WO2019184608A1 - Transport system and transport method - Google Patents
Transport system and transport method Download PDFInfo
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- WO2019184608A1 WO2019184608A1 PCT/CN2019/074904 CN2019074904W WO2019184608A1 WO 2019184608 A1 WO2019184608 A1 WO 2019184608A1 CN 2019074904 W CN2019074904 W CN 2019074904W WO 2019184608 A1 WO2019184608 A1 WO 2019184608A1
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- Prior art keywords
- sorting
- conveying
- sorting device
- conveying device
- preset
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Classifications
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- 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
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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
- B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
-
- 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
-
- 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
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
-
- 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
- B65G65/00—Loading or unloading
-
- 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
- B65G2201/0285—Postal items, e.g. letters, parcels
Definitions
- the present disclosure relates to the field of logistics technology, and in particular to a transportation system and a transportation method.
- a parcel conveyor line transports parcels from a production area to a sorting area. There are multiple sorting robots waiting in line at the station in the sorting area. The parcel is then removed from the parcel conveyor line by the six-axis robot at the station and placed on the sorting robot. The sorting robot transports the parcel from the platform to the corresponding sorting compartment to complete the sorting.
- a transport system comprising: a transport device for transporting an item; a sorting device, the sorting device being located below the transport device for passing over the end of the transport device Receiving items dropped from the end of the conveying device in a moving state.
- the transportation system further includes: a controller, configured to acquire operation setting information of at least one of the conveying device and the sorting device; determine operation control information according to the operation setting information; and send to the conveying device and the sorting device At least one of the transmission run control information is such that the item on the transport device and the sorting device simultaneously reach the end of the transport device.
- the controller is further configured to calculate a delivery time of the article on the delivery device based on a distance from the position at which the article is placed to the delivery device to the end of the delivery device, and an operating speed of the delivery device; The distance from the preset starting position to the end of the conveying device and the conveying time, the driving information of the sorting device is calculated; the driving information and the preset starting position are transmitted to the sorting device.
- the controller is further configured to determine a difference between the transport duration of the item and the preset duration that the sorting device waits at the preset start position as the travel time of the sorting device, according to the start position and the transport device.
- the distance between the ends and the travel time of the sorting device determine the travel information and send the start position, the travel information, the preset duration waiting at the start position to the sorting device; the sorting device is also used to reach the preset start After the position, it waits for a preset duration and starts, and moves according to the preset driving information to reach the end of the conveying device at the same time as the item on the conveying device.
- the controller is further configured to calculate the travel speed of the sorting device or the initial travel speed of the sorting device according to the distance between the preset starting position of the sorting device and the end of the conveying device and the conveying time. Acceleration.
- the controller is further for obtaining a first speed of the transport device for transporting the item; determining a second speed of the sorting device as it passes over the end of the transport device, wherein the first speed and the second speed The gap is less than the preset range.
- the transportation system includes a plurality of sorting devices
- the controller is further configured to send the plurality of sorting devices a preset time interval so that the plurality of sorting devices are sequentially started and transported at preset time intervals.
- the end of the device, the preset time interval is the time interval between adjacent items being placed on the delivery device.
- the conveying area of the conveying device has a plurality of sub-areas divided along the conveying direction; each sub-area corresponds to a column of sorting devices, and the sorting device in each column is used at the end of the respective sub-area passing through the conveying device At the time, the item dropped from the end of the conveying device is received.
- the transport system further includes a gripping device for placing the items on the item transport line onto the transport device at a predetermined frequency.
- the delivery area of the delivery device has a plurality of sub-areas divided along the direction of transport, and the gripping device is used to place the item in a sub-area of the delivery device.
- the sorting device is a flapper or sorter.
- the gripping device is a delta robot.
- a transportation method comprising: acquiring operation setting information of at least one of a conveying device and a sorting device; determining operation control information according to operation setting information; At least one of the sorting devices transmits control information such that the items on the transport device and the sorting device simultaneously reach the end of the transport device.
