with an identification device and can be moved to any free unloading area, and the movable racks can be arranged in parallel;
  • Sorting robot which is provided with multiple and can travel on the sorting platform, and the sorting robot can transport the received goods to the designated unloading area for unloading;
  • Sorting robot positioning device which can position the sorting robot
  • the introduction device which is arranged at the goods entrance of the sorting platform, can identify and introduce the goods
  • An unloading robot which can take over the goods unloaded by the sorting robot, and can unload the goods in the free cargo boxes predetermined by the movable rack;
  • a detection device which is fixed on the ground in the unloading area or on an inactive fixture in the unloading robot, and the detection device can collect the information and spatial orientation of the identification device;
  • the server connects the controller of the sorting robot by wireless, and the controller, the detection device and the introduction device of the unloading robot by wired or wireless connection.
  • the unloading robot may include a vertical moving device, two sets of lateral moving devices arranged in parallel, and a turning device, wherein,
  • Lateral movement means may include:
  • the hollow rod is fixed to the ground through a bracket, the hollow rod is installed horizontally, and is provided with an open end, and two outer sides of the hollow rod are provided with grooves;
  • a synchronous belt which connects the first synchronous pulley and the second synchronous pulley
  • a servo motor the casing of which is fixed with the hollow rod, the rotating shaft is fixed with the central axis of the first synchronous pulley or the central axis of the second synchronous pulley, and the servo motor is electrically connected to the controller of the unloading robot;
  • the sliding block is provided with a convex block and two sliding rails, the convex block can be embedded in the open end of the hollow rod and fixed with the timing belt, and the sliding rail can only move back and forth along the groove;
  • the structure of the vertical moving device is the same as that of the lateral moving device, and the hollow rod of the vertical moving device is vertically arranged, and the two ends of the hollow rod of the vertical moving device are respectively fixed with the sliders of the two sets of lateral moving devices;
  • the flipping device may include:
  • an overturning motor the casing of which is fixed with the casing of the first reducer, the rotating shaft is fixed with the input shaft of the first reducer, and the overturning motor is electrically connected to the controller of the unloading robot;
  • a turning plate which is fixed with a turning bracket, and which can be used for loading or unloading goods
  • the second reducer the casing of which is fixed with the conveying frame
  • a swing motor the casing of which is fixed to the casing of the second reducer, the rotating shaft is fixed to the input shaft of the second reducer, and the swing motor is electrically connected to the controller of the unloading robot;
  • the rotation of the swing motor can drive the turntable with the goods to swing from the outside of the movable shelf to the top of the predetermined cargo box, and the rotation of the overturn motor can unload the goods in the cargo box.
  • two sets of the lateral moving devices arranged in parallel can control the vertical moving devices to move along the length direction of the movable shelf.
  • the vertical moving device can control the turning device to move along the height direction of the movable shelf.
  • the turning device can control the horizontal direction of the goods to move according to a circular track, and can also turn the goods to unload.
  • the turning device may include two swinging rods, and the swinging rods are respectively located on the top surface and the bottom surface of the housing of the first speed reducer.
  • the movable shelf may be provided with multiple layers, and each layer may be provided with multiple cargo boxes, and the multiple layers of cargo boxes may be arranged in a matrix, and each cargo box can be disassembled.
  • the turntable can unload the goods on either of the movable shelves on both sides.
  • each of the unloading areas may be provided with two detection devices, correspondingly, each movable shelf is provided with two identification devices, when the two detection devices are respectively aligned with the two identification devices, the movable rack is completed. Accurate positioning.
  • the identification device may be a two-dimensional code or a barcode
  • the detection device is a camera
  • the identification device is an RFID electronic label
  • the detection device is a card reader.
  • the detection device may be fixed on the sorting field or on an inactive fixture in the unloading robot.
  • a kind of robot goods sorting method based on identifiable shelf transfer including the described robot goods sorting system based on identifiable shelf transfer, the sorting method of the robot sorting system may include the following steps:
  • the server starts scheduling;
  • the sorting robot transports the goods to the unloading area
  • the unloading robot on the unloading area after taking over the unloaded goods by the sorting robot, unloads the goods into a predetermined idle container;
  • At least one or more of the multiple containers of the movable rack are free containers without goods may refer to: the movable rack has not been loaded with goods, or, the activity After the shelf has unloaded the goods, it is ready to unload again, or the active shelf has been loaded with goods before, but it is interrupted when it is not full of goods, so the unloading area and the unloading robot need to be replaced to continue unloading.
  • the goods can be unloaded on the movable shelf by an adjacent unloading robot.
  • the present application has at least the following advantages: the sorting robot can cyclically queue up for loading and unloading, the number of exits is large, and the sorting efficiency is high.
  • the quantity is large; the movable shelves store a lot of goods, the space utilization rate is high, the movable shelves can be moved, very flexible, and the site utilization rate is high; the unloading robot occupies a small area, and the positioning accuracy is not required, which is beneficial to reduce costs; when the unloading robot fails, It can be solved quickly; the packing area can be set flexibly without affecting the sorting of the sorting site;
  • the present application has the beneficial effects of compact structure, large sorting capacity, sufficient space utilization and high sorting efficiency.
  • FIG. 1 is a schematic diagram of the overall structure of the application.
  • FIG. 2 is a schematic diagram of the main structure of the unloading robot and the movable shelf of the present application.
  • FIG. 3 and FIG. 4 are schematic diagrams of the structure of the turning device of the present application.
  • FIG. 5 is a schematic structural diagram related to the hollow rod of the vertical moving device and the horizontal moving device of the present application.
