WO2023040452A1 - 自动分拣方法、系统、电子设备、存储介质及程序产品 - Google Patents

自动分拣方法、系统、电子设备、存储介质及程序产品 Download PDF

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Publication number
WO2023040452A1
WO2023040452A1 PCT/CN2022/106555 CN2022106555W WO2023040452A1 WO 2023040452 A1 WO2023040452 A1 WO 2023040452A1 CN 2022106555 W CN2022106555 W CN 2022106555W WO 2023040452 A1 WO2023040452 A1 WO 2023040452A1
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WIPO (PCT)
Prior art keywords
container
conveyor
containers
shuttle
target
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PCT/CN2022/106555
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English (en)
French (fr)
Inventor
汪传龙
白妍华
李顺
王兴权
陈旭
夏文君
Original Assignee
旷视格图(苏州)智能装备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN202122237431.8U external-priority patent/CN216539603U/zh
Priority claimed from CN202111082874.2A external-priority patent/CN114013983B/zh
Application filed by 旷视格图(苏州)智能装备有限公司 filed Critical 旷视格图(苏州)智能装备有限公司
Publication of WO2023040452A1 publication Critical patent/WO2023040452A1/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
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B07C3/04—Drum-type sorting machines or having circularly arranged sorting compartments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices

Definitions

  • the present application relates to the technical field of automation, in particular, to an automatic sorting method, system, electronic equipment, storage medium and program product.
  • the sorting of goods is to classify and pack large quantities of goods according to certain rules through sorting equipment, so as to facilitate the transportation of goods.
  • Ring sorting equipment is widely used because it can save high labor costs and greatly improve factory production efficiency.
  • one sorting cart usually corresponds to one or two slots, and the number of sorting slots is very limited.
  • the sorting process is mainly as follows: manually scan the code to bind the goods, put the goods into the sorting vehicle by the supplier or manually, and the sorting vehicle performs feeding operations to the corresponding bins according to different product models. When the bins are full, It is necessary to remove the full container and replenish the empty container by manual box changing.
  • the purpose of this application is to provide an automatic sorting method, system, electronic equipment, storage medium and program product in order to solve the problem of low cargo sorting efficiency existing in the prior art. question.
  • An embodiment of the present application provides an automatic sorting method, which can be applied to a sorting system.
  • the sorting system includes a sorter, a connecting shuttle, and a plurality of container conveyors.
  • Each of the container conveyors Located below the sorter, the method may comprise:
  • the shuttle vehicle is controlled to dock with the target container conveyor, receive the container from the target container conveyor and deliver the full container.
  • the sorting system may also include: a transport conveyor, and the method may also include:
  • the sorting system may also include a container buffer area, which may be located on one side of the connecting shuttle car; the container buffer area communicates with the connecting shuttle car through a transfer mechanism ;
  • controlling the shuttle to dock with the target container conveyor, and receiving the container from the target container conveyor may include:
  • control the connecting shuttle car If it is detected that there are partially full containers and partially unloaded containers on the target container conveyor, control the connecting shuttle car to rotate to dock with the target container conveyor, and receive all containers from the target container conveyor;
  • controlling the connecting shuttle vehicle to rotate to dock with the target container conveyor, and transporting the empty container to the target container conveyor may include:
  • the connecting shuttle is controlled to rotate to dock with the target container conveyor, and the empty container and temporarily stored partially loaded containers are transported to the target container conveyor.
  • the transporting the empty containers and temporarily stored partially-full containers to the target container conveyor may include:
  • the empty container and the partly full container are transported to the target container conveyor according to a specific transport sequence, so that the partly full container is located at the initial position, wherein the specific transport sequence is based on the fact that the partly full container is not transferred to The container buffer is previously determined at the initial position on the target container conveyor.
  • the number of the target container conveyors can be multiple;
  • controlling the shuttle to dock with the target container conveyor, and receiving the container from the target container conveyor may include:
  • the connecting shuttle car is sequentially controlled to dock with each of the target container conveyors, A container is received from the target container conveyor.
  • the number of the connecting shuttle car can be multiple;
  • the docking of the control shuttle vehicle with the target container conveyor may include:
  • delivery conveyors there are multiple delivery conveyors, some of which are used to deliver empty containers to the connecting shuttle, and other delivery conveyors are used to receive full containers from the connecting shuttle and deliver them out ;
  • Said transporting said full container may include:
  • the connecting shuttle may include a turntable and a linear conveyor arranged on the turntable;
  • the docking of the control shuttle vehicle with the target container conveyor may include:
  • the turntable is controlled to drive the linear conveyor to rotate to a position docked with the target container conveyor.
  • the container conveyor may include: a reciprocating conveying assembly and a container carrying platform; multiple containers are placed on the container carrying platform; the output end of the reciprocating conveying assembly is connected to the container carrying platform,
  • the container carrying platform is located above the reciprocating conveying assembly and is connected to the reciprocating conveying assembly; the reciprocating conveying assembly can drive the container carrying platform to reciprocate along one end close to the connecting shuttle car so that the plurality of containers placed on the container carrying platform are alternately aligned with the discharge port to receive goods.
  • a photoelectric detection device is installed on each of the containers, and the full load of each container is detected by the photoelectric detection device; or, a camera is installed on each container near the edge of the container mouth, and by detecting The goods are photographed to judge the full load of the goods in each container;
  • Each container conveyor in the container conveyor is provided with a plurality of sensors, the number of the sensors corresponds to the number of containers that can be carried on the container conveyor, and each sensor is correspondingly arranged at each container placement place, so as to Check if the corresponding location has a container.
  • the embodiment of the present application also provides an automatic sorting system.
  • the automatic sorting system may include: a sorter, a shuttle bus, a plurality of container conveyors and electronic equipment; each container conveyor is located at the Below the sorting machine; the sorting machine, the container conveyor, and the connecting shuttle are respectively connected to the electronic equipment in communication;
  • the electronic device is configured to execute the steps of the method described in the first aspect above;
  • the sorting machine is used to put the goods to be sorted into the containers on each of the container conveyors;
  • the shuttle bus is used to dock with each of the container conveyors under the control of the electronic equipment, so as to receive containers from each of the container conveyors or deliver containers to each of the container conveyors.
  • the automatic sorting system may also include: a container buffer area; the container buffer area is located on one side of the connecting shuttle car; the container buffer area is connected to the connecting shuttle car through a transfer mechanism connected;
  • the container cache area is used to temporarily store containers.
  • the transfer mechanism may include a transfer frame and a rolling member arranged on the transfer frame, the rolling member is driven to rotate in at least one linear direction on the transfer frame, the The transfer frame and the rolling elements together form a transfer plane.
  • the automatic sorting system may also include: a transport conveyor;
  • the transfer conveyor is configured to interface with the shuttle, to deliver empty containers to the shuttle, and/or to receive full containers from the shuttle.
  • the sorting machine is in the form of a circular ring
  • the connecting shuttle car is located in the circular ring of the sorting machine, and the connecting shuttle car is driven to rotate so as to be respectively connected with the container conveyor. Butt on one end.
  • the connecting shuttle vehicle transports the containers along a straight line, and the container transmission path of the connecting shuttle vehicle passes through the center of the sorter.
  • the embodiment of the present application also provides an electronic device, including: a processor, a storage medium, and a bus.
  • the storage medium stores machine-readable instructions executable by the processor.
  • the processor and the storage medium pass through For bus communication, the processor executes machine-readable instructions to perform the steps of the method provided in the first aspect when executed.
  • the embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the steps of the method provided in the first aspect are executed.
  • An embodiment of the present application further provides a computer program, which implements the steps of the method provided in the first aspect when the computer program is executed by a processor.
  • the present application provides an automatic sorting method, system, electronic equipment, storage medium and program product.
  • the method includes: controlling the sorting vehicle on the sorting machine to put the goods to be sorted into the containers placed on the container conveyor; When it is detected that there is at least one full container on the target container conveyor, the shuttle vehicle is controlled to dock with the target container conveyor, the container is received from the target container conveyor and the full container is delivered.
  • the shuttle car when it is detected that there is a full-load container on the container conveyor, the shuttle car can be controlled to correspond to the container conveyor, so as to receive the full-load container and transport the full-load container to realize automatic detection and automatic replacement of the full-load container.
  • the problem of low container replacement efficiency caused by manual container replacement is avoided, thereby avoiding the problem of cargo sorting blockage caused by low container replacement efficiency, and the method can greatly improve container replacement efficiency and cargo sorting efficiency.
  • Fig. 1 is a schematic structural diagram of a sorting system provided by an embodiment of the present application
  • Fig. 2 is a schematic flow diagram 1 of the automatic sorting method provided by the embodiment of the present application.
  • FIG. 3 is a schematic structural view of a container conveyor provided in an embodiment of the present application.
  • Fig. 4 is the second schematic flow diagram of the automatic sorting method provided by the embodiment of the present application.
  • Fig. 5 is a schematic flow diagram three of the automatic sorting method provided by the embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a container cache area provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a transfer mechanism provided in an embodiment of the present application.
  • Fig. 8 is a schematic structural diagram of a shuttle bus provided by the embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • 100-sorting system 110-sorting machine; 111-; 120-connecting shuttle; 120a-turntable; 120b-linear conveyor; 120c-rotating shaft of turntable; 1221-transfer rack; 1222-rolling parts; 130-container conveyor; 131-reciprocating conveying assembly; 132-container carrying platform; 133-container;
  • Intelligent Logistics System uses artificial intelligence, big data, various information sensors, radio frequency identification technology, global positioning system (GPS) and other Internet of Things devices and technologies, and is widely used in basic logistics such as material transportation, warehousing, distribution, packaging, loading and unloading, and information services.
  • the activity link realizes the intelligent analysis and decision-making, automatic operation and high-efficiency optimized management of the material management process.
  • the Internet of Things technology includes sensing equipment, RFID technology, laser infrared scanning, infrared induction recognition, etc.
  • the Internet of Things can effectively connect the materials in the logistics with the network, monitor the materials in real time, and sense the humidity and temperature of the warehouse. Data, guarantee the storage environment of materials.
  • all the data in the logistics can be sensed and collected, uploaded to the data layer of the information platform, and the data can be filtered, mined, analyzed and other operations, and finally the business process (such as transportation, storage, access, picking, packaging, distribution Picking, delivery, inventory, distribution and other links) to provide accurate data support.
  • the application direction of artificial intelligence in logistics can be roughly divided into two types: 1) Unmanned trucks, AGVs, AMRs, forklifts, shuttles, stackers, unmanned delivery vehicles, unmanned aerial vehicles, Smart devices such as service robots, robotic arms, and smart terminals replace part of the labor force; 2) Software such as transportation equipment management systems, warehouse management, equipment scheduling systems, and order distribution systems driven by computer vision, machine learning, and operational optimization technologies or algorithms The system improves labor efficiency. With the research and progress of smart logistics, this technology has been applied in many fields, such as retail and e-commerce, electronic products, tobacco, medicine, industrial manufacturing, shoes and clothing, textiles, food and other fields.