- determining the operation control information according to the operation setting information comprises: calculating a delivery time of the item on the conveying device according to a distance from the position at which the item is placed to the conveying device to the end of the conveying device, and the running speed of the conveying device
- the travel information of the sorting device is calculated according to the distance from the preset starting position of the sorting device to the end of the conveying device and the conveying time.
- determining the operation control information according to the operation setting information comprises: determining, by the difference between the delivery duration of the item and the preset duration of the sorting device at the preset activation position, as the travel time of the sorting device;
- the driving information is determined by the distance between the starting position and the end of the conveying device and the driving time of the sorting device;
- transmitting the control information to the at least one of the conveying device and the sorting device comprises: transmitting the starting position, driving information, The preset duration waiting at the starting position, so that after the sorting device reaches the preset starting position, it waits for the preset duration and starts, and moves according to the preset driving information to reach the conveying device at the same time as the articles on the conveying device. Ends.
- the travel speed of the sorting device is calculated based on the distance of the preset starting position of the sorting device from the end of the transport device and the delivery time.
- obtaining a first speed of the transport device for transporting the item determining a second speed of the sorting device as it passes over the end of the transport device, wherein the difference between the first speed and the second speed is less than a predetermined range .
- the plurality of sorting devices are sent a preset time interval such that the plurality of sorting devices are sequentially activated at a predetermined time interval and pass through the end of the conveying device, the preset time interval being an adjacent item. The time interval that is placed on the conveyor.
- a transport apparatus comprising: a memory; and a processor coupled to the memory, the processor being configured to perform any of the foregoing transports based on instructions stored in the memory method.
- a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements any of the foregoing transportation methods.
- FIGS. 1A and 1B are schematic diagrams of a transportation scenario in the related art.
- 2A, 2B are exemplary structural diagrams of a transportation system in accordance with some embodiments of the present disclosure.
- 3A and 3B are side schematic views of a flapping robot in accordance with some embodiments of the present disclosure.
- FIG. 4A is an exemplary structural diagram of a transportation system in accordance with further embodiments of the present disclosure.
- 4B is a top plan view of a delta robot in accordance with some embodiments of the present disclosure.
- 5A, 5B are schematic illustrations of the operational process of a transport system in accordance with some embodiments of the present disclosure.
- FIG. 6 is a top plan view of a transport sorting scene, in accordance with some embodiments of the present disclosure.
- FIG. 7 is an exemplary flow diagram of a shipping method in accordance with some embodiments of the present disclosure.
- 8A, 8B are exemplary flow diagrams of a shipping method in accordance with further embodiments of the present disclosure.
- FIG. 9 is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure.
- FIG. 10 is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure.
- FIG. 11 is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure.
- FIG. 12 is an exemplary structural diagram of a transport device in accordance with some embodiments of the present disclosure.
- FIG. 13 is an exemplary structural diagram of a transport device in accordance with further embodiments of the present disclosure.
- the inventors analyzed the related technology and found that the six-axis robot used in the related art has a slower tempo, and generally can complete the pick-and-place of a package in about 8 to 10 seconds, which seriously affects the efficiency of the supply.
- One technical problem to be solved by the embodiments of the present disclosure is how to improve the efficiency of the supply.
- the sorting robots 101, 102, 103, ... 10N are waiting in line, and the robot 11 places the package on the sorter who is at the head of the team.
- the sorting robot 101 starts, accelerates, and travels forward after obtaining the package. Other problems may arise if you replace a six-axis robot with another robot that has a faster tempo.
- the sorting robot 101 has obtained a package, which takes a while to start. When the robot 11 has prepared the next package, the sorting robot 101 still does not start to leave, thus seriously affecting the efficiency of the supply.
- the transportation system 210 of this embodiment includes a conveying device 2110 and a sorting device 2120.
- the sorting device 2120 is located below the transport device 2110, ie the work plane of the sorting device 2120 is located below the plane in which the transport device 2110 is located so that the sorting device 2120 can pass under the transport device 2110.