  • a robotic goods sorting system based on the recognition of shelf transfer including:
  • each movable shelf 2 is provided with a plurality of cargo boxes 21 for unloading goods.
  • the cargo boxes 21 have multiple layers, and there are multiple boxes on each layer, which are regular according to the matrix.
  • the movable rack 2 is fixed with an identification device 3, and the movable rack 2 can be moved to any free unloading area.
  • multiple movable racks 2 are arranged in parallel, in fact, multiple movable racks 2 can also surround
  • the sorting platform 11 is set up to further improve the utilization rate of the site;
  • each layer of the movable shelf 2 is provided with two parallel rails 22
  • the cargo box 21 is provided with two corresponding flanges, and the two flanges of the cargo box 21 can be pressed on the two rails 22 .
  • the sorting robot 1 can be provided with multiple and can drive on the sorting platform 11.
  • the sorting robot 1 can transport the goods received at the entrance of the goods to the designated unloading area for unloading.
  • the sorting robot 1 usually selects a self-navigating trolley , the goods are transported cyclically along the sorting platform 11, and the goods exit usually selects the edge of the sorting platform 11.
  • the sorting robot 1 unloads the goods, the goods can be poured out only by turning the flap, and the sorting platform 11 usually has a certain height.
  • the sorting platform 11 can be set up with multiple layers, and the sorting robot 1 can be arranged on each layer of the sorting platform 11;
  • Sorting robot positioning device which can locate the sorting robot 1, and can use a wireless positioning system for positioning, or paste a two-dimensional code, barcode, etc. on the sorting platform 11.
  • the sorting robot 1 is equipped with a camera, which collects two The location information of dimensional code and barcode, this part is related technology;
  • the induction device can be fixed at the goods entrance of the sorting platform 11, or the induction device can be manually held to identify and import the goods; the induction device can be selected with a scanning code device, which can identify the goods, and the goods are usually pasted with a two-dimensional code Correspondingly, the scanning device is a two-dimensional code or barcode scanner.
  • the introduction device can also be a robot, which can transport the goods to the sorting robot 1, and the server can obtain the specific information of the goods transported by the robot, such as knowing that the goods are toothbrushes;
  • the unloading robot 5 can take over the goods unloaded by the sorting robot 1, and can unload the goods in the free cargo box 21 predetermined by the movable rack 2. Obviously, the unloading robot 5 is arranged along the edge of the sorting platform 11;
  • the detection device 4 is fixed on the ground of the unloading area or on the inactive fixed parts of the unloading robot 5.
  • the detection device 4 can collect the information of the identification device 3, and can also collect the spatial orientation; in this embodiment, the identification device 3 is Two-dimensional code or barcode, correspondingly, the detection device 4 is a camera, or the identification device 3 is an RFID electronic label for wireless communication, and correspondingly, the detection device 4 is a card reader for wireless communication;
  • the server connects the controller of the sorting robot 1 wirelessly, and the controller of the unloading robot 5, the detection device 4 and the induction device through wired or wireless connection.
  • the server can sort the goods according to the attributes of the goods. For example, the goods belong to a certain customer, the goods belong to a certain shelf, the goods belong to a certain supplier, the goods belong to a certain express delivery area, and the goods belong to a certain express delivery area. At least one of the dispatchers; several pieces of goods of a certain customer can be sorted into different boxes 21 of the same movable rack 2, and the same movable rack 2 can store the goods of multiple customers; Several pieces of goods from the supplier are sorted into different boxes 21 of the same movable shelf 2, and the same movable shelf 2 can store multiple goods from the same supplier;
  • the unloading robot 5 may include a vertical moving device 43, two sets of lateral moving devices 43 arranged in parallel, and a turning device, wherein:
  • Lateral movement means 43 may include:
  • the hollow rod 422 is fixed to the ground through a bracket, the hollow rod 422 is installed horizontally, and is provided with an open end 4222, and two outer sides of the hollow rod 422 are provided with grooves 4221;
  • the first synchronous pulley 424 and the second synchronous pulley are respectively rotatably fixed at both ends of the hollow rod 422;
  • timing belt 423 which connects the first timing pulley 424 and the second timing pulley
  • Servo motor 421 the housing of which is fixed with the hollow rod 422, the rotating shaft is fixed with the central axis of the first synchronous pulley 424 or the central axis of the second synchronous pulley, and the servo motor 421 is electrically connected to the controller of the unloading robot 5;
  • the sliding block 425 is provided with a convex block 4252 and two sliding rails 4251, the convex block 4252 can be embedded in the open end 4222 of the hollow rod 422 and fixed with the timing belt 423, and the sliding rail 4251 can only move back and forth along the groove 4221;
  • the structure of the vertical moving device 43 is the same as that of the lateral moving device 43, the difference is that the hollow rod 422 of the vertical moving device 43 is vertically arranged, and the two ends of the hollow rod 422 of the vertical moving device 43 are respectively moved laterally with the two sets of The slider 425 of the device 43 is fixed;
  • the structure of the vertical moving device 43 is the same as that of the lateral moving device 43, which can simplify the overall structure and facilitate maintenance;
  • the flip device includes:
  • the conveying frame 61 which is fixed with the slider 425 of the vertical moving device 43;
  • the flipping motor 62 the housing of which is fixed to the housing of the first reducer 64, and the rotating shaft is fixed to the input shaft of the first reducer 64, and the flipping motor 62 is electrically connected to the controller of the unloading robot 5;
  • the overturning bracket 63 is fixed with the output shaft of the first reducer 64.