  • Fig. 1 is a schematic structural diagram of a sorting system provided by an embodiment of the present application.
  • the automatic sorting method provided by the present application is applied to the sorting system.
  • the sorting system 100 may include: machine 110, connecting shuttle car 120, multiple container conveyors 130.
  • the connecting shuttle vehicle 120 may be arranged on one side of the sorter 110 , and each container conveyor 130 may be located below the sorter 110 .
  • the sorting system 100 may also include electronic equipment.
  • the electronic equipment can be a central control platform installed in the central control room, or it can be a processor, a controller and other equipment. communication connection.
  • Sorting machine 110 the sorting machine 110 is preset with a plurality of sequentially arranged sorting stations, and a container conveyor 130 is correspondingly arranged under the projection of the sorting stations, and the containers delivered at the outlets of the sorting stations The goods drop into the corresponding container of the container conveyor 130 .
  • a plurality of sorting carts 111 can be carried on the sorting machine 110, goods to be sorted can be carried in the sorting carts 111, and the electronic device can control the Goods are dropped into containers on the container conveyor 130 .
  • the shuttle bus 120 can dock with each container conveyor 130 to receive containers from each container conveyor 130 or transport containers to each container conveyor 130 .
  • the sorting machine 110 is used for sorting different goods into respective corresponding containers.
  • the goods belonging to the same order or list can correspond to at least one container. After the sorting is completed, the goods can be conveniently packaged and reviewed according to the order or list.
  • the sorter 110 can be an open linear structure or a closed rotary cycle structure.
  • the predetermined path can be an open linear path or a closed rotary cycle path.
  • the sorter 110 may be an open linear or curved linear structure with a start point and an end point, such as an L-shaped, U-shaped, or I-shaped structure.
  • the sorter 110 can also be a closed rotary cycle structure, that is, the starting point and the end point of the rotary cycle structure are at the same point or connected together, so that the sorter 110 is a closed ring, such as a circular rotary cycle structure, a rectangular Rotary cycle structure or irregular shaped rotary cycle structure designed according to the equipment installation site.
  • the sorting machine 110 has a circular rotary cycle structure
  • multiple sorting stations are arranged along a circular rotary cycle.
  • the closed rotary cycle structure can realize the continuous circulation flow sorting of goods, maintain the state of continuous motion and cyclic re-sorting state, and compared with the open linear structure, it also has the function of dynamic buffering of goods Function, avoiding the parking of goods, can improve sorting efficiency, and save more equipment installation space.
  • the sorting machine can be a circular sorting machine, and the setting of the circular sorting machine can effectively save the floor area of the entire sorting system.
  • the container conveyor can include multiple containers, and multiple containers can also be placed on each container conveyor to carry the goods to be placed. Through the setting of multiple container conveyors, the number of containers can be maximized, so that The entire sorting system can be maximized to maximize the delivery of goods and improve the efficiency of goods sorting.
  • sorting system shown in FIG. 1 is only an exemplary one. In practical applications, the sorting system can also be set in other structures, which are not limited in this application.
  • the connecting shuttle car can be arranged inside the circular sorter, and the connecting shuttle car can be arranged in a straight line to reduce the occupation of space.
  • the shuttle car can be driven to rotate, so as to dock with the target container conveyor during the rotation process, wherein the target container conveyor can be any one of the multiple container conveyors that requires container replacement.
  • Fig. 2 is a schematic flow diagram of the automatic sorting method provided by the embodiment of the present application; the execution subject of the method may be the above-mentioned electronic device, as shown in Fig. 2, the method may include:
  • a plurality of sorting carts can be arranged on the sorting machine, and each sorting cart can carry goods to be sorted and put the goods into corresponding containers.
  • different containers placed on the container conveyor can correspond to the goods ordered by the orders of different users.
  • the goods are placed in the container corresponding to the goods of the target user.
  • multiple containers can be set on the container conveyor, and different containers can be used to receive and load the goods required by different user orders.
  • Each container has a certain cargo carrying capacity. When the container is full, it stops feeding Drop off the goods.
  • the full container when it is detected that there is at least one full container on the target container conveyor, the full container can be replaced to ensure that the container placed on the container conveyor can hold goods at all times.
  • the target container conveyor may be any one of a plurality of container conveyors, and when any container on any container conveyor is fully loaded, the electronic device controls the connecting shuttle vehicle to dock with one end of the container conveyor, wherein , it can be docked with the end of the close distance between the shuttle car and the target container conveyor, the shuttle car can receive the full-loaded container to be transported from the target container conveyor, and deliver the full-loaded container to wait for it to be delivered by The staff packs and ships the goods, etc.
  • the automatic sorting method includes: controlling the sorting vehicle on the sorting machine to put the goods to be sorted into the containers placed on the container conveyor; Containers, control the shuttle car to dock with the target container conveyor, receive the container from the target container conveyor and deliver the full container.
  • the shuttle car when it is detected that there is a full-load container on the container conveyor, the shuttle car can be controlled to correspond to the container conveyor, so as to receive the full-load container and transport the full-load container to realize automatic detection and automatic replacement of the full-load container.
  • the problem of low container replacement efficiency caused by manual container replacement is avoided, thereby avoiding the problem of cargo sorting blockage caused by low container replacement efficiency, and the method can greatly improve container replacement efficiency and cargo sorting efficiency.
  • Fig. 3 is a schematic structural diagram of a container conveyor provided in an embodiment of the present application.
  • a container conveyor 130 is taken as an example for description.
  • the container conveyor 130 can include a reciprocating conveying assembly 131 and a container carrying platform 132; a plurality of containers 133 can be placed on the container carrying platform 132, and optionally, the output end of the reciprocating conveying assembly can be connected with the container carrying platform, or, A container carrying platform may be positioned above and connected to the shuttle assembly.
  • the reciprocating conveying assembly can drive the container carrying platform to reciprocate along one end close to the shuttle bus, so that multiple containers placed on the container carrying platform are alternately aligned with the discharge port to receive goods.
  • the container conveyor may adopt belts or rollers to drive the containers to reciprocate.
  • the foregoing container conveyor includes a reciprocating conveying assembly and a container carrying platform.
  • the reciprocating conveying component has the ability of linear reciprocating motion.
  • the container carrying platform is installed together with the reciprocating conveying component.
  • the reciprocating conveying component provides the reciprocating power for the container carrying platform.
  • the container placed on the container carrying platform can reciprocate linearly. so as to align with the outlet.
  • a limit piece can be set in the linear motion direction of the container carrying platform, and the limit piece can be used to constrain the container. Slip in that direction.
  • a plurality of partitions 134 can be set on the container carrying platform 132, that is, the container carrying platform 132 is a conveyor belt with partitions 134 as shown in FIG. , which is used to limit the movement of the container in the linear motion direction of the container carrying platform. The spacing between adjacent partitions or projections depends on the size of the container.
  • Fig. 4 is the second schematic flow diagram of the automatic sorting method provided by the embodiment of the present application; optionally, as shown in Fig. side; the method of the embodiment of the present application shown in FIG. 4 may also include:
  • the delivery conveyor can be used to deliver empty containers to the connecting shuttle car.
  • the connecting shuttle car receives and delivers the full container from the target container conveyor
  • the empty container can be delivered to the connecting shuttle car in time.
  • the shuttle car can further transport empty containers to the target container conveyor to complement the replaced full containers.
  • the quantity of empty containers transported by the conveying conveyor can be determined according to the quantity of fully loaded containers transported on the target container conveyor. Assuming that the quantity of fully loaded containers is 2, then 2 empty containers can be transported correspondingly to supplement The total number of containers on the full target container conveyor.
  • the electronic device can control one end of the connecting shuttle car carrying the empty container to rotate to dock with the target container conveyor, and control the connecting shuttle car to remove the empty container Transport to the target container conveyor to ensure that each container on the target container conveyor is in a state that can accommodate goods, and at the same time ensure that the number of containers on the target container conveyor is maximized and can be used to receive more goods.
  • the transport conveyor can be arranged on the outside of the ring sorter and extends from the outside to the inside.
  • the connecting shuttle car can be docked with the end close to the conveying conveyor, and the conveying conveyor can transfer empty containers to the connecting shuttle car, and the connecting shuttle car will move to the destination after receiving the empty container
  • the container conveyor is docked to transfer empty containers to the target container conveyor for container replenishment.
  • multiple conveying conveyors can be set up, which can be flexibly set according to the overall occupied area of the sorting system, so that more can be set up to improve the parallel operation capacity when the sorting system occupies a small area.
  • two can be set up, wherein one transfer conveyor can be docked with the feeder shuttle to deliver empty containers to the feeder shuttle, and the other transfer conveyor can be docked with the feeder shuttle to receive the feeder shuttle Delivery of fully loaded containers.
  • one transfer conveyor can be docked with the feeder shuttle to deliver empty containers to the feeder shuttle
  • the other transfer conveyor can be docked with the feeder shuttle to receive the feeder shuttle Delivery of fully loaded containers.
  • the delivery of empty containers and the reception of full containers can also be completed respectively by only using one transport conveyor shown in FIG. 1 and switching functions in real time.
  • the connecting shuttle car transports containers along a straight line, and the container transmission path of the connecting shuttle car passes through the center of the sorter.
  • the connecting shuttle car can be set in a straight line, on the one hand, it can save the space occupied by the connecting shuttle car 170 inside the ring sorter, and on the other hand, it can also make the path of the connecting shuttle car transport containers Shorter for fastest delivery of full containers.
  • the container transmission path of the connecting shuttle car can pass through the center of the sorter, so that during the operation of the connecting shuttle car, it can be docked with any container conveyor.
  • the container of the connecting shuttle car When the transmission path does not pass through the center of the sorter, it can only be docked with some container conveyors, and its rotation in the ring will be limited to a certain extent, which is poor in practicability.
  • Fig. 5 is a schematic flow diagram three of the automatic sorting method provided by the embodiment of the present application
  • Fig. 6 is a schematic structural diagram of a container buffer area provided by the embodiment of the present application; optionally, as shown in Fig. 6, the sorting system also includes A container buffer area 121 may be included, and the container buffer area 121 may be located on one side of the shuttle vehicle 120; the container buffer area 121 may communicate with the shuttle vehicle 120 through a transfer mechanism 122.
  • the container buffer area can be used as a part of the connecting shuttle car and communicated with the connecting shuttle car.
  • the container buffer area can be used to temporarily store containers that are not fully loaded, wherein the container that is not fully loaded can include: empty containers and partially loaded containers container.
  • the number of containers that can be accommodated on the container buffer may be less than the number of containers that can be accommodated on the shuttle.