- One or more sorting devices may be included in system 210, and only one sorting device 2120 is shown by way of example in FIG. 2A.
- the delivery device 2110 is used to deliver items, such as items that can be used to place the grasping device onto the delivery device 2110 to the end of the delivery device 2110.
- the sorting device 2120 is configured to receive an item dropped from the end of the conveying device 2110 in a moving state when passing the end of the conveying device 2110, so that the sorting device 2120 sorts the carried items.
- the sorting device 2120 can be a flapper or sorter.
- the sorter may include, for example, a cross belt sorter, a bag sorter, and the like.
- the sorting device can receive the item on the move, that is, can be activated before picking up the item, so that the efficiency of receiving the item of the sorting device can be adapted to the supply efficiency of the item, and the efficiency of the supply is improved. And further improve the sorting efficiency.
- the transportation system 220 of this embodiment includes a conveying device 2210, a sorting device 2220, and a controller 2230.
- the controller 2230 is communicatively coupled to at least one of the transport device 2210 and the sorting device 2220.
- the controller 2230 is configured to acquire operation setting information of at least one of the conveying device 2210 and the sorting device 2220; determine operation operation information according to the operation setting information; and send operation control information to at least one of the conveying device 2210 and the sorting device 2220.
- the article on the conveyor 2210 and the sorting device 2220 simultaneously reach the end of the conveyor 2210.
- the conveying device 2210 and the sorting device 2220 operate in accordance with the operation information.
- the running setting information in the running information is preset known information, and the running control information is unknown information, and the controller 2230 is required to perform calculation.
- the controller can determine the operation control information according to the operation setting information of the conveying device and the sorting device, so as to realize the synchronization of the articles on the conveying device and the sorting device at the preset position.
- This preset position is the end of the conveyor.
- FIGS. 3A and 3B are side schematic views of a flapping robot in some embodiments.
- the tray 321 of the flapping robot 320 carries the article 330.
- the tray 321 of the flapping robot 320 can be rotated to cause the article 330 to fall into the sorting compartment 340 to complete the sorting.
- FIGS. 3A and 3B are only used to exemplarily introduce the main structure and basic working principle of the flapping robot, and do not show all the components of the flapping robot, nor in other embodiments of the present disclosure.
- the flapper robot has any limiting effect.
- the transport system 40 of this embodiment includes a transport device 410 and a sorting device 420, and also includes a gripping device 430.
- Grab device 430 is used to place items on the item transport line onto transport device 410 at a predetermined frequency.
- the item transport line may be, for example, a parcel transport line for providing unordered packages, goods, and the like to be sorted.
- the item transport line can be a conveyor belt.
- the lower limit of the working height range of the gripping device 430 may not be lower than the upper surface of the conveying device 410 to reduce the likelihood of a mis-collision of the gripping device 430 and the conveying device 410.
- the height of the article transport line is lower than the transport device 410, the height of the transport device 410 can also be within the working height range of the grasping device 430, and those skilled in the art can make selections as needed.
- the plane elevation of the sorting equipment is 0m
- the surface height of the body of the flapping robot can be 0.2m
- the surface elevation of the conveying equipment can be 0.35m
- the working surface range of the grabbing equipment is 0.35m ⁇ 0.55. m.
- the gripping device 430 can be a delta robot, and a top view of the delta robot can refer to FIG. 4B.
- the delta manipulator has strong bearing capacity, small self-weight load ratio, good dynamic performance and fast working tempo. Its working beat can reach one item for 2s, which improves the efficiency of the supply.
- Figure 4A is merely one exemplary embodiment. Those skilled in the art can select other types of gripping devices as needed.
- FIG. 5A, 5B are schematic illustrations of the operational process of a transport system in accordance with some embodiments of the present disclosure.
- the delta robot 530 grabs the article 550 from the parcel conveyor 540 and places it onto the conveyor device 520.
- the flapping robot 510 which is lined up at the head of the team, starts and moves forward.