  • two are symmetrically arranged;
  • the turning plate 60 which is fixed with the turning bracket 63, can be used for loading or unloading goods
  • the second reducer 66 the casing of which is fixed to the conveying frame 61;
  • the swing motor 67 the casing of which is fixed to the casing of the second reducer 66, and the rotating shaft is fixed to the input shaft of the second reducer 66, and the swing motor 67 is electrically connected to the controller of the unloading robot 5;
  • swing rod 65 One end of the swing rod 65 is fixed with the output shaft of the second reducer 66, and the other end is fixed with the casing of the first reducer 64.
  • swing rods 65 there are two swing rods 65, which are respectively located in the first reducer. 64 on the top and bottom of the shell to improve stability;
  • the rotation of the swing motor 67 can drive the turntable 60 loaded with goods to swing from the outside of the movable rack 2 to above the predetermined container 21 , and the rotation of the turn motor 62 can unload the goods in the container 21 .
  • Two sets of lateral moving devices 43 arranged in parallel can control the vertical moving device 43 to move along the length direction of the movable shelf 2, the vertical moving device 43 can control the turning device to move along the height direction of the movable shelf 2, and the turning device can control the horizontal direction of the goods It moves in a circular trajectory, and can also turn over the goods for unloading.
  • the unloading robot 5 adopts an open-loop control method, and controls the servo motor 421 in the vertical moving device 43 through software, which can accurately move the goods to the designated floor. Precisely move the goods to a designated row. Due to the relatively large size of the cargo box 21, the turning device can accurately locate the predetermined cargo box 21 for unloading. Similarly, it can also accurately move to the edge of the sorting platform 11 to undertake Sorting the goods unloaded by the robot 1 ; in this way, the cost of hardware can be reduced, and it is not necessary to equip each cargo box 21 with a sensor.
  • the turntable 60 can unload the goods on either of the movable shelves 2 on both sides.
  • the movable racks 2 can be transported manually or by handling robots.
  • each unloading area is provided with two detection devices 4.
  • each movable rack 2 is provided with two identification devices 3.
  • the two detection devices 4 are aligned with the two identification devices 3 respectively, the movable shelf 2 completes the accurate positioning.
  • the two pairs of identification devices 3 and detection devices 4 of the present application have the functions of locating and reading the information of the movable shelf 2, and one object is used for two purposes.
  • the detection device 4 is fixed on the sorting field or on an inactive fixed part in the unloading robot, and the detection device 4 can be fixed on the bracket.
  • the initial position of each motor in the present application can be obtained by setting the limit position, or setting the initial position sensor to locate the initial position of the motor, for example, the slider 425 moves to touch the first synchronous pulley 424 or the second synchronous pulley At this limit position, it will be blocked, and the locked-rotor current of the motor will increase.
  • the controller can use this position as the initial position of the motor to calculate how far the slider 425 moves when the motor rotates one circle. It can also be set by setting the initial position sensor. , when the slider 425 touches the initial position sensor, as the initial position of the motor, similarly, the initial position of the flip motor 62 and the swing motor 67 can also be obtained by setting the limit position or the initial position sensor.
  • a kind of robot goods sorting method based on the recognition of shelf transfer including the above-mentioned robot goods sorting system based on the recognition of shelf transfer, the sorting method of the robot sorting system may include the following steps:
  • the movable rack 2 has at least one or more cargo boxes 21 that are free cargo boxes 21 without goods, and the movable rack 2 is moved to any free unloading area to wait for unloading; usually there are three situations: the first First, the movable rack 2 has not been loaded with goods; second, the movable rack 2 is ready to unload again after unloading the goods; third, the movable rack 2 has been loaded with goods before, but it is interrupted when it is not full of goods, so it needs to Replace the unloading area and the unloading robot 5, and continue unloading; the reason for the interruption here may be that the unloading robot 5 fails, or the sorting site needs to be transferred;
  • the server starts scheduling.
  • the original plan is to unload the movable rack 2 on the No. 1 by No. 1.
  • Robot 5 completes the storage of three pieces of goods in the No. 1, No. 2 and No. 3 cargo boxes 21, but it needs to be interrupted due to the failure of No. 1 unloading robot 5.
  • the No. 3 cargo box 21 has not yet stored the last piece of goods.
  • the remedy is to manually transport the movable rack 2 of No. 1 to the free unloading area of No. 10.
  • the server obtains the information through the detection device 4 of No. 10.
  • the server obtains that a sorting robot has installed a third item, it will take this information.
  • the third piece of goods is delivered to the No. 10 unloading area where the No. 10 unloading robot 5 is located, and the No. 10 unloading robot 5 unloads the goods into the No. 3 cargo box 21; the second remedy is to use an adjacent unloading robot, such as The cargo is unloaded into the No. 3 cargo box 21 of the No. 1 movable rack 2 by the No. 2 unloading robot 5 .
  • the unloading robot on the unloading area after taking over the unloaded goods by the sorting robot, unloads the goods into a predetermined free cargo box 21;
  • the present application provides a robotic goods sorting system and a sorting method based on the identification of rack transfer.
  • the sorting system includes: a movable rack, which is provided with a plurality of containers for unloading goods, and the movable rack is fixed with an identification The device can be moved to any free unloading area; the sorting robot is provided with multiple and can drive on the sorting platform, and the sorting robot can transport the received goods to the designated unloading area for unloading; sorting robot positioning device ; Induction device; Unloading robot, which can take over the goods unloaded by the sorting robot, and can unload the goods in the idle cargo box predetermined by the movable shelf; Detection device, which can collect the information of the identification device; Connect to the controller of the sorting robot, and connect the controller, detection device and code scanning device of the unloading robot through wired or wireless connection.