  • the number of containers that can be accommodated on the shuttle vehicle may be equal to the number of containers that can be accommodated on the container conveyor.
  • Fig. 7 is a structural schematic diagram of a transfer mechanism provided in the embodiment of the present application; in a possible implementation of the present application, the transfer mechanism 122 may include a transfer frame 1221 and a rolling mechanism arranged on the transfer frame 1221 Part 1222, the rolling parts are driven to rotate in at least one linear direction on the transfer frame, and the transfer frame and the rolling parts together form a transfer plane.
  • the rolling elements can have any direction of rotation.
  • each rolling element in order to ensure the smooth transmission of the containers, can have a consistent direction of rotation, that is, when the container is not fully loaded from the straight line of the shuttle to the shuttle.
  • all the rolling parts will be driven to rotate in a straight line, for example, towards the container buffer area, so that the partially loaded containers can be safely and smoothly transported to the container buffer area .
  • the transfer frame is respectively connected with the container buffer area and the linear conveyor, so that the transfer plane is flush with the buffer plane of the container buffer area and the transmission plane of the linear conveyor.
  • the transfer mechanism, the linear conveyor connected to the shuttle, and the buffer plane of the container buffer area can all be located on the same horizontal plane, that is, the three planes have the same height, so that It can avoid the bumping up and down of the partially loaded container during the transmission, and can ensure the smooth transmission of the container.
  • Figure 7 exemplarily shows the case where the rolling element is a ball.
  • the rolling element can also be designed as a rolling part such as a wheel or a roller, or the transfer mechanism 175 can also be directly designed as a similar
  • the structure of the conveyor belt only needs to be able to realize the transmission of the containers.
  • the specific scrolling direction of the scrolling element can be determined according to the direction set in the container buffer area, and it only needs to keep the scrolling element rolling toward the container buffer area.
  • step S202 if it is detected that there is at least one full container on the target container conveyor, then controlling the shuttle to dock with the target container conveyor, and receiving the container from the target container conveyor may include:
  • some other containers may not be fully loaded. If all the fully loaded containers are replaced after the other containers are fully loaded, the fully loaded containers cannot be replaced in time. Shipping out will delay the packaging and delivery of the goods. Secondly, the full container is always on the target container conveyor, occupying the position, but cannot continue to accommodate the goods, which will also cause blockage of the delivery of goods to a certain extent.
  • the electronic device may control the shuttle to dock with the target container conveyor to receive all the containers from the target container conveyor.
  • all received containers can be transported in the target direction on the shuttle, as shown in Figure 6, assuming that all containers are received at end a of the shuttle, all containers can be controlled from Terminal a is transported along terminal b.
  • the control transfer mechanism does not work.
  • the fully loaded container can be directly transferred from terminal a to terminal b through the transfer mechanism.
  • the transfer mechanism can be controlled to start working, and when the partially loaded container is transferred to the transfer mechanism, it can be reversed by the transfer mechanism to transfer Partially loaded containers are transferred to the container buffer area by the transfer mechanism for temporary storage.
  • controlling the connection shuttle vehicle to rotate to dock with the target container conveyor, and transporting the empty container to the target container conveyor may include: controlling the connection shuttle vehicle to rotate to dock with the target container conveyor, Empty containers as well as temporarily stored partially-full containers are transported to the target container conveyor.
  • the shuttle vehicle after the shuttle vehicle is controlled to receive all the containers from the target container conveyor and temporarily store the partially loaded containers, the shuttle vehicle can be controlled to dock with the transport conveyor to receive empty containers.
  • the number of received empty containers can be determined according to the total number of containers that can be accommodated on the target container conveyor and the number of partially loaded containers temporarily stored in the container buffer area. For example: the total number of containers that can be accommodated on the target container conveyor is 5, the number of partially loaded containers temporarily stored in the container buffer area is 3, and the number of empty containers can be 2.
  • the shuttle vehicle can be controlled to rotate to correspond to the target container conveyor, so that the empty container and the partially loaded container can be respectively transported back to the target container conveyor.
  • transporting empty containers and temporarily stored partially loaded containers to the target container conveyor may include: transporting empty containers and partially loaded containers to the target container conveyor in a specific transmission sequence, so that the partially loaded containers In the initial position, where the specific transfer sequence is determined based on the initial position of the partial container on the destination container conveyor before it is transferred to the container buffer.
  • the partially loaded container when the partially loaded container is transported from the container buffer area back to the target container conveyor, the partially loaded container can be adjusted according to the initial position of the partially loaded container on the target container conveyor. Containers are placed to return partially filled containers to their original positions. In this case, partially filled containers and empty containers may be interspersed.
  • the partially loaded containers can also be transported back together and placed on one end of the target container conveyor, which can be the end close to the connecting shuttle car or the end far away from the connecting shuttle car , while empty containers are placed in one place.
  • the partly filled containers and the empty containers are in separate piles.
  • the docking of the container buffer area with the target container conveyor can be controlled first, and all temporarily stored containers that are not fully loaded are transported back to the target container conveyor, and then the connecting shuttle is controlled to receive one end of the empty container Docking with the target container conveyor, transport the empty container back to the target container conveyor, so that the part-full container will be placed on the end of the target container conveyor away from the shuttle car.
  • control the connection between the shuttle car and the target container conveyor Docking, receiving containers from the target container conveyors may include: according to the distance between each target container conveyor and the connecting shuttle car, or, according to the priority of the task corresponding to each target container conveyor, sequentially control the connecting shuttle car and the Each target container conveyor is docked to receive a container from the target container conveyor.
  • the sorting vehicle Since the sorting vehicle is always in operation, it will continuously put goods into different containers on different container conveyors, then, at the same time, there may be full containers on multiple container conveyors, that is, the above-mentioned There may be a plurality of target container conveyors.
  • each target container conveyor can be judged separately, and according to the distance priority, they will dock with each target container conveyor in turn according to the distance from shortest to farthest.
  • Containers are received on the container conveyor.
  • the order of docking between each target container conveyor and the connecting shuttle vehicle may also be determined according to the priority of the task corresponding to each full container on each container conveyor.
  • different containers can correspond to orders from different users, and the task priority corresponding to the container can be determined according to the order time priority of the user. For example, the earlier the user places an order, the corresponding goods will be delivered. The earlier the time, the higher the priority of the outbound warehouse. Then, according to the order of the goods outbound priority from high to low, the connecting shuttle car can be docked with each target container conveyor in turn.
  • controlling the connecting shuttle vehicle to dock with the target container conveyor may include: controlling the distance between the connecting shuttle vehicle and the target container conveyor to be relatively close The target connecting shuttle car docks with the target container conveyor.
  • each connecting shuttle vehicle and the docking end of each target container conveyor can be judged separately, and for each target The container conveyor can control the nearest connecting shuttle car to dock with it and receive the container.
  • each target container conveyor has a one-to-one corresponding connecting shuttle vehicle.
  • one connecting shuttle car may correspond to multiple target container conveyors, in this case, the connecting shuttle car can be transported with multiple target container The target container conveyor with higher task priority in the machine is docked.
  • the method of the present application may further include: if it is detected that the target container conveyor is full of containers, then controlling the shuttle car to dock with the target container conveyor, receiving the container from the target container conveyor and transporting the full container .
  • the shuttle bus is controlled to dock with the target container conveyor, and all the fully loaded containers are transported out at one time, thus avoiding the The multiple back and forth work of the shuttle bus.
  • a photoelectric detection device can be installed on each container, and the full load situation of each container can be detected by the photoelectric detection device.
  • a camera can be installed on each container near the edge of the container mouth, and by taking pictures of the goods in the container, the full load of the goods in the container can be judged.
  • the detection methods may not be limited to the ones listed.
  • the number of conveying conveyors can be multiple, wherein some conveying conveyors can be used to convey empty containers to the connecting shuttle car, and other conveying conveyors can be used to receive full loads from the connecting shuttle car container and shipped out.
  • the number of conveying conveyors can be flexibly set, not limited to only one conveying conveyor.
  • some of the delivery conveyors can be controlled to deliver empty containers to the shuttle, while the other can be controlled to receive full containers from the shuttle and deliver them out.
  • each transport conveyor can be switched in real time, so that when the shuttle car needs to receive empty containers or transport full containers, it can control the docking of the transport conveyor closest to the shuttle car to complete the corresponding task.
  • transporting the full container may include: controlling the shuttle to rotate to dock with other transport conveyors, and transporting the full container on the shuttle to the transport conveyor, so that other transport conveyors will transfer the full container to the conveyor. The container is shipped out.
  • the electronic device can control the shuttle car to rotate to dock with other transport conveyors, so as to transfer the received full container to the transport conveyor, and further pass Delivery conveyors deliver fully loaded containers.
  • multiple sensors can be set on each container conveyor, and the number of sensors can correspond to the number of containers that can be carried on the container conveyor, and each sensor can be correspondingly set on each container to detect whether the corresponding location has a container.
  • the senor can send the container location information acquired in real time to the electronic device, so that the electronic device can control the sorting vehicle to move to the container position, so as to accurately place the goods into the container.
  • the senor may be a photoelectric sensor or a weight sensor, etc., and the type of the sensor is not limited.
  • connection shuttle vehicle may include a turntable and a linear conveyor arranged on the turntable; in step S202, controlling the connection shuttle vehicle to dock with the target container conveyor may include: controlling the turntable to drive The linear conveyor turns to a position where it docks with the target container conveyor.
  • Fig. 8 is a schematic structural diagram of a shuttle bus provided by an embodiment of the present application.
  • the connecting shuttle vehicle 120 may include a turntable 120a and a linear conveyor 120b arranged on the turntable 120a.
  • the center of the bottom of the linear conveyor is rotatably connected to the rotating shaft 120c of the turntable through a bearing, and the turntable drives the linear conveyor 120b.
  • the conveyor rotates around the shaft.
  • the linear conveyor can realize the linear transmission of containers, which is similar to the design of the conveyor belt.
  • the full-loaded containers received by the connecting shuttle car can be transported sequentially along the specific transmission route of the linear conveyor, so that the full-loaded containers can be transferred from the connecting shuttle
  • the car is transported from one end close to the container conveyor to the other end docked with the exit conveying channel, so that the full container is transported out.
  • the automatic sorting method includes: controlling the sorting vehicle on the sorting machine to put the goods to be sorted into the containers placed on the container conveyor; if it is detected that there is at least For a full container, control the shuttle car to dock with the target container conveyor, receive the container from the target container conveyor and deliver the full container.
  • the shuttle car when it is detected that there is a full-load container on the container conveyor, the shuttle car can be controlled to correspond to the container conveyor, so as to receive the full-load container and transport the full-load container to realize automatic detection and automatic replacement of the full-load container.