- the start timing of the flapping robot 510 may be the same as the placement time of the article 550 placed by the delta robot 530, or may be earlier or later than the placement time, as long as the flapper 510 and the article on the infeed conveyor belt 520 arrive at the conveyor end simultaneously. You can do it.
- the infeed conveyor 520 has conveyed the article 550 to the end of the infeed conveyor 520, which has also reached the end of the infeed conveyor 520.
- the article 550 When the article 550 is dropped from the end of the infeed conveyor 520, it can fall directly on the tray of the flipper 510.
- the flapper 510 can carry the article 550 to continue moving forward.
- the sorting device can also be used to detect the current position to determine the driving mode that should currently be employed.
- the sorting device can determine the current position by scanning a two-dimensional code or the like on the ground, and can also determine the current position by using a positioning device such as a GPS (Global Positioning System), and details are not described herein.
- GPS Global Positioning System
- FIG. 6 is a top plan view of a feed sorting scene in accordance with some embodiments of the present disclosure, some of which are omitted in FIG. 6 for ease of viewing and description.
- the application scenario may be divided into a queuing waiting area 61, a supply area 62, an identification area 63, and a sorting area 64 according to tasks of different stages of the sorting apparatus.
- the sorting devices 610 are sequentially arranged and are in a low speed moving state to move forward slowly after the sorting device leaves the queuing waiting area 61.
- the start position 611 is located at the junction of the queue waiting area 61 and the supply area 62.
- the sorting device When the sorting device recognizes that it is currently in the starting position 611, it can enter the connector mode to start immediately after starting or staying for a preset time, and move to the end of the conveying device 621 according to the preset driving information to receive
- the pick-up device 622 is placed at the same time and reaches the end of the transport device 621 and then falls off, and after receiving the item, travels at a high speed at a preset speed for long-distance transport.
- the sorting device After reaching the identification area 63, the sorting device enters the recognition mode, and can be decelerated to run or stop, so that the visual recognition device recognizes the goods carried by the sorting device, and instructs the sorting device to go to the corresponding sorting port 640 according to the type of the cargo information. .
- the sorting compartment 640 is located in the sorting area 64, and the sorting device can enter the sorting compartment 640 to inject the item. The sorting device then returns to the queue waiting area 61 to queue for
- the preset travel information may be, for example, information such as speed, acceleration, etc., to indicate how the sorting device is traveling.
- the controller may be configured to acquire operation setting information of at least one of the conveying device and the sorting device; determine operation control information according to the operation setting information; and send operation control information to at least one of the conveying device and the sorting device, so that The items on the conveyor and the sorting equipment arrive at the end of the conveyor simultaneously.
- the controller may be further configured to calculate a delivery time of the article on the delivery device according to a distance from the position where the article is placed to the delivery device to the end of the delivery device, and the running speed of the delivery device; according to the preset of the sorting device
- the distance from the starting position to the end of the conveying device and the conveying time, the driving information of the sorting device is calculated; the driving information and the preset starting position are transmitted to the sorting device.
- the sorting device is adapted to be activated after waiting for a preset length of time after reaching the preset starting position and to move according to the preset driving information so as to reach the end of the conveying device at the same time as the item on the conveying device. It is assumed that the distance between the starting position and the end of the conveying device is S, and the time when the sorting device moves from the starting position to the end of the conveying device, that is, the running time is t, there is a relationship of formula (1).
- c is the driving information and f is the distance calculation function. If the sorting device adopts a uniform acceleration motion, the formula (1) may specifically be the formula (2). At this time, c is acceleration information.
- c 1 and t 1 respectively represent the acceleration and time of the acceleration running section, and c 2 and t 2 respectively represent the speed and time of the constant speed running section.
- the value of t may be equal to the conveying time of the item, that is, the preset time waiting for the sorting device to wait at the starting position may be zero.
- the controller may pre-send the driving information to each sorting device for storage, so that the sorting device can automatically work according to the one-time instruction in a uniform rhythm and manner, and the working condition is improved. Supply efficiency.