  • the present application has the beneficial effects of compact structure, large sorting capacity, sufficient space utilization and high sorting efficiency. .
  • the robotic goods sorting system and sorting method based on the recognizable rack transfer of the present application are reproducible and can be used in a variety of industrial applications.
  • the robot goods sorting system and its sorting method based on the recognition of shelf transfer of the present application can be used in the technical field of sorting goods by a sorting robot.

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Abstract

一种基于能识别货架转移的机器人货物分拣系统及其分拣方法，分拣系统包括：活动货架（2），其设置有多个用于卸载货物的货箱（21），活动货架（2）固定有识别装置（3）且能够移动至任意空闲的卸货区域；分拣机器人（1），其设置有多个且能在分拣平台（11）上行驶，分拣机器人（1）能将承接的货物运送到指定的卸货区域卸货；分拣机器人定位装置；导入装置；卸载机器人（5），其能承接该分拣机器人（1）卸载的货物，且能将货物卸载在活动货架（2）预定的空闲的货箱（21）内；检测装置（4），能采集识别装置（3）的信息；服务器，其通过无线连接分拣机器人（1）的控制器，通过有线或无线连接卸载机器人（5）的控制器、检测装置（4）和导入装置。该机器人货物分拣系统及其分拣方法具有结构紧凑、分拣量大、空间利用充分、分拣效率高的有益效果。

Description

基于能识别货架转移的机器人货物分拣系统及其分拣方法
相关申请的交叉引用
本申请要求于2021年04月30日提交中国国家知识产权局的申请号为202110478895.X、名称为“基于能识别货架转移的机器人货物分拣系统及其分拣方法”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
本申请涉及一种基于能识别货架转移的机器人货物分拣系统及其分拣方法。
背景技术
通过分拣机器人即自导航小车分拣货物、卸载货物已获得了广泛的应用，相关技术中，货物通常根据需要卸载在某个预定的出口内，例如将包裹根据地域划分将其卸载在不同的出口内，再将同一个出口内的包裹进行打包运送。有一种需求是把货物卸载在货架上预定的某个货箱内，由于一个货架可以设置很多个货箱，只要将货架运送到打包处，就能将所有的货物方便地运送到其它区域的打包处打包，为了能进一步地提高处理货物的能力，有必要通过多个货架同时进行分拣。
发明内容
本申请根据以上需求，提供了一种基于能识别货架转移的机器人货物分拣系统及其分拣方法。
本申请的技术方案是：
一种基于能识别货架转移的机器人货物分拣系统，可以包括：
活动货架，其设置有多个，每个活动货架设置有多个用于卸载货物的货箱，活动货架固定有识别装置且能够移动至任意空闲的卸货区域，活动货架能平行排列；
分拣机器人，其设置有多个且能在分拣平台上行驶，分拣机器人能将承接的货物运送到指定的卸货区域卸货；
分拣机器人定位装置，其能对分拣机器人进行定位；
导入装置，其设置在分拣平台的货物入口处，能对货物进行识别导入；
卸载机器人，其能承接该分拣机器人卸载的货物，且能将该货物卸载在活动货架预定的空闲的货箱内；
检测装置，其固定在卸货区域的地面上或者卸载机器人中不活动的固定件上，检测装置能采集识别装置的信息和空间方位；
服务器，其通过无线连接分拣机器人的控制器，通过有线或无线连接卸载机器人的控制器、检测装置和导入装置。
可选地，所述卸载机器人可以包括竖向移动装置、两套平行设置的横向移动装置和翻转装置，其中，
横向移动装置可以包括：
中空杆，其经支架与地面固定，中空杆水平安装，且设置有开口端，中空杆的两个外侧面开设有凹槽；
第一同步带轮和第二同步带轮，其分别可转动地固定在中空杆内的两端；
同步带，其联接第一同步带轮和第二同步带轮；
伺服电机，其壳体与中空杆固定、转轴与第一同步带轮的中心轴或第二同步带轮的中心轴固定，伺服电机电连接所述卸载机器人的控制器；
滑块，其设置有凸块和两只滑轨，凸块能嵌入中空杆的开口端且与同步带固定，滑轨仅能沿着凹槽来回移动；
竖向移动装置的结构与横向移动装置的结构相同，且竖向移动装置的中空杆竖直设置，竖向移动装置中空杆的两端分别与两套横向移动装置的滑块固定；
翻转装置可以包括：
输送架，其与竖向移动装置的滑块固定；
第一减速器；
翻转电机，其壳体与第一减速器的壳体固定、转轴与第一减速器的输入轴固定，翻转电机电连接所述卸载机器人的控制器；
翻转支架，其与第一减速器的输出轴固定；