  • the problem of low container replacement efficiency caused by manual container replacement is avoided, thereby avoiding the problem of cargo sorting blockage caused by low container replacement efficiency, and the method can greatly improve container replacement efficiency and cargo sorting efficiency.
  • the sorting system 100 may include: a sorting machine 110, a connecting shuttle car 120, a plurality of container conveyors 130 and electronic equipment;
  • the cart 120 is arranged on one side of the sorter 110, and each container conveyor 130 is located below the sorter 110; the sorter 110, the container conveyor 130, and the connecting shuttle car 120 are respectively connected to the electronic equipment in communication.
  • the electronic device is used to execute the steps of the methods in the above embodiments, and the electronic device can perform information interaction with each structure in the sorting system 100 to realize automatic control.
  • the control method can adopt a conventional control method, which will not be repeated here Let me repeat them one by one.
  • the sorting machine 110 is used to put the goods to be sorted into the containers on each container conveyor 130;
  • the shuttle bus 120 is used to dock with each container conveyor 130 under the control of the electronic equipment, so as to receive containers from each container conveyor 130 or deliver containers to each container conveyor 130 .
  • the sorting system 100 also includes: a container buffer area 121; the container buffer area 121 is located on one side of the shuttle car 120; the container buffer area 121 communicates with the shuttle car 120 through a transfer mechanism 122 ; The container cache area 121 is used to temporarily store the container.
  • the sorting system 100 also includes: transport conveyor 140; transport conveyor 140 is positioned at one side of sorter 110; 110 conveys empty containers, and/or, to receive full containers from a shuttle.
  • the sorter 110 can be circular, and the connecting shuttle car 120 is located in the circular ring of the sorting machine 110, and the connecting shuttle car 120 is driven to rotate to connect with the container conveyor 130 respectively. one end of the butt joint.
  • FIG. 9 is a schematic structural diagram of an electronic device provided by an embodiment of the present application, and the device may be a computing device with a data processing function.
  • the device may include: a processor 801 and a memory 802 .
  • the memory 802 is used to store programs, and the processor 801 invokes the programs stored in the memory 802 to execute the foregoing method embodiments.
  • the specific implementation manner and technical effect are similar, and will not be repeated here.
  • the memory 802 stores program codes, and when the program codes are executed by the processor 801, the processor 801 executes each of the methods described in the above-mentioned "Exemplary Methods" section of this specification according to various exemplary embodiments of the present application. kind of steps.
  • the processor 801 may be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable Logic devices, discrete gate or transistor logic devices, and discrete hardware components can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application.
  • a general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the methods disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.
  • the memory 802 as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs and modules.
  • the memory may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card memory, random access memory (RandomAccessMemory, RAM), static random access memory (StaticRandomAccessMemory, SRAM), programmable read-only memory ( ProgrammableReadOnlyMemory, PROM), read-only memory (ReadOnlyMemory, ROM), charged erasable programmable read-only memory (ElectricallyErasableProgrammableRead-OnlyMemory, EEPROM), magnetic memory, magnetic disk, optical disk and so on.
  • flash memory such as flash memory, hard disk, multimedia card, card memory, random access memory (RandomAccessMemory, RAM), static random access memory (StaticRandomAccessMemory, SRAM), programmable read-only memory (
  • a memory is, but is not limited to, any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
  • the memory 802 in the embodiment of the present application may also be a circuit or any other device capable of implementing a storage function, and is used for storing program instructions and/or data.
  • the present application further provides a program product, such as a computer-readable storage medium, including a program, and the program is used to execute the foregoing method embodiments when executed by a processor.
  • a program product such as a computer-readable storage medium, including a program
  • the disclosed devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units can be implemented in the form of hardware, or in the form of hardware plus software functional units.
  • the above-mentioned integrated units implemented in the form of software functional units may be stored in a computer-readable storage medium.
  • the above-mentioned software functional units are stored in a storage medium, and include several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) or a processor (English: processor) to execute the functions described in various embodiments of the present application. part of the method.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (English: Read-OnlyMemory, abbreviated: ROM), random access memory (English: RandomAccessMemory, abbreviated: RAM), magnetic disk or optical disc, etc.