- the controller may be further configured to calculate the travel speed of the sorting device or the initial travel speed of the sorting device according to the distance between the preset starting position of the sorting device and the end of the conveying device and the conveying time. And acceleration.
- the sorting device can be further adapted to receive items that are dropped on the transport device when accelerating or uniformly passing the end of the transport device. That is, the sorting device can accelerate after starting, or travel at a constant speed after accelerating to a certain speed. Therefore, the sorting device can receive the items to be sorted without stopping or decelerating to obtain the items dropped on the conveying device, thereby improving the efficiency of the feeding, thereby further improving the sorting efficiency.
- the controller may be further configured to obtain a first speed of the conveying device for conveying the item; determining a second speed of the sorting device as it passes the end of the conveying device, wherein the first speed The difference from the second speed is less than the preset range.
- the conveying device can be used to convey the articles at the first speed to the end of the conveying device, the sorting device having a second speed when running through the end of the conveying device after starting.
- the running speed of the item on the conveying device is close to the running speed of the sorting device. Thereby, the article can be dropped onto the sorting device more accurately and stably.
- the controller may be further configured to send the plurality of sorting devices a preset time interval such that the plurality of sorting devices sequentially start at a preset time interval and pass through the end of the conveying device To receive items dropped from the conveyor.
- the preset time interval is the time interval at which adjacent items are placed on the transport device, such as the time interval at which the grab device places the items.
- the delivery area of the delivery device can be divided into a plurality of sub-areas along the conveying direction. As shown in Fig. 6, the surface of the conveyor belt in Fig. 6 is divided into two sub-areas by a broken line. Each sub-area corresponds to a column of sorting devices, and the sorting device in each column is used to receive items that are dropped from the end of the conveying device as they pass the ends of the respective sub-areas of the conveying device. Thereby, other devices in the system can be operated in conjunction with the beats in the case where the beat of the gripping device is very fast, improving the efficiency of the supply.
- the grasping device can be used to place an item in a sub-area of the delivery device, for example, such that the items can be staggered in tandem.
- FIG. 7 is an exemplary flow diagram of a shipping method in accordance with some embodiments of the present disclosure. As shown in FIG. 7, the transportation method of this embodiment includes steps S702 to S706.
- step S702 operation setting information of at least one of the conveying device and the sorting device is acquired.
- the delivery device can be a conveyor belt.
- step S704 the operation control information is determined based on the operation setting information.
- control information is transmitted to at least one of the conveying device and the sorting device such that the articles on the conveying device and the sorting device simultaneously reach the end of the conveying device.
- the sorting device can receive the item on the move, that is, can be activated before picking up the item, so that the efficiency of receiving the item of the sorting device can be adapted to the working efficiency of the grasping device, and the supply is improved. Efficiency and further improved sorting efficiency.
- FIG. 8A is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure. As shown in FIG. 8A, the transportation method of this embodiment includes steps S802 to S806.
- step S802 the conveyance time of the article on the conveying device is calculated based on the distance from the position where the article is placed to the conveying device to the end of the conveying device, and the running speed of the conveying device.
- step S804 the travel information of the sorting device is calculated according to the distance from the preset starting position of the sorting device to the end of the conveying device and the conveying time.
- step S806 the travel information and the preset start position are transmitted to the sorting device.
- FIG. 8B is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure. As shown in FIG. 8B, the transportation method of this embodiment includes steps S812 to S816.
- step S812 the difference between the delivery duration of the article and the preset duration that the sorting device waits at the preset activation position is determined as the travel duration of the sorting device.
- step S814 the travel information is determined based on the distance between the start position and the end of the transport device and the travel time of the sorting device.
- step S816 the starting position, the driving information, and the preset duration waiting at the starting position are sent to the sorting device, so that the sorting device waits for the preset time and starts after reaching the preset starting position, and according to the preset The travel information is moved to arrive at the end of the transport device simultaneously with the items on the transport device.
- the travel information of the sorting device can be determined according to the running time of the article and the travel distance of the sorting device, so that the article and the sorting device reach the end of the transport device at the same time.