翻转盘，其与翻转支架固定，翻转盘能用于盛装或卸载货物；
第二减速器，其壳体与所述输送架固定；
摆动电机，其壳体与第二减速器的壳体固定、转轴与第二减速器的输入轴固定，摆动电机电连接所述卸载机器人的控制器；
摆动杆，其一端与第二减速器的输出轴固定、另一端与第一减速器的壳体固定；
摆动电机转动能带动装有货物的翻转盘从活动货架外摆动至预定的货箱上方，翻转电机转动能将货物卸载在该货箱内。
可选地，两套平行设置的所述横向移动装置能够控制所述竖向移动装置沿着所述活动货架的长度方向移动。
可选地，所述竖向移动装置能够控制所述翻转装置沿着所述活动货架高度方向移动。
可选地，所述翻转装置能控制货物水平方向按圆周的轨迹移动，并且还能够翻转货物卸载。
可选地，所述翻转装置可以包括两个所述摆动杆，所述摆动杆分别位于所述第一减速 器的所述壳体的顶面和底面。
可选地，所述活动货架可以设置有多层，每层设可以置有多只货箱，多层的多只货箱可以按矩阵排列，且每只货箱可拆卸。
可选地，所述翻转盘能将货物卸载在两侧活动货架中的任一个。
可选地，每一个所述卸货区域可以设置有两个检测装置，相应地，每一个活动货架上设置有两个识别装置，当两个检测装置分别对准两个识别装置时，活动货架完成准确定位。
可选地，所述识别装置可以为二维码或者条码，检测装置为摄像头，或者，所述识别装置为RFID电子标签，所述检测装置为读卡器。
可选地，所述检测装置可以固定在分拣场地上或者卸载机器人中不活动的固定件上。
一种基于能识别货架转移的机器人货物分拣方法，包括所述基于能识别货架转移的机器人货物分拣系统，该机器人分拣系统的分拣方法可以包括如下步骤：
S1.选择活动货架，该活动货架至少有一个以上的货箱为没有货物的空闲的货箱，将该活动货架移动至任意空闲的卸货区域等待卸货；
S2.通过该卸货区域上固定的检测装置读取该卸货区域上活动货架的识别装置；
S3.根据该识别装置获得该活动货架上空闲的货箱、已卸货物和待卸货物的信息，服务器开始调度；
S4.当分拣机器人分拣到的货物需要卸载在该空闲的货箱内时，分拣机器人将该货物运送至接近该卸货区域；
S5.该卸货区域上的卸载机器人，承接该分拣机器人卸载的该货物后，将该货物卸载在预定的空闲的货箱内；
S6.当该活动货架上该空闲的货箱内已装满预定的货物后，活动货架能移动至其它的打包区域打包。
可选地，所述步骤S1中该活动货架的多个货箱中至少有一个以上的货箱为没有货物的空闲的货箱可以指的是：该活动货架没有装过货物，或者，该活动货架已卸完货物后再次准备卸货，或者，该活动货架之前装过货物，但没有装满货物时被中断，从而需要更换卸货区域和卸载机器人，继续卸货。
可选地，当其中一台卸载机器人需要中断时，经服务器重新调度，能由相邻一台卸载机器人将该货物卸载在该活动货架上。
与相关技术相比较，本申请至少具有如下的优点，分拣机器人可循环排队装货和卸货，出口设置的数量多，分拣效率高，分拣平台可设置单层也可以多层，分拣数量大；活动货架存放货物多，空间利用率高，活动货架可以移动，非常灵活，场地利用率高；卸载机器人占地小，定位精度要求不高，有利降低成本；当卸载机器人出现故障时，能快速解决； 打包区域可灵活设置，不会影响分拣场地的分拣；
本申请具有结构紧凑、分拣量大、空间利用充分、分拣效率高的有益效果。
附图说明
图1为本申请的整体结构示意图。
图2为本申请卸载机器人和活动货架的主要结构示意图。
图3、图4为本申请翻转装置的结构示意图。
图5为本申请竖向移动装置和横向移动装置的中空杆相关的结构示意图。
具体实施方式
现结合附图对本申请作进一步的说明：
如图1所示，一种基于能识别货架转移的机器人货物分拣系统，包括：
活动货架2，其设置有多个，每个活动货架2设置有多个用于卸载货物的货箱21，本实施例中，货箱21有多层，每层有多只，按矩阵有规律的排列，活动货架2固定有识别装置3，活动货架2能够移动至任意空闲的卸货区域，本实施例的图1中，多个活动货架2平行排列，实际上多个活动货架2还可以环绕分拣平台11设置，进一步提高场地的利用率；
为了提取货物方便，活动货架2每层设置有平行的两根横档22，货箱21设置有对应的两只翻边，货箱21的两只翻边能压在两根横档22上。
分拣机器人1，其可以设置有多个且能在分拣平台11上行驶，分拣机器人1能将货物入口处承接的货物运送到指定的卸货区域卸货，分拣机器人1通常选用自导航小车，沿着分拣平台11循环运送货物，货物出口通常选择分拣平台11的边缘处，分拣机器人1卸货时，只要转动翻板就能将货物倒出，分拣平台11通常有一定的高度；分拣平台11可设置多层，每层分拣平台11均可安排分拣机器人1；
分拣机器人定位装置，其能对分拣机器人1进行定位，可以选用无线定位系统进行定位，也可以在分拣平台11上粘贴二维码、条码等，分拣机器人1安装有摄像头，采集二维码、条码的位置信息，这部分是相关技术；
导入装置，其可固定在分拣平台11的货物入口处，也可以人工手持导入装置，对货物进行识别导入；导入装置可选用扫码装置，能对货物进行识别，货物通常粘贴有二维码或条码，相应地，扫码装置为二维码或条码的扫描器，一般来说，人工将货物送到扫码装置扫描后，放置在货物入口处的分拣机器人1上，分拣平台11除了出口的位置均可以设置货物入口；导入装置还可以是机器手，其能将货物输送到分拣机器人1上，服务器能获得机器手运送的货物的具体信息，例如知道货物是牙刷；