  • the present application provides an automatic sorting method, system, electronic equipment, storage medium and program product.
  • the method includes: controlling the sorting vehicle on the sorting machine to put the goods to be sorted into the containers placed on the container conveyor; If it is detected that there is at least one full container on the target container conveyor, the shuttle vehicle is controlled to dock with the target container conveyor, and the container is received from the target container conveyor and the full container is delivered.
  • the shuttle car when it is detected that there is a full-load container on the container conveyor, the shuttle car can be controlled to correspond to the container conveyor, so as to receive the full-load container and transport the full-load container to realize automatic detection and automatic replacement of the full-load container.
  • the problem of low container replacement efficiency caused by manual container replacement is avoided, thereby avoiding the problem of cargo sorting blockage caused by low container replacement efficiency, and the method can greatly improve container replacement efficiency and cargo sorting efficiency.
  • the automatic sorting method, system, electronic device, storage medium and program product of the present application are reproducible and can be used in various industrial applications.
  • the automatic sorting method, system, electronic equipment, storage medium and program product of the present application can be used in the technical field of automation.

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Abstract

一种自动分拣方法、系统、电子设备、存储介质及程序产品，涉及自动化技术领域。方法包括：控制分拣机（110）上的分拣车（111）向置于容器输送机（130）上的容器（133）中投放待分拣的货物；若检测到目标容器输送机（130）上存在至少一个满载容器（133），则控制接驳穿梭车（120）与目标容器输送机（130）对接，从目标容器输送机（130）上接收容器（133）并将满载容器（133）运送出去。本方法中，在检测到容器输送机（130）上存在满载容器（133）时，则可通过控制接驳穿梭车（120）与容器输送机（130）对应，从而接收满载容器（133）并将满载容器（133）输送出去，实现满载容器（133）的自动检测和自动化置换，避免人工更换容器（133）导致的容器（133）更换效率较低的问题，从而避免了因容器（133）更换效率较低而导致货物分拣堵塞的问题，通过本方法可提高容器（133）更换效率，提高货物分拣效率。

Description

自动分拣方法、系统、电子设备、存储介质及程序产品
相关申请的交叉引用
本申请要求于2021年09月15日提交中国国家知识产权局的申请号为202111082874.2、名称为“自动分拣方法、系统、电子设备、存储介质及程序产品”的中国专利申请的优先权及于2021年09月15日提交中国国家知识产权局的申请号为202122237431.8、名称为“一种分拣系统”的中国专利申请的优先权，上述专利申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及自动化技术领域，具体而言，涉及一种自动分拣方法、系统、电子设备、存储介质及程序产品。
背景技术
目前物流、医药、服装等行业中，货物的精确分拣属于关键环节之一，货物分拣也即通过分拣设备将大批量的货物按照一定的规则进行分类打包，以便于货物运输。环形分拣设备因其既可以节省很高的人力成本，还能极大提高工厂生产效率，应用非常普遍。
现有的环形分拣设备通常都是一个分拣车对应一到两个格口，且分拣格口的数量非常有限。其分拣环节主要是：人工进行货物扫码绑定，由供包台或者人工将货物投入分拣车，分拣车根据不同的产品型号向对应格口进行投料作业，当格口满载后，需要通过人工换箱的方式拿走满容器并补充空容器。
但是，上述方法极大的消耗人力，且换箱时间较长，影响分拣效率。
发明内容
本申请的目的在于，针对上述现有技术中的不足，提供一种自动分拣方法、系统、电子设备、存储介质及程序产品，以便于解决现有技术中存在的货物分拣效率较低的问题。
为实现上述目的，本申请实施例采用的技术方案如下：
本申请实施例提供了一种自动分拣方法，所述方法可以应用于分拣系统，所述分拣系统包括分拣机、接驳穿梭车以及多个容器输送机，各所述容器输送机位于所述分拣机的下方，所述方法可以包括：
控制分拣机上的分拣车向置于容器输送机上的容器中投放待分拣的货物；
若检测到目标容器输送机上存在至少一个满载容器，则控制接驳穿梭车与所述目标容器输送机对接，从所述目标容器输送机上接收容器并将所述满载容器运送出去。
可选地，所述分拣系统还可以包括：运送传输机，所述方法还可以包括：
控制所述接驳穿梭车转动至与所述运送传输机对接，从所述运送传输机上接收空容器；
控制所述接驳穿梭车转动至与所述目标容器输送机对接，将所述空容器输送至所述目标容器输送机上。
可选地，所述分拣系统还可以包括容器缓存区，所述容器缓存区可以位于所述接驳穿梭车的一侧；所述容器缓存区通过移载机构与所述接驳穿梭车连通；
所述若检测到目标容器输送机上存在至少一个满载容器，则控制接驳穿梭车与所述目标容器输送机对接，从所述目标容器输送机上接收容器，可以包括：
若检测到目标容器输送机上存在部分满载容器以及部分未满载容器，则控制所述接驳穿梭车转动至与所述目标容器输送机对接，从所述目标容器输送机上接收所有容器；
控制所述接驳穿梭车将所述所有容器沿目标方向进行传输以将满载容器输送出，并将所述目标容器输送机上未满载容器通过所述移载机构传输至所述容器缓存区。
可选地，所述控制所述接驳穿梭车转动至与所述目标容器输送机对接，将所述空容器输送至所述目标容器输送机上，可以包括：
控制所述接驳穿梭车转动至与所述目标容器输送机对接，将所述空容器以及暂存的未满载容器输送至所述目标容器输送机上。
可选地，所述将所述空容器以及暂存的未满载容器输送至所述目标容器输送机上，可以包括：
按照特定传输顺序将所述空容器以及所述未满载容器输送至所述目标容器输送机上，使得所述未满载容器位于初始位置，其中所述特定传输顺序是根据所述未满载容器未转移到所述容器缓存区之前在所述目标容器输送机上的所述初始位置确定的。
可选地，若所述目标容器输送机的数量可以是多个；
所述若检测到目标容器输送机上存在至少一个满载容器，则控制接驳穿梭车与所述目标容器输送机对接，从所述目标容器输送机上接收容器，可以包括：
根据各目标容器输送机与所述接驳穿梭车之间的距离，或者，根据各目标容器输送机对应的任务的优先级依次控制所述接驳穿梭车与各所述目标容器输送机对接，从所述目标容器输送机上接收容器。
可选地，若所述接驳穿梭车的数量可以为多个；
所述控制接驳穿梭车与所述目标容器输送机对接，可以包括：
控制与所述目标容器输送机距离较近的目标接驳穿梭车与所述目标容器输送机对接。
可选地，所述运送传输机的数量为多个，其中部分运送传输机用于向所述接驳穿梭车传送空容器，其他运送传输机用于从接驳穿梭车接收满载容器并运送出去；
所述将所述满载容器运送出去，可以包括：
控制所述接驳穿梭车转动至与所述其他运送传输机对接，将所述接驳穿梭车上的满载容器传送至所述运送传输机上，以由所述其他运送传输机将所述满载容器运送出去。
可选地，所述接驳穿梭车可以包括转台以及设置在所述转台上的直线输送机；
所述控制接驳穿梭车与所述目标容器输送机对接，可以包括：
控制所述转台带动所述直线输送机转动至与所述目标容器输送机对接的位置。
可选地，所述容器输送机可以包括：往复式输送组件和容器运载平台；所述容器运载平台上放置有多个容器；所述往复式输送组件的输出端与所述容器运载平台连接，或者，所述容器运载平台位于所述往复式输送组件上方且与所述往复式输送组件连接；所述往复式输送组件能够驱动所述容器运载平台沿靠近所述接驳穿梭车的一端往复运动，以使置于 所述容器运载平台上的所述多个容器轮换地与出料口对齐，以接收货物。
可选地，所述容器中的各容器上安装有光电检测装置，通过所述光电检测装置检测各容器的满载情况；或者，各容器上靠近容器口的边缘安装有摄像头，通过对各容器内的货物进行拍来判断各容器的货物满载情况；
所述容器输送机中的每个容器输送机上设置有多个传感器，所述传感器的数量与所述容器输送机上能承载的容器数量对应，每个传感器对应设置在每个容器置放处，以检测对应位置是否具有容器。
本申请实施例还提供了一种自动分拣系统，所述自动分拣系统可以包括：分拣机、接驳穿梭车、多个容器输送机及电子设备；各所述容器输送机位于所述分拣机的下方；所述分拣机、所述容器输送机、所述接驳穿梭车分别与所述电子设备通信连接；
所述电子设备用于执行上述第一方面所述的方法的步骤；
所述分拣机用于向各所述容器输送机上的容器中投放待分拣的货物；
所述接驳穿梭车用于在所述电子设备的控制下与各所述容器输送机对接，以从各所述容器输送机上接收容器或者向各所述容器输送机上输送容器。
可选地，所述自动分拣系统还可以包括：容器缓存区；所述容器缓存区位于所述接驳穿梭车的一侧；所述容器缓存区通过移载机构与所述接驳穿梭车连通；
所述容器缓存区用于对容器进行暂存。
可选地，所述移载机构可以包括移载架以及设置在所述移载架上的滚动件，所述滚动件受驱能够在所述移载架上朝至少一个直线方向转动，所述移载架与所述滚动件共同形成移载平面。
可选地，所述自动分拣系统还可以包括：运送传输机；
所述运送传输机用于与所述接驳穿梭车对接，以向所述接驳穿梭车输送空容器，和/或，以从所述接驳穿梭车接收满载容器。
可选地，所述分拣机呈圆环形，所述接驳穿梭车位于所述分拣机的圆环形内，所述接驳穿梭车受驱转动以分别与所述容器输送机的一端对接。
可选地，所述接驳穿梭车沿直线方向传输容器，所述接驳穿梭车的容器传输路径经过所述分拣机的圆心。
本申请实施例还提供了一种电子设备，包括：处理器、存储介质和总线，存储介质存储有处理器可执行的机器可读指令，当电子设备运行时，处理器与存储介质之间通过总线通信，处理器执行机器可读指令，以执行时执行如第一方面中提供的方法的步骤。
本申请实施例还提供了一种计算机可读存储介质，该存储介质上存储有计算机程序，该计算机程序被处理器运行时执行如第一方面提供的方法的步骤。
本申请实施例还提供了一种计算机程序，所述计算机程序被处理器执行时实现如第一方面提供的方法的步骤。
本申请的有益效果至少包括：