- the travel speed of the sorting device is calculated based on the distance of the preset starting position of the sorting device from the end of the transport device and the delivery time.
- the sorting device can receive the items dropped on the conveying device when accelerating or passing through the end of the conveying device at a constant speed. Therefore, when the sorting device receives the item to be sorted, the item dropped on the conveying device can be obtained without additionally adjusting its own driving plan, thereby improving the efficiency of the feeding, thereby further improving the sorting efficiency.
- FIG. 9 is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure. As shown in FIG. 9, the transportation method of this embodiment includes steps S902 to S908.
- step S902 a first speed at which the conveying device is used to convey the item is acquired.
- step S904 determining a second speed of the sorting device when passing the end of the conveying device, and transmitting the second speed to the sorting device, wherein the difference between the first speed and the second speed is less than a preset range .
- step S906 the conveying device conveys the article at a first speed so that the article on which the gripping device is placed on the conveying device is uniformly conveyed to the end of the conveying device.
- step S908 the sorting device has a second speed when running through the end of the conveying device after starting, and receives an item dropped from the end of the conveying device.
- the article can be dropped onto the sorting device more accurately and stably.
- the gripping device can place items on the item transport line onto the transport device at a predetermined frequency.
- Sorting equipment can also be used to complete a regular, automated supply and sorting process. An embodiment of the transport method of the present disclosure is described below with reference to FIG.
- FIG. 10 is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure. As shown in FIG. 10, the transportation method of this embodiment includes steps S1002 to S1006.
- step S1002 the grabbing device places the articles on the article transport line onto the transport device at predetermined time intervals.
- step S1004 a preset time interval is transmitted to the plurality of sorting devices.
- step S1006 a plurality of sorting devices are sequentially activated at preset time intervals to receive articles dropped from the end of the conveying device.
- the feeding process can be automated, and the sorting device can also accurately acquire each item in an efficient feeding process.
- the delivery device can also deliver multiple rows of items simultaneously.
- the conveying area of the conveying device is divided into a plurality of sub-areas in the conveying direction, and a row of waiting sorting devices is arranged in a corresponding direction of each sub-area.
- FIG. 11 is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure. As shown in FIG. 11, the transportation method of this embodiment includes steps S1102 to S1104.
- step S1102 the gripping device places the articles in turn in respective sub-areas divided by the conveying direction of the conveying device.
- step S1104 the sorting device receives the item dropped on the conveying device as it passes through the end of the sub-area of the conveying device.
- Figure 12 is a schematic view showing the structure of a transport apparatus according to other embodiments of the present invention.
- the transport device 120 of this embodiment includes a memory 1210 and a processor 1220 coupled to the memory 1210, the processor 1220 being configured to perform any of the foregoing embodiments based on instructions stored in the memory 1210. Transportation method.
- the memory 1210 may include, for example, a system memory, a fixed non-volatile storage medium, or the like.
- the system memory stores, for example, an operating system, an application, a boot loader, and other programs.
- Figure 13 is a schematic view showing the structure of a transport apparatus according to still another embodiment of the present invention.
- the transport device 130 of this embodiment includes a memory 1310 and a processor 1320, and may further include an input/output interface 1330, a network interface 1340, a storage interface 1350, and the like. These interfaces 1330, 1340, 1350 and the memory 1310 and the processor 1320 can be connected, for example, via a bus 1360.
- the input/output interface 1330 provides a connection interface for input and output devices such as a display, a mouse, a keyboard, and a touch screen.
- Network interface 1340 provides a connection interface for various networked devices.
- the storage interface 1350 provides a connection interface for an external storage device such as an SD card or a USB flash drive.
- Embodiments of the present invention also provide a computer readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor to implement any of the foregoing transportation methods.
- embodiments of the present disclosure can be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware aspects. Moreover, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code. .
- the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
- the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
- These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
- the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.