卸载机器人5，其能承接该分拣机器人1卸载的货物，且能将该货物卸载在活动货架2预定的空闲的货箱21内，显然，卸载机器人5沿着分拣平台11的边缘设置；
检测装置4，其固定在卸货区域的地面上或者卸载机器人5中不活动的固定件上，检测装置4能采集识别装置3的信息，还可以采集空间方位；本实施例中，识别装置3为二维码或者条码，相应地，检测装置4为摄像头，或者，识别装置3为无线通讯的RFID电子标签，相应地，检测装置4为无线通讯的读卡器；
服务器，其通过无线连接分拣机器人1的控制器，通过有线或无线连接卸载机器人5的控制器、检测装置4和导入装置。
本实施例中，服务器可以根据货物的属性进行分拣，举例说，货物属于某个客户、货物属于某个货架、货物属于某个供应商、货物属于某个快递投递区和货物属于某个快递派送员中的至少一项；可以将某个客户的几件货物分拣到同一个活动货架2不同的货箱21内，同一个活动货架2可以存放多个客户的货物；也可以将某个供应商的几件货物分拣到同一个活动货架2不同的货箱21内，同一个活动货架2可以存放同一个供应商的多个货物；
可选地，如图2、图3、图4所示，卸载机器人5可以包括竖向移动装置43、两套平行设置的横向移动装置43和翻转装置，其中：
横向移动装置43可以包括：
中空杆422，其经支架与地面固定，中空杆422水平安装，且设置有开口端4222，中空杆422的两个外侧面开设有凹槽4221；
第一同步带轮424和第二同步带轮，其分别可转动地固定在中空杆422内的两端；
同步带423，其联接第一同步带轮424和第二同步带轮；
伺服电机421，其壳体与中空杆422固定、转轴与第一同步带轮424的中心轴或第二同步带轮的中心轴固定，伺服电机421电连接卸载机器人5的控制器；
滑块425，其设置有凸块4252和两只滑轨4251，凸块4252能嵌入中空杆422的开口端4222且与同步带423固定，滑轨4251仅能沿着凹槽4221来回移动；
竖向移动装置43的结构与横向移动装置43的结构相同，其差别在于：竖向移动装置43的中空杆422竖直设置，竖向移动装置43中空杆422的两端分别与两套横向移动装置43的滑块425固定；
竖向移动装置43的结构与横向移动装置43的结构相同，能简化整体结构，方便维护；
翻转装置包括：
输送架61，其与竖向移动装置43的滑块425固定；
第一减速器64；
翻转电机62，其壳体与第一减速器64的壳体固定、转轴与第一减速器64的输入轴固定，翻转电机62电连接卸载机器人5的控制器；
翻转支架63，其与第一减速器64的输出轴固定，本实施例中，为了提高稳定性，对称 地设置有两只；
翻转盘60，其与翻转支架63固定，翻转盘60能用于盛装或卸载货物；
第二减速器66，其壳体与输送架61固定；
摆动电机67，其壳体与第二减速器66的壳体固定、转轴与第二减速器66的输入轴固定，摆动电机67电连接卸载机器人5的控制器；
摆动杆65，其一端与第二减速器66的输出轴固定、另一端与第一减速器64的壳体固定，本实施例中，摆动杆65设置有两只，其分别位于第一减速器64的壳体的顶面和底面，以提高稳定性；
摆动电机67转动能带动装有货物的翻转盘60从活动货架2外摆动至预定的货箱21上方，翻转电机62转动能将货物卸载在该货箱21内。
两套平行设置的横向移动装置43能控制竖向移动装置43沿着活动货架2长度方向移动，竖向移动装置43能控制翻转装置沿着活动货架2高度方向移动，翻转装置能控制货物水平方向按圆周的轨迹移动，且还能翻转货物卸载。
卸载机器人5采用开环的控制方式，通过软件控制竖向移动装置43中的伺服电机421，能精确地将货物移动到指定的一层，通过软件控制横向移动装置43中的伺服电机421，能精确地将货物移动到指定的一列，由于货箱21的尺寸比较大，翻转装置能精准的定位到预定的货箱21卸货，同理，也能精确地移动到分拣平台11的边缘，承接分拣机器人1卸载的货物；用这种控制方式可以减少硬件的成本，无需每一个货箱21配备一个传感器。
为了提高卸货效率，提高卸载机器人5的利用率，翻转盘60能将货物卸载在两侧活动货架2中的任一个。
活动货架2可通过人工或搬运机器人进行搬运，为了能对活动货架2精确定位，每一个卸货区域设置有两个检测装置4，相应地，每一个活动货架2上设置有两个识别装置3，当两个检测装置4分别对准两个识别装置3时，活动货架2完成准确定位。本申请的两对识别装置3和检测装置4具有定位和读取活动货架2信息的功能，一物两用。
作为优选，检测装置4固定在分拣场地上或者卸载机器人中不活动的固定件上，检测装置4可以固定在支架上。
本申请各个电机的初始位置可以通过设置极限位置来获得，或者，设置初始位置传感器，来对电机进行初始位置的定位，例如滑块425移动到触及第一同步带轮424或第二同步带轮这一极限位置时将受阻，电机的堵转电流将加大，控制器可以将该位置作为电机的初始位置，推算出电机转一圈，滑块425移动多少距离，也可以通过设置初始位置传感器，当滑块425触及到初始位置传感器时，作为电机的初始位置，同理，翻转电机62和摆动电机67的初始位置也可以通过设置极限位置或者初始位置传感器来获得。
一种基于能识别货架转移的机器人货物分拣方法，包括上述基于能识别货架转移的机器人货物分拣系统，该机器人分拣系统的分拣方法可以包括如下步骤：