本申请提供一种自动分拣方法、系统、电子设备、存储介质及程序产品，该方法包括： 控制分拣机上的分拣车向置于容器输送机上的容器中投放待分拣的货物；若检测到目标容器输送机上存在至少一个满载容器，则控制接驳穿梭车与目标容器输送机对接，从目标容器输送机上接收容器并将满载容器运送出去。本方法中，在检测到容器输送机上存在满载容器时，则可通过控制接驳穿梭车与容器输送机对应，从而接收满载容器并将满载容器输送出去，实现满载容器的自动检测和自动化置换，避免了人工更换容器所导致的容器更换效率较低的问题，从而避免了因容器更换效率较低而导致货物分拣堵塞的问题，通过本方法可大大提高容器更换效率，提高货物分拣效率。
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为本申请实施例提供的一种分拣系统的结构示意图；
图2为本申请实施例提供的自动分拣方法的流程示意图一；
图3为本申请实施例提供的一种容器输送机的结构示意图；
图4为本申请实施例提供的自动分拣方法的流程示意图二；
图5为本申请实施例提供的自动分拣方法的流程示意图三；
图6为本申请实施例提供的一种容器缓存区结构示意图；
图7为本申请实施例提供的一种移载机构的结构示意图；
图8为本申请实施例提供的一种接驳穿梭车的结构示意图；
图9为本申请实施例提供的一种电子设备的结构示意图。
图中：100-分拣系统；110-分拣机；111-；120-接驳穿梭车；120a-转台；120b-直线输送机；120c-转台的转轴；121-容器缓存区；122-移载机构；1221-移载架；1222-滚动件；130-容器输送机；131-往复式输送组件；132-容器运载平台；133-容器；134-隔板；140-运送传输机。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，应当理解，本申请中附图仅起到说明和描述的目的，并不用于限定本申请的保护范围。另外，应当理解，示意性的附图并未按实物比例绘制。本申请中使用的流程图示出了根据本申请的一些实施例实现的操作。应该理解，流程图的操作可以不按顺序实现，没有逻辑的上下文关系的步骤可以反转顺序或者同时实施。此外，本领域技术人员在本申请内容的指引下，可以向流程图添加一个或多个其他操作，也可以从流程图中移除一个或多个操作。
另外，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围， 而是仅仅表示本申请的选定实施例。基于本申请的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明的是，本申请实施例中将会用到术语“包括”，用于指出其后所声明的特征的存在，但并不排除增加其它的特征。
随着物联网、人工智能、大数据等智能化技术的发展，利用这些智能化技术对传统物流业进行转型升级的需求愈加强劲，智慧物流(IntelligentLogisticsSystem)成为物流领域的研究热点。智慧物流利用人工智能、大数据以及各种信息传感器、射频识别技术、全球定位系统(GPS)等物联网装置和技术，广泛应用于物料的运输、仓储、配送、包装、装卸和信息服务等基本活动环节，实现物料管理过程的智能化分析决策、自动化运作和高效率优化管理。物联网技术包括传感设备、RFID技术、激光红外扫描、红外感应识别等，物联网能够将物流中的物料与网络实现有效连接，并可实时监控物料，还可感知仓库的湿度、温度等环境数据，保障物料的储存环境。通过大数据技术可感知、采集物流中所有数据，上传至信息平台数据层，对数据进行过滤、挖掘、分析等作业，最终对业务流程(如运输、入库、存取、拣选、包装、分拣、出库、盘点、配送等环节)提供精准的数据支持。人工智能在物流中的应用方向可以大致分为两种：1)以AI技术赋能的如无人卡车、AGV、AMR、叉车、穿梭车、堆垛机、无人配送车、无人机、服务机器人、机械臂、智能终端等智能设备代替部分人工；2)通过计算机视觉、机器学习、运筹优化等技术或算法驱动的如运输设备管理系统、仓储管理、设备调度系统、订单分配系统等软件系统提高人工效率。随着智慧物流的研究和进步，该项技术在众多领域展开了应用，例如零售及电商、电子产品、烟草、医药、工业制造、鞋服、纺织、食品等领域。
图1为本申请实施例提供的一种分拣系统的结构示意图，本申请所提供的自动分拣方法应用于该分拣系统中，如图1所示，分拣系统100可包括：分拣机110、接驳穿梭车120、多个容器输送机130。可选地，接驳穿梭车120可设置在分拣机110的一侧，各容器输送机130可位于分拣机110的下方。可选地，分拣系统100还可包括电子设备。可选地，电子设备可以是设置于中控室中的中控平台，也可以是处理器、控制器等设备，上述的分拣机110、接驳穿梭车120、容器输送机130均与电子设备通信连接。
分拣机110，分拣机110上预设有多个顺序排列的分拣工位，在分拣工位的投影下方对应设置有容器输送机130，在分拣工位的出料口投递的货物落入对应的容器输送机130的容器内。
可选地，分拣机110上可承载多个分拣车111，分拣车111中可承载有待分拣的货物，电子设备可控制将分拣机110上分拣车111中的待分拣货物投放至容器输送机130上的容器中。可选地，接驳穿梭车120可与各容器输送机130对接，以从各容器输送机130上接收容器，或者向各容器输送机130上输送容器。应理解，分拣机110用于将不同的货物分拣至各自对应的容器之中。例如，属于同一个订单或清单的货物可以对应于至少一个容器，分拣完成之后，就可以方便地按照订单或清单对货物进行打包、复核等后续处理。
分拣机110可以为开放式线形结构或闭合式回转循环结构。相应地，预定路径可以为 开放式线性路径或闭合式回转循环路径。具体的，分拣机110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、I型结构。当然分拣机110也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为同一点或衔接在一起，使得分拣机110呈闭合的环形，比如，圆环形回转循环结构、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。进一步的，当分拣机110为圆环形回转循环结构时，多个分拣工位沿圆形回转循环方式布置。相较于开放式线形结构，闭合式回转循环结构能够实现货物的持续循环流动分拣，保持持续运动状态和循环再分拣状态，与开放式的线性结构相比，还同时拥有货物动态缓存的功能，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。
如图1所示，分拣机可以为环形分拣机，环形分拣机的设置可以有效的节省整个分拣系统的占地面积。可选地，容器输送机可以包括多个，而每个容器输送机上同样可放置多个容器用于承载待投放的货物，通过多个容器输送机的设置，可以使得容器数量达到最大，从而使得整个分拣系统能够被最大化利用，实现货物的最大化投放，提高货物分拣效率。
当然，图1示出的分拣系统仅为示例性的一种，实际应用中，分拣系统还可以设置为其他结构，本申请不做限制。
可选地，接驳穿梭车可设置于环形分拣机的内侧，接驳穿梭车可以为一字型设置，以减少对空间的占据。接驳穿梭车可以受驱转动，从而在转动的过程中与目标容器输送机进行对接，其中，目标容器输送机可以是多个容器输送机中的任意一个需要进行容器置换的容器输送机。
图2为本申请实施例提供的自动分拣方法的流程示意图一；该方法的执行主体可以是上述的电子设备，如图2所示，该方法可包括：
S201、控制分拣机上的分拣车向置于容器输送机上的容器中投放待分拣的货物。
需要说明的是，在物料分拣场景下，由于用户订单需求较大，对于物料分拣的需求也日益增大，物料分拣效率的提高变得尤为重要，而自动分拣系统的投入，可以有效的实现物料自动化分拣，并高效有序的完成用户的订单需求。
可选地，分拣机上可设置有多个分拣车，每个分拣车均可承载待分拣的货物，并将货物投放至对应的容器中。
通常，置于容器输送机上的不同容器可对应投放不同用户的订单所订购的货物，对于一目标用户，可控制分拣机上承载有该目标用户的订单所需的货物的分拣车，向该目标用户的货物所对应的容器中进行货物投放。
S202、若检测到目标容器输送机上存在至少一个满载容器，则控制接驳穿梭车与目标容器输送机对接，从目标容器输送机上接收容器并将满载容器运送出去。
可选地，容器输送机上可设置有多个容器，不同的容器可用于接纳并装载不同用户订单所需的货物，每个容器具有一定的货物承载量，当该容器满载时，则停止向其中投放货物。
在一些实施例中，当检测到目标容器输送机上存在至少一个满载容器时，则可对该满 载容器进行置换，以保证置于容器输送机上的容器时刻能够容纳货物。
其中，目标容器输送机可以是多个容器输送机中的任一个，当有任一容器输送机上的任一容器满载时，电子设备则控制接驳穿梭车与该容器输送机的一端对接，其中，可以是将接驳穿梭车与目标容器输送机相互距离较近的一端进行对接，接驳穿梭车可从目标容器输送机上接收要运送出的满载容器，并将满载容器运送出去，以等待由工作人员进行货物打包发货等。
综上，本实施例提供的自动分拣方法，包括：控制分拣机上的分拣车向置于容器输送机上的容器中投放待分拣的货物；若检测到目标容器输送机上存在至少一个满载容器，则控制接驳穿梭车与目标容器输送机对接，从目标容器输送机上接收容器并将满载容器运送出去。本方法中，在检测到容器输送机上存在满载容器时，则可通过控制接驳穿梭车与容器输送机对应，从而接收满载容器并将满载容器输送出去，实现满载容器的自动检测和自动化置换，避免了人工更换容器所导致的容器更换效率较低的问题，从而避免了因容器更换效率较低而导致货物分拣堵塞的问题，通过本方法可大大提高容器更换效率，提高货物分拣效率。
图3为本申请实施例提供的一种容器输送机的结构示意图。如图3所示，以一个容器输送机130为例进行说明。容器输送机130可包括往复式输送组件131和容器运载平台132；容器运载平台132上可放置有多个容器133，可选地，往复式输送组件的输出端可以与容器运载平台连接，或者，容器运载平台可以位于往复式输送组件上方且与往复式输送组件连接。往复式输送组件能够驱动容器运载平台沿靠近接驳穿梭车的一端往复运动，以使置于容器运载平台上的多个容器轮换地与出料口对齐，以接收货物。
可选地，容器输送机可采用皮带或辊筒等方式，通过皮带或辊筒等方式带动容器往复运动。
前述的容器输送机包括往复式输送组件和容器运载平台。往复式输送组件具有直线往复运动的能力，容器运载平台与往复式输送组件安装在一起，往复式输送组件为容器运载平台提供往复运动的动力，放置在容器运载平台上的容器可以往复直线运动，从而与出料口对齐。
另外，为避免多个容器在容器运载平台上随着容器运载平台运动时受到外力或因惯性发生滑移，可以在容器运载平台的直线运动方向设置限位件，依靠限位件来约束容器在该方向的滑移。例如，可以在容器运载平台132上设置多个隔板134，即容器运载平台132为如图3所示的带隔板134的传送带，或在容器运载平台的一侧或两侧设置凸起部，用于限制容器在容器运载平台的直线运动方向的位置发生移动。相邻的隔板或凸起部之间的间距根据容器的尺寸而定。
图4为本申请实施例提供的自动分拣方法的流程示意图二；可选地，如图1所示，分拣系统还包括：运送传输机140，运送传输机140位于分拣机110的一侧；图4所示的本申请实施例的方法还可以包括：
S301、控制接驳穿梭车转动至与运送传输机对接，从运送传输机上接收空容器。
可选地，运送传输机可用于向接驳穿梭车输送空容器，在接驳穿梭车从目标容器输送机上接收并运送出满载容器后，能够及时的向接驳穿梭车上输送空容器，接驳穿梭车进一步地可将空容器输送至目标容器输送机上，以补齐所替换出的满载容器。
在一些实施例中，运送传输机所输送的空容器的数量可以根据目标容器输送机上所运送出的满载容器的数量确定，假设满载容器数量为2，则可对应输送2个空容器，以补全目标容器输送机上的容器总数。
S302、控制接驳穿梭车转动至与目标容器输送机对接，将空容器输送至目标容器输送机上。
可选地，当接驳穿梭车从运送传输机上接收到空容器后，电子设备可控制接驳穿梭车承载空容器的一端转动至与目标容器输送机对接，并控制接驳穿梭车将空容器输送至目标容器输送机上，保证目标容器输送机上各容器处于可容纳货物的状态，同时保证目标容器输送机上容器数量达到最大化，能够用于接收更多的货物。
如图1所示仅示例性的展示了包含一个运送传输机的分拣系统，运送传输机可设置于环形分拣机的外侧，并从外侧延伸至内侧，当接驳穿梭车从目标容器输送机上接收满载容器运送出去后，接驳穿梭车可与运送传输机靠近的一端进行对接，运送传输机可向接驳穿梭车传输空容器，接驳穿梭车接收到空容器后又移动至与目标容器输送机对接，从而将空容器传输至目标容器输送机上以进行容器补充。
可选地，运送传输机可以设置多个，具体可根据分拣系统的整体占用面积灵活设置，可使得在分拣系统占用面积不大的情况下设置更多个以提高并行运行能力。
例如可设置两个，其中可通过一个运送传输机与接驳穿梭车对接，以向接驳穿梭车运送空容器，而通过另一个运送传输机与接驳穿梭车对接，以接收接驳穿梭车输送来的满载容器。当然，也可仅通过图1中所示出的一个运送传输机，通过功能实时切换，分别完成空容器的输送和满载容器的接收。