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Abstract
Disclosed are a transport system and a transport method, which relate to the technical field of logistics. The transport system (210) comprises a conveying apparatus (2110) for conveying objects; and a sorting apparatus (2120), the sorting apparatus (2120) being located below the conveying apparatus (2110) for receiving, in a moving state and when passing through the end of the conveying apparatus (2110), objects falling from an end of the conveying apparatus (2110).
Description
相关申请的交叉引用Cross-reference to related applications
本申请是以CN申请号为201810257681.8,申请日为2018年3月27日的申请为基础,并主张其优先权,该CN申请的公开内容在此作为整体引入本申请中。The present application is based on and claims the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit.
本公开涉及物流技术领域,特别涉及一种运输***和运输方法。The present disclosure relates to the field of logistics technology, and in particular to a transportation system and a transportation method.
在相关技术中,包裹输送线将包裹从生产区运输到分拣区。在分拣区的站台有多个分拣机器人排队等候。然后,由六轴机械手在站台位置将包裹从包裹输送线上取下来,并放在分拣机器人上。分拣机器人将包裹从站台运送到相应的分拣格口,以完成分拣。In the related art, a parcel conveyor line transports parcels from a production area to a sorting area. There are multiple sorting robots waiting in line at the station in the sorting area. The parcel is then removed from the parcel conveyor line by the six-axis robot at the station and placed on the sorting robot. The sorting robot transports the parcel from the platform to the corresponding sorting compartment to complete the sorting.
发明内容Summary of the invention
根据本公开一些实施例的第一个方面,提供一种运输***,包括:输送设备,用于输送物品;分拣设备,分拣设备位于输送设备下方,用于在经过输送设备的端部时,在移动状态中接收从输送设备的端部上掉落的物品。According to a first aspect of some embodiments of the present disclosure, a transport system is provided, comprising: a transport device for transporting an item; a sorting device, the sorting device being located below the transport device for passing over the end of the transport device Receiving items dropped from the end of the conveying device in a moving state.
在一些实施例中,运输***还包括:控制器,用于获取输送设备、分拣设备中的至少一个的运行设置信息;根据运行设置信息,确定运行控制信息;向输送设备、分拣设备中的至少一个发送运行控制信息,以便输送设备上的物品和分拣设备同时到达输送设备的端部。In some embodiments, the transportation system further includes: a controller, configured to acquire operation setting information of at least one of the conveying device and the sorting device; determine operation control information according to the operation setting information; and send to the conveying device and the sorting device At least one of the transmission run control information is such that the item on the transport device and the sorting device simultaneously reach the end of the transport device.
在一些实施例中,控制器进一步用于根据物品被放置到输送设备的位置到输送设备端部的距离、以及输送设备的运行速度,计算物品在输送设备上的输送时间;根据分拣设备的预设的启动位置到输送设备端部的距离以及输送时间,计算分拣设备的行驶信息;向分拣设备发送行驶信息和预设的启动位置。In some embodiments, the controller is further configured to calculate a delivery time of the article on the delivery device based on a distance from the position at which the article is placed to the delivery device to the end of the delivery device, and an operating speed of the delivery device; The distance from the preset starting position to the end of the conveying device and the conveying time, the driving information of the sorting device is calculated; the driving information and the preset starting position are transmitted to the sorting device.
在一些实施例中,控制器进一步用于将物品的输送时长与分拣设备在预设的启动位置所等待的预设时长之差确定为分拣设备的行驶时长,根据启动位置与输送设备的端部之间的距离以及分拣设备的行驶时长确定行驶信息,并向分拣设备发送启动位置、 行驶信息、在启动位置等待的预设时长;分拣设备还用于在到达预设的启动位置后,等待预设时长并启动,并根据预设的行驶信息移动,以便与输送设备上的物品同时到达输送设备的端部。In some embodiments, the controller is further configured to determine a difference between the transport duration of the item and the preset duration that the sorting device waits at the preset start position as the travel time of the sorting device, according to the start position and the transport device. The distance between the ends and the travel time of the sorting device determine the travel information and send the start position, the travel information, the preset duration waiting at the start position to the sorting device; the sorting device is also used to reach the preset start After the position, it waits for a preset duration and starts, and moves according to the preset driving information to reach the end of the conveying device at the same time as the item on the conveying device.