S1.选择活动货架2，该活动货架2至少有一个以上的货箱21为没有货物的空闲的货箱21，将该活动货架2移动至任意空闲的卸货区域等待卸货；通常有三种情况：第一，该活动货架2没有装过货物；第二，该活动货架2已卸完货物后再次准备卸货；第三，该活动货架2之前装过货物，但没有装满货物时被中断，从而需要更换卸货区域和卸载机器人5，继续卸货；这里被中断的原因，可以是卸载机器人5出现故障，或者，需要转移分拣场地；
S2.通过该卸货区域上固定的检测装置4读取该卸货区域上活动货架2的识别装置3；
S3.根据该识别装置3获得该活动货架2上空闲的货箱21、已卸货物和待卸货物的信息，服务器开始调度，举例说，原计划要在1号的活动货架2由1号卸载机器人5完成1号、2号和3号货箱21分别存放三件货物，但因1号卸载机器人5出现故障需要中断，3号货箱21还没有存放最后一件货物，此时，有一种补救方案是，将1号的活动货架2人工搬运至空闲的10号卸货区域，服务器通过10号的检测装置4获得该信息，如果服务器获得某分拣机器人安装了第三件货物，则将该第三件货物运送至10号卸载机器人5所在的10号卸货区域，由10号卸载机器人5将货物卸载在3号货箱21内；第二种补救方案是，由相邻一台卸载机器人例如由2号卸载机器人5将该货物卸载在1号活动货架2的3号货箱21内。
S4.当分拣机器人分拣到的货物需要卸载在该空闲的货箱21内时，分拣机器人将该货物运送至接近该卸货区域；
S5.该卸货区域上的卸载机器人，承接该分拣机器人卸载的该货物后，将该货物卸载在预定的空闲的货箱21内；
S6.当该活动货架2上该空闲的货箱21内已装满预定的货物后，活动货架2能移动至其它的打包区域打包，显然，其它区域的卸货地址也安装有检测装置4，在读到识别装置3后，通过服务器就可获得每个货箱21的信息。
工业实用性
本申请提供了一种基于能识别货架转移的机器人货物分拣系统及其分拣方法，分拣系统，包括：活动货架，其设置有多个用于卸载货物的货箱，活动货架固定有识别装置且能够移动至任意空闲的卸货区域；分拣机器人，其设置有多个且能在分拣平台上行驶，分拣机器人能将承接的货物运送到指定的卸货区域卸货；分拣机器人定位装置；导入装置；卸载机器人，其能承接该分拣机器人卸载的货物，且能将该货物卸载在活动货架预定的空闲的货箱内；检测装置，能采集识别装置的信息；服务器，其通过无线连接分拣机器人的控制器，通过有线或无线连接卸载机器人的控制器、检测装置和扫码装置。本申请具有结构 紧凑、分拣量大、空间利用充分、分拣效率高的有益效果。。
此外，可以理解的是，本申请的基于能识别货架转移的机器人货物分拣系统及其分拣方法是可以重现的，并且可以用在多种工业应用中。例如，本申请的基于能识别货架转移的机器人货物分拣系统及其分拣方法可以用于通过分拣机器人进行分拣货物的技术领域。

Claims (14)

  1. 一种基于能识别货架转移的机器人货物分拣系统，其特征是包括：
    活动货架(2)，其设置有多个，每个活动货架(2)设置有多个用于卸载货物的货箱(21)，活动货架(2)固定有识别装置(3)且能够移动至任意空闲的卸货区域；
    分拣机器人(1)，其设置有多个且能在分拣平台(11)上行驶，分拣机器人(1)能将承接的货物运送到指定的卸货区域卸货；
    分拣机器人定位装置，其能对分拣机器人(1)进行定位；
    导入装置，其设置在分拣平台(11)的货物入口处，能对货物进行识别导入；
    卸载机器人(5)，其能承接分拣机器人(1)卸载的货物，且能将该货物卸载在活动货架(2)预定的空闲的货箱(21)内；
    检测装置(4)，其固定在卸货区域的地面上或者卸载机器人(5)中不活动的固定件上，检测装置(4)能采集识别装置(3)的信息；
    服务器，其通过无线连接分拣机器人(1)的控制器，通过有线或无线连接卸载机器人(5)的控制器、检测装置(4)和导入装置。
  2. 根据权利要求1所述的基于能识别货架转移的机器人货物分拣系统，其特征是，所述卸载机器人(5)包括竖向移动装置(43)、两套平行设置的横向移动装置(42)和翻转装置，其中：
    横向移动装置(42)包括：
    中空杆(422)，其经支架与地面固定，中空杆(422)水平安装且设置有开口端(4222)，中空杆(422)的两个外侧面开设有凹槽(4221)；
    第一同步带轮(424)和第二同步带轮，其分别可转动地固定在中空杆(422)内的两端；
    同步带(423)，其联接第一同步带轮(424)和第二同步带轮；
    伺服电机(421)，其壳体与中空杆(422)固定、转轴与第一同步带轮(424)的中心轴或第二同步带轮的中心轴固定，伺服电机(421)电连接所述卸载机器人(5)的控制器；
    滑块(425)，其设置有凸块(4252)和两只滑轨(4251)，凸块(4252)能嵌入中空杆(422)的开口端(4222)且与同步带(423)固定，滑轨(4251)仅能沿着凹槽(4221)来回移动；
    竖向移动装置(43)的结构与横向移动装置(42)的结构相同，且竖向移动装置(43)的中空杆(422)竖直设置，竖向移动装置(43)中空杆(422)的两端分别与两套横向移动装置(42)的滑块(425)固定；
    翻转装置包括：
    输送架(61)，其与竖向移动装置(43)的滑块(425)固定；
    第一减速器(64)；