参照图1，接驳穿梭车沿直线方向传输容器，接驳穿梭车的容器传输路径经过分拣机的圆心。
可选地，接驳穿梭车可设置为一字型，一方面可节省接驳穿梭车170在环形分拣机内侧的占地空间，另一方面，也可以使得接驳穿梭车运输容器的路径较短，能够最快速的将满载容器运输出去。
可选地，接驳穿梭车的容器传输路径可经过分拣机的圆心，这样，在接驳穿梭车运转的过程中，可完成与任意一个容器输送机进行对接，当接驳穿梭车的容器传输路径不经过分拣机的圆心时，其仅可与部分容器输送机对接，且其在圆环内的转动会受到一定限制，实用性较差。
图5为本申请实施例提供的自动分拣方法的流程示意图三；图6为本申请实施例提供的一种容器缓存区结构示意图；可选地，如图6所示，分拣系统还包括可包括容器缓存区121，容器缓存区121可位于接驳穿梭车120的一侧；容器缓存区121可通过移载机构122与接驳穿梭车120连通。
可选地，容器缓存区可作为接驳穿梭车的一部分，与接驳穿梭车连通，容器缓存区可用于暂存未满载的容器，其中，未满载容器可以包括：空容器和承载有部分货物的容器。
在一些实施例中，容器缓存区上能够容纳的容器的数量可以小于接驳穿梭车上能够容纳的容器的数量。可选地，接驳穿梭车上能够容纳的容器的数量可以等于容器输送机上能够容纳的容器的数量。
图7为本申请实施例提供的一种移载机构的结构示意图；在本申请一种可实现的实施方式中，移载机构122可包括移载架1221以及设置在移载架1221上的滚动件1222，滚动件受驱能够在移载架上朝至少一个直线方向转动，移载架与滚动件共同形成移载平面。
可选地，滚动件可具有任意的转动方向，本实施例中，为了保证对容器的平稳传输，各滚动件可具有一致的转动方向，也即，在未满载容器从接驳穿梭车的直线输送机上传输至移载机构上时，所有的滚动件将受驱动朝着一个直线方向转动，例如，均朝着容器缓存区的方向转动，从而可将未满载容器安全平稳的运送至容器缓存区。
移载架分别与容器缓存区以及直线输送机连接，以使移载平面与容器缓存区的缓存平面和直线输送机的传输平面平齐。
可选地，为了保证未满载容器传输的平稳性，移载机构、接驳穿梭车的直线输送机以及容器缓存区的缓存平面均可位于同一水平面，也即三个平面具有相同的高度，这样可避免未满载容器在传输时的上下颠簸，能够保证平缓的传输容器。
图7中示例性的示出了滚动件为滚珠的情况，可选地，也可将滚动件设计为滚轮、滚柱等可以进行滚动的部件，或者也可直接将移载机构175设计为类似传送带的结构，只要能实现对容器的传输即可。
滚动件的具体滚动方向可根据容器缓存区所设置的方向决定，保持滚动件能够朝着容器缓存区滚动即可。
步骤S202中，若检测到目标容器输送机上存在至少一个满载容器，则控制接驳穿梭车与目标容器输送机对接，从目标容器输送机上接收容器，可以包括：
S401、若检测到目标容器输送机上存在部分满载容器以及部分未满载容器，则控制接驳穿梭车转动至与目标容器输送机对接，从目标容器输送机上接收所有容器。
在一些实施例中，当目标容器输送机上部分容器满载时，其他一些容器可能处于未满载状态，若是等到其他容器均处于满载状态时再对所有满载容器进行置换，首先会导致满载容器无法被及时运送出，耽搁货物的打包发货，其次，满载容器一直处于目标容器输送机上，占据位置，却无法继续容纳货物，一定程度上也会造成货物投放的堵塞。
本实施例中，通过在接驳穿梭车的一侧设置容器缓存区，可在目标容器输送机上的容器仅部分满载时，对未满载的容器进行暂存，从而便于满载容器的运出，又可将未满载容器重新置于目标容器输送机上继续容纳货物。
可选地，当检测到目标容器输送机上存在部分满载容器和部分未满载容器时，则电子设备可控制接驳穿梭车与目标容器输送机对接，从目标容器输送机上接收所有的容器。
S402、控制接驳穿梭车将所有容器沿目标方向进行传输以将满载容器输送出，并将目 标容器输送机上未满载容器通过移载机构传输至容器缓存区。
在一些实施例中，所接收的所有容器可在接驳穿梭车上按照目标方向进行传输，如图6所示，假设在接驳穿梭车的a端接收到所有容器，则可控制所有容器从a端沿着b端进行传输，而在传输的过程中，当容器为满载容器时，控制移载机构不工作，此时，满载容器则可直接由a端经过移载机构传输至b端，并从b端被运送出，而当容器为未满载容器时，可控制启动移载机构进行工作，在未满载容器传输至移载机构处时，可通过移载机构进行换向传输，以将未满载容器通过移载机构传输至容器缓存区进行暂存。
可选地，步骤S302中，控制接驳穿梭车转动至与目标容器输送机对接，将空容器输送至目标容器输送机上，可以包括：控制接驳穿梭车转动至与目标容器输送机对接，将空容器以及暂存的未满载容器输送至目标容器输送机上。
在一些实施例中，在控制接驳穿梭车从目标容器输送机上接收所有容器，并对未满载容器进行暂存后，可控制接驳穿梭车与运送传输机对接，接收空容器。在这种情况下，所接收的空容器的数量可以根据目标容器输送机上所能容纳的容器的总数量、以及容器缓存区中所暂存的未满载容器的数量确定。例如：目标容器输送机上所能容纳的容器的总数量为5，容器缓存区中所暂存的未满载容器的数量为3，则空容器的数量可以为2。
可选地，在接收到空容器后，可控制接驳穿梭车转动至与目标容器输送机对应，从而可分别将空容器和未满载容器输送回目标容器输送机上。
可选地，上述步骤中，将空容器以及暂存的未满载容器输送至目标容器输送机上，可以包括：按照特定传输顺序将空容器以及未满载容器输送至目标容器输送机上，使得未满载容器位于初始位置，其中特定传输顺序是根据未满载容器未转移到容器缓存区之前在目标容器输送机上的初始位置确定的。
在一种可实现的方式中，为了便于货物的精确投放，在将未满载容器从容器缓存区运送回目标容器输送机上时，可以是按照未满载容器在目标容器输送机上的初始位置对未满载容器进行放置，以将未满载容器归于原位。在这种情况下，未满载容器和空容器可能处于穿插放置的状态。
而在另一种可实现的方式中，未满载容器也可以是统一运送回并放置于目标容器输送机的一端，可以是靠近接驳穿梭车的一端，也可以是远离接驳穿梭车的一端，而空容器则统一放置于一处。在这种情况下，未满载容器和空容器则是分别处于一堆。
针对将未满载容器置于目标容器输送机的一端的情况，在控制接驳穿梭车将空容器及未满载容器输送至目标容器输送机上时，一种方式下，可以是先控制容器缓存区将暂存的未满载容器通过移载机构传输回接驳穿梭车上，并控制接驳穿梭车依次将置于接驳穿梭车上的空容器和未满载容器运输回目标容器输送机上，这样，未满载容器将置于目标容器输送机上且靠近接驳穿梭车的一端。
而在另一种方式下，可以是先控制容器缓存区与目标容器输送机对接，将暂存的所有未满载容器先输送回目标容器输送机上，再控制接驳穿梭车接收有空容器的一端与目标容器输送机对接，将空容器输送回目标容器输送机上，这样，未满载容器将置于目标容器输 送机上远离接驳穿梭车的一端。
针对将未满载容器置于目标容器输送机上初始位置的情况。则可控制接驳穿梭车接收空容器的一端，或者是控制容器缓存区分别与目标容器输送机对接，从而根据未满载容器的初始位置，依次间隔向目标容器输送机上输送空容器或者是未满载容器。
可选地，在一些实施例中，当目标容器输送机的数量是多个时，步骤S202中，若检测到目标容器输送机上存在至少一个满载容器，则控制接驳穿梭车与目标容器输送机对接，从目标容器输送机上接收容器，可以包括：根据各目标容器输送机与接驳穿梭车之间的距离，或者，根据各目标容器输送机对应的任务的优先级依次控制接驳穿梭车与各目标容器输送机对接，从目标容器输送机上接收容器。
由于分拣车一直处于运作状态，会持续不断的向不同容器输送机上的不同容器中投放货物，那么，在同一时刻，可能存在多个容器输送机上存在满载容器的情况，也即上述所说的目标容器输送机存在多个的情况。
在这种情况下，则可以分别判断接驳穿梭车与各目标容器输送机对接端之间的距离，根据距离优先级，按照距离从近到远，依次与各目标容器输送机对接，从目标容器输送机上接收容器。
或者，也可以是根据各容器输送机上各满载容器所对应的任务的优先级，确定各目标容器输送机与接驳穿梭车的对接顺序。其中，如前述所说的，不同的容器可对应于不用用户的订单，可根据用户的下单时间优先级，确定容器对应的任务优先级，例如，用户下单越早，对应的货物出库时间越早，出库优先级越高，那么，则可按照货物出库优先级由高到低的顺序，依次将接驳穿梭车与各目标容器输送机对接。
可选地，在一些实施例中，当接驳穿梭车的数量为多个时，步骤S202中，控制接驳穿梭车与目标容器输送机对接，可以包括：控制与目标容器输送机距离较近的目标接驳穿梭车与目标容器输送机对接。
在另一些情况下，当目标容器输送机和接驳穿梭车均包括多个时，则可以分别判断每个接驳穿梭车与每个目标容器输送机对接端之间的距离，针对每个目标容器输送机，可控制距离其最近的接驳穿梭车与其对接，接收容器。
当目标容器输送机的数量小于或等于接驳穿梭车的数量时，则每个目标容器输送机有一一对应的接驳穿梭车与其对应。而当目标容器输送机的数量大于接驳穿梭车的数量时，则一个接驳穿梭车可能对应于多个目标容器输送机，在这种情况下，接驳穿梭车可与多个目标容器输送机中任务优先级较高的目标容器输送机对接。
可选地，本申请方法还可包括：若检测到目标容器输送机上均为满载容器时，则控制接驳穿梭车与目标容器输送机对接，从目标容器输送机上接收容器并将满载容器运送出去。
在一种可实现的方式中，也可以是在目标容器输送机上的所有容器均为满载状态时，控制接驳穿梭车与目标容器输送机对接，一次将所有满载容器运送出去，这样可避免接驳穿梭车的多次来回工作。
可选地，本申请中，各容器上可安装有光电检测装置，可通过光电检测装置检测各容 器的满载情况。或者，各容器上靠近容器口的边缘可安装有摄像头，通过对容器内的货物进行拍摄，可判断容器的货物满载情况。当然，实际应用中，可不限于所列举的几种检测方式。
在本申请一种可实现的方式中，运送传输机的数量可以为多个，其中部分运送传输机可用于向接驳穿梭车传送空容器，其他运送传输机可用于从接驳穿梭车接收满载容器并运送出去。
在分拣系统的整体占用面积允许的情况下，可灵活设置运送传输机的数量，不限于仅设置一个运送传输机。当设置多个运送传输机时，其中一部分运送传输机可被控制实现向接驳穿梭车传送空容器，而另一部分运送传输机可被控制实现从接驳穿梭车上接收满载容器并运送出去。
各运送传输机的功能可实时切换，以使得在接驳穿梭车需要接收空容器或者是传输满载容器时，能够控制距离接驳穿梭车最近的运送传输机与其对接以完成相应的任务。
步骤S202中，将满载容器运送出去，可以包括：控制接驳穿梭车转动至与其他运送传输机对接，将接驳穿梭车上的满载容器传送至运送传输机上，以由其他运送传输机将满载容器运送出去。
在接驳穿梭车从目标容器输送机上接收到满载容器后，电子设备可控制接驳穿梭车转动至与其他运送传输机对接，从而将所接收的满载容器传送至运送传输机上，而进一步地通过运送传输机可将满载容器运送出去。
在本申请另一种可实现的方式中，每个容器输送机上可设置多个传感器，传感器的数量可与容器输送机上可承载的容器数量对应，每个传感器可对应设置在每个容器置放处，以检测对应位置是否具有容器。
当对应位置具有容器时，传感器可将实时获取的容器位置信息发送至电子设备，从而电子设备可控制分拣车移动至容器位置，以精准的向容器内投放货物。
可选地，传感器可以为光电传感器或者是重量传感器等，传感器的类型不限。
在本申请一种可实现的方式中，接驳穿梭车可包括转台以及设置在转台上的直线输送机；步骤S202中，控制接驳穿梭车与目标容器输送机对接，可以包括：控制转台带动直线输送机转动至与目标容器输送机对接的位置。
图8为本申请实施例提供的一种接驳穿梭车的结构示意图。在一种可选的实施方式中，接驳穿梭车120可包括转台120a以及设置在转台120a上的直线输送机120b，直线输送机的底部中心与转台的转轴120c通过轴承转动连接，转台驱动直线输送机以转轴为中心转动。
直线输送机可实现对容器的直线传输，类似于传送带的设计，接驳穿梭车所接收到的满载容器可沿着直线输送机的特定传输路线依次进行传输，从而可将满载容器从接驳穿梭车靠近容器输送机的一端传输至与出口传送通道对接的另一端，从而将满载容器运输出去。
综上所述，本实施例提供的自动分拣方法，包括：控制分拣机上的分拣车向置于容器输送机上的容器中投放待分拣的货物；若检测到目标容器输送机上存在至少一个满载容器， 则控制接驳穿梭车与目标容器输送机对接，从目标容器输送机上接收容器并将满载容器运送出去。本方法中，在检测到容器输送机上存在满载容器时，则可通过控制接驳穿梭车与容器输送机对应，从而接收满载容器并将满载容器输送出去，实现满载容器的自动检测和自动化置换，避免了人工更换容器所导致的容器更换效率较低的问题，从而避免了因容器更换效率较低而导致货物分拣堵塞的问题，通过本方法可大大提高容器更换效率，提高货物分拣效率。
可选地，参照图1，本申请还提供一种分拣系统，该分拣系统100可包括：分拣机110、接驳穿梭车120、多个容器输送机130及电子设备；接驳穿梭车120设置在分拣机110的一侧，各容器输送机130位于分拣机110的下方；分拣机110、容器输送机130、接驳穿梭车120分别与电子设备通信连接。