在一些实施例中,控制器进一步用于根据分拣设备的预设的启动位置与输送设备端部的距离以及输送时间,计算分拣设备的行驶速度、或者分拣设备的初始的行驶速度和加速度。In some embodiments, the controller is further configured to calculate the travel speed of the sorting device or the initial travel speed of the sorting device according to the distance between the preset starting position of the sorting device and the end of the conveying device and the conveying time. Acceleration.
在一些实施例中,控制器进一步用于获取输送设备用于输送物品的第一速度;确定分拣设备在经过输送设备的端部时的第二速度,其中,第一速度和第二速度的差距小于预设范围。In some embodiments, the controller is further for obtaining a first speed of the transport device for transporting the item; determining a second speed of the sorting device as it passes over the end of the transport device, wherein the first speed and the second speed The gap is less than the preset range.
在一些实施例中,运输***包括多个分拣设备,控制器进一步用于向多个分拣设备发送预设的时间间隔,以便多个分拣设备以预设的时间间隔依次启动并经过输送设备的端部,预设的时间间隔为相邻物品被放置到输送设备上的时间间隔。In some embodiments, the transportation system includes a plurality of sorting devices, and the controller is further configured to send the plurality of sorting devices a preset time interval so that the plurality of sorting devices are sequentially started and transported at preset time intervals. The end of the device, the preset time interval is the time interval between adjacent items being placed on the delivery device.
在一些实施例中,输送设备的输送区域具有沿输送方向划分的多个子区域;每个子区域对应一列分拣设备,每列中的分拣设备用于在经过输送设备的相应子区域的端部时,接收从输送设备的端部上掉落的物品。In some embodiments, the conveying area of the conveying device has a plurality of sub-areas divided along the conveying direction; each sub-area corresponds to a column of sorting devices, and the sorting device in each column is used at the end of the respective sub-area passing through the conveying device At the time, the item dropped from the end of the conveying device is received.
在一些实施例中,运输***还包括:抓取设备,用于以预设频率将物品输送线上的物品放置到输送设备上。In some embodiments, the transport system further includes a gripping device for placing the items on the item transport line onto the transport device at a predetermined frequency.
在一些实施例中,输送设备的输送区域具有沿输送方向划分的多个子区域,抓取设备用于将物品放置在输送设备的子区域。In some embodiments, the delivery area of the delivery device has a plurality of sub-areas divided along the direction of transport, and the gripping device is used to place the item in a sub-area of the delivery device.
在一些实施例中,分拣设备为翻板机器人或分拣机。In some embodiments, the sorting device is a flapper or sorter.
在一些实施例中,抓取设备为delta机械手。In some embodiments, the gripping device is a delta robot.
根据本发明一些实施例的第二个方面,提供一种运输方法,包括:获取输送设备、分拣设备中的至少一个的运行设置信息;根据运行设置信息,确定运行控制信息;向输送设备、分拣设备中的至少一个发送控制信息,以便输送设备上的物品和分拣设备同时到达输送设备的端部。According to a second aspect of some embodiments of the present invention, a transportation method is provided, comprising: acquiring operation setting information of at least one of a conveying device and a sorting device; determining operation control information according to operation setting information; At least one of the sorting devices transmits control information such that the items on the transport device and the sorting device simultaneously reach the end of the transport device.
在一些实施例中,根据运行设置信息,确定运行控制信息包括:根据物品被放置到输送设备的位置到输送设备端部的距离、以及输送设备的运行速度,计算物品在输送设备上的输送时间;根据分拣设备的预设的启动位置到输送设备端部的距离以及输送时间,计算分拣设备的行驶信息。In some embodiments, determining the operation control information according to the operation setting information comprises: calculating a delivery time of the item on the conveying device according to a distance from the position at which the item is placed to the conveying device to the end of the conveying device, and the running speed of