    翻转电机(62)，其壳体与第一减速器(64)的壳体固定、转轴与第一减速器(64)的输入轴固定，翻转电机(62)电连接所述卸载机器人(5)的控制器；
    翻转支架(63)，其与第一减速器(64)的输出轴固定；
    翻转盘(60)，其与翻转支架(63)固定，翻转盘(60)能用于盛装或卸载货物；
    第二减速器(66)，其壳体与所述输送架(61)固定；
    摆动电机(67)，其壳体与第二减速器(66)的壳体固定、转轴与第二减速器(66)的输入轴固定，摆动电机(67)电连接所述卸载机器人(5)的控制器；
    摆动杆(65)，其一端与第二减速器(66)的输出轴固定、另一端与第一减速器(64)的壳体固定；
    摆动电机(67)转动能带动装有货物的翻转盘(60)从活动货架(2)外摆动至预定的货箱(21)上方，翻转电机(62)转动能将货物卸载在该货箱(21)内。
  3. 根据权利要求2所述的基于能识别货架转移的机器人货物分拣系统，其特征是，两套平行设置的所述横向移动装置能够控制所述竖向移动装置沿着所述活动货架的长度方向移动。
  4. 根据权利要求2或3所述的基于能识别货架转移的机器人货物分拣系统，其特征是，所述竖向移动装置能够控制所述翻转装置沿着所述活动货架高度方向移动。
  5. 根据权利要求2至4中的任一项所述的基于能识别货架转移的机器人货物分拣系统，其特征是，所述翻转装置能控制货物水平方向按圆周的轨迹移动，并且还能够翻转货物卸载。
  6. 根据权利要求2至5中的任一项所述的基于能识别货架转移的机器人货物分拣系统，其特征是，所述翻转装置包括两个所述摆动杆，所述摆动杆分别位于所述第一减速器的所述壳体的顶面和底面。
  7. 根据权利要求1至6中的任一项所述的基于能识别货架转移的机器人货物分拣系统，其特征是，所述活动货架(2)设置有多层，每层设置有多只货箱(21)，多层的多只货箱(21)按矩阵排列，且每只货箱(21)可拆卸。
  8. 根据权利要求2所述的基于能识别货架转移的机器人货物分拣系统，其特征是，所述翻转盘(60)能将货物卸载在两侧活动货架(2)中的任一个。
  9. 根据权利要求1-8中的任一项所述的基于能识别货架转移的机器人货物分拣系统，其特征是：每一个所述卸货区域设置有两个检测装置(4)，相应地，每一个活动货架(2) 上设置有两个识别装置(3)，当两个检测装置(4)分别对准两个识别装置(3)时，活动货架(2)完成准确定位。
  10. 根据权利要求1-9中的任一项所述的基于能识别货架转移的机器人货物分拣系统，其特征是：所述识别装置(3)为二维码或者条码，所述检测装置(4)为摄像头；或者，所述识别装置(3)为RFID电子标签，所述检测装置(4)为读卡器。
  11. 根据权利要求1-10中的任一项所述的基于能识别货架转移的机器人货物分拣系统，其特征是，所述检测装置(4)固定在分拣场地上或者卸载机器人中不活动的固定件上。
  12. 一种基于能识别货架转移的机器人货物分拣方法，包括根据权利要求1-11中的任一项所述的基于能识别货架转移的机器人货物分拣系统，其特征是，该机器人分拣系统的分拣方法包括如下步骤：
    S1.选择活动货架(2)，该活动货架(2)至少有一个以上的货箱(21)为没有货物的空闲的货箱(21)，将该活动货架(2)移动至任意空闲的卸货区域等待卸货；
    S2.通过该卸货区域上固定的检测装置(4)读取该卸货区域上活动货架(2)的识别装置(3)；
    S3.根据该识别装置(3)获得该活动货架(2)上空闲的货箱(21)、已卸货物和待卸货物的信息，服务器开始调度；
    S4.当分拣机器人(1)分拣到的货物需要卸载在该空闲的货箱(21)内时，分拣机器人(1)将该货物运送至接近该卸货区域；
    S5.该卸货区域上的卸载机器人(5)，承接该分拣机器人(1)卸载的该货物后，将该货物卸载在预定的空闲的货箱(21)内；
    S6.当该活动货架(2)上该空闲的货箱(21)内已装满预定的货物后，活动货架(2)能移动至打包区域打包。
  13. 根据权利要求12所述的基于能识别货架转移的机器人货物分拣方法，其特征是，所述步骤S1中该活动货架(2)的多个货箱(21)中至少有一个以上的货箱(21)为没有货物的空闲的货箱(21)指的是：该活动货架(2)没有装过货物；或者，该活动货架(2)已卸完货物后再次准备卸货；或者，该活动货架(2)之前装过货物，但没有装满货物时被中断，从而需要更换卸货区域和卸载机器人(5)，继续卸货。
  14. 根据权利要求12或13所述的基于能识别货架转移的机器人货物分拣方法，其特征是，当其中一台卸载机器人(5)需要中断时，经服务器重新调度，能由相邻一台卸载机器人(5)将该货物卸载在该活动货架(2)上。
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CN116423528A (zh) * 2023-06-13 2023-07-14 国网浙江省电力有限公司宁波供电公司 一种变压器油样品分拣方法及系统
CN116423528B (zh) * 2023-06-13 2023-10-17 国网浙江省电力有限公司宁波供电公司 一种变压器油样品分拣方法及系统

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