其中，电子设备用于执行上述实施例中各方法的步骤，电子设备可与分拣系统100中各结构之间进行信息交互，以实现自动化控制，控制方式可采用常规控制方式，此处不再一一赘述。
分拣机110用于向各容器输送机130上的容器中投放待分拣的货物；
接驳穿梭车120用于在电子设备的控制下与各容器输送机130对接，以从各容器输送机130上接收容器或者向各容器输送机130上输送容器。
具体的控制方式以在上述方法实施例中进行了详细说明，此处不再赘述。
可选地，参照图6，分拣系统100还包括：容器缓存区121；容器缓存区121位于接驳穿梭车120的一侧；容器缓存区121通过移载机构122与接驳穿梭车120连通；容器缓存区121用于对容器进行暂存。
继续参照图1，分拣系统100还包括：运送传输机140；运送传输机140位于分拣机110的一侧；运送传输机140用于与接驳穿梭车110对接，以向接驳穿梭车110输送空容器，和/或，以从接驳穿梭车接收满载容器。
可选地，继续参照图1，分拣机110可呈圆环形，接驳穿梭车120位于分拣机110的圆环形内，接驳穿梭车120受驱转动以分别与容器输送机130的一端对接。
上述分拣系统中各结构的具体功能已在前述的方法实施例中进行了详细解释说明，可参照上述实施例进行理解，此处不再一一赘述。
下述对用以执行本申请所提供的自动分拣方法的装置、设备及存储介质等进行说明，其具体的实现过程以及技术效果参见上述，下述不再赘述。
图9为本申请实施例提供的一种电子设备的结构示意图，该设备可以是具备数据处理功能的计算设备。
该设备可包括：处理器801、存储器802。
存储器802用于存储程序，处理器801调用存储器802存储的程序，以执行上述方法实施例。具体实现方式和技术效果类似，这里不再赘述。
其中，存储器802存储有程序代码，当程序代码被处理器801执行时，使得处理器801执行本说明书上述“示例性方法”部分中描述的根据本申请各种示例性实施方式的方 法中的各种步骤。
处理器801可以是通用处理器，例如中央处理器(CPU)、数字信号处理器(DigitalSignalProcessor，DSP)、专用集成电路(ApplicationSpecificIntegratedCircuit，ASIC)、现场可编程门阵列(FieldProgrammableGateArray，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件，可以实现或者执行本申请实施例中公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。
存储器802作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块。存储器可以包括至少一种类型的存储介质，例如可以包括闪存、硬盘、多媒体卡、卡型存储器、随机访问存储器(RandomAccessMemory，RAM)、静态随机访问存储器(StaticRandomAccessMemory，SRAM)、可编程只读存储器(ProgrammableReadOnlyMemory，PROM)、只读存储器(ReadOnlyMemory，ROM)、带电可擦除可编程只读存储器(ElectricallyErasableProgrammableRead-OnlyMemory，EEPROM)、磁性存储器、磁盘、光盘等等。存储器是能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。本申请实施例中的存储器802还可以是电路或者其它任意能够实现存储功能的装置，用于存储程序指令和/或数据。
可选地，本申请还提供一种程序产品，例如计算机可读存储介质，包括程序，该程序在被处理器执行时用于执行上述方法实施例。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，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，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。
所述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。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(英文：processor)执行本申请各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储 器(英文：Read-OnlyMemory，简称：ROM)、随机存取存储器(英文：RandomAccessMemory，简称：RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
工业实用性
本申请提供了一种自动分拣方法、系统、电子设备、存储介质及程序产品，该方法包括：控制分拣机上的分拣车向置于容器输送机上的容器中投放待分拣的货物；若检测到目标容器输送机上存在至少一个满载容器，则控制接驳穿梭车与目标容器输送机对接，从目标容器输送机上接收容器并将满载容器运送出去。本方法中，在检测到容器输送机上存在满载容器时，则可通过控制接驳穿梭车与容器输送机对应，从而接收满载容器并将满载容器输送出去，实现满载容器的自动检测和自动化置换，避免了人工更换容器所导致的容器更换效率较低的问题，从而避免了因容器更换效率较低而导致货物分拣堵塞的问题，通过本方法可大大提高容器更换效率，提高货物分拣效率。
此外，可以理解的是，本申请的自动分拣方法、系统、电子设备、存储介质及程序产品是可以重现的，并且可以用在多种工业应用中。例如，本申请的自动分拣方法、系统、电子设备、存储介质及程序产品可以用于自动化技术领域。

Claims (20)

  1. 一种自动分拣方法，其特征在于，所述方法应用于分拣系统，所述分拣系统包括分拣机、接驳穿梭车以及多个容器输送机，各所述容器输送机位于所述分拣机的下方，所述方法包括：
    控制分拣机上的分拣车向置于容器输送机上的容器中投放待分拣的货物；
    若检测到目标容器输送机上存在至少一个满载容器，则控制接驳穿梭车与所述目标容器输送机对接，从所述目标容器输送机上接收容器并将所述满载容器运送出去。
  2. 根据权利要求1所述的方法，其特征在于，所述分拣系统还包括运送传输机；
    所述方法还包括：
    控制所述接驳穿梭车转动至与所述运送传输机对接，从所述运送传输机上接收空容器；
    控制所述接驳穿梭车转动至与所140述目标容器输送机对接，将所述空容器输送至所述目标容器输送机上。
  3. 根据权利要求2所述的方法，其特征在于，所述分拣系统还包括容器缓存区，所述容器缓存区位于所述接驳穿梭车的一侧，所述容器缓存区通过移载机构与所述接驳穿梭车连通；
    所述若检测到目标容器输送机上存在至少一个满载容器，则控制接驳穿梭车与所述目标容器输送机对接，从所述目标容器输送机上接收容器，包括：
    若检测到目标容器输送机上存在部分满载容器以及部分未满载容器，则控制所述接驳穿梭车转动至与所述目标容器输送机对接，从所述目标容器输送机上接收所有容器；
    控制所述接驳穿梭车将所述所有容器沿目标方向进行传输以将满载容器输送出，并将所述目标容器输送机上未满载容器通过所述移载机构传输至所述容器缓存区。
  4. 根据权利要求3所述的方法，其特征在于，
    所述控制所述接驳穿梭车转动至与所述目标容器输送机对接，将所述空容器输送至所述目标容器输送机上，包括：
    控制所述接驳穿梭车转动至与所述目标容器输送机对接，将所述空容器以及暂存的未满载容器输送至所述目标容器输送机上。
  5. 根据权利要求4所述的方法，其特征在于，
    所述将所述空容器以及暂存的未满载容器输送至所述目标容器输送机上，包括：
    按照特定传输顺序将所述空容器以及所述未满载容器输送至所述目标容器输送机上，使得所述未满载容器位于初始位置，其中所述特定传输顺序是根据所述未满载容器未转移到所述容器缓存区之前在所述目标容器输送机上的所述初始位置确定的。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，若所述目标容器输送机的数量是多个，
    所述若检测到目标容器输送机上存在至少一个满载容器，则控制接驳穿梭车与所述目标容器输送机对接，从所述目标容器输送机上接收容器，包括：
    根据各目标容器输送机与所述接驳穿梭车之间的距离，或者，根据各目标容器输送机对应的任务的优先级依次控制所述接驳穿梭车与各所述目标容器输送机对接，从所述目标容器输送机上接收容器。
  7. 根据权利要求1至5中任一项所述的方法，其特征在于，若所述接驳穿梭车的数量为多个，
    所述控制接驳穿梭车与所述目标容器输送机对接，包括：
    控制与所述目标容器输送机距离较近的目标接驳穿梭车与所述目标容器输送机对接。
  8. 根据权利要求2所述的方法，其特征在于，所述运送传输机的数量为多个，其中部分运送传输机用于向所述接驳穿梭车传送空容器，其他运送传输机用于从所述接驳穿梭车接收满载容器并运送出去；
    所述将所述满载容器运送出去，包括：
    控制所述接驳穿梭车转动至与所述其他运送传输机对接，将所述接驳穿梭车上的满载容器传送至所述运送传输机上，以由所述其他运送传输机将所述满载容器运送出去。
  9. 根据权利要求1至5中任一项所述的方法，其特征在于，所述接驳穿梭车包括转台以及设置在所述转台上的直线输送机；
    所述控制接驳穿梭车与所述目标容器输送机对接，包括：
    控制所述转台带动所述直线输送机转动至与所述目标容器输送机对接的位置。
  10. 根据权利要求1至9中任一项所述的方法，其特征在于，所述容器输送机包括：往复式输送组件和容器运载平台；所述容器运载平台上放置有多个容器；所述往复式输送组件的输出端与所述容器运载平台连接，或者，所述容器运载平台位于所述往复式输送组件上方且与所述往复式输送组件连接；所述往复式输送组件能够驱动所述容器运载平台沿靠近所述接驳穿梭车的一端往复运动，以使置于所述容器运载平台上的所述多个容器轮换地与出料口对齐，以接收货物。
  11. 根据权利要求1至10中任一项所述的方法，其特征在于，所述容器中的各容器上安装有光电检测装置，通过所述光电检测装置检测各容器的满载情况；或者，各容器上靠近容器口的边缘安装有摄像头，通过对各容器内的货物进行拍摄来判断各容器的货物满载情况；
    所述容器输送机中的每个容器输送机上设置有多个传感器，所述传感器的数量与所述 容器输送机上能承载的容器数量对应，每个传感器对应设置在每个容器置放处，以检测对应位置是否具有容器。
  12. 一种自动分拣系统，其特征在于，包括：分拣机、接驳穿梭车、多个容器输送机及电子设备；各所述容器输送机位于所述分拣机的下方；所述分拣机、所述容器输送机、所述接驳穿梭车分别与所述电子设备通信连接；
    所述电子设备用于执行权利要求1-9任一所述的方法的步骤；
    所述分拣机用于向各所述容器输送机上的容器中投放待分拣的货物；
    所述接驳穿梭车用于在所述电子设备的控制下与各所述容器输送机对接，以从各所述容器输送机上接收容器或者向各所述容器输送机上输送容器。
  13. 根据权利要求12所述的系统，其特征在于，还包括：容器缓存区；所述容器缓存区位于所述接驳穿梭车的一侧；所述容器缓存区通过移载机构与所述接驳穿梭车连通；
    所述容器缓存区用于对容器进行暂存。
  14. 根据权利要求13所述的方法，其特征在于，所述移载机构包括移载架以及设置在所述移载架上的滚动件，所述滚动件受驱能够在所述移载架上朝至少一个直线方向转动，所述移载架与所述滚动件共同形成移载平面。
  15. 根据权利要求12至14中任一项所述的系统，其特征在于，还包括：运送传输机；
    所述运送传输机用于与所述接驳穿梭车对接，以向所述接驳穿梭车输送空容器，和/或，以从所述接驳穿梭车接收满载容器。
  16. 根据权利要求12至15中任一项所述的系统，其特征在于，所述分拣机呈圆环形，所述接驳穿梭车位于所述分拣机的圆环形内，所述接驳穿梭车受驱转动以分别与所述容器输送机的一端对接。
  17. 根据权利要求16所述的系统，其特征在于，所述接驳穿梭车沿直线方向传输容器，所述接驳穿梭车的容器传输路径经过所述分拣机的圆心。
  18. 一种电子设备，其特征在于，包括：处理器和存储介质，所述存储介质存储有所述处理器可执行的程序指令，当电子设备运行时，所述处理器执行所述程序指令，以执行时执行如权利要求1至11中任一所述的方法的步骤。
  19. 一种计算机可读存储介质，其特征在于，所述存储介质上存储有计算机程序，所述计算机程序被处理器运行时执行如权利要求1至11中任一所述的方法的步骤。
  20. 一种计算机程序产品，其特征在于，包括计算机程序，所述计算机程序被处理器执行时实现权利要求1至11中任一所述的方法的步骤。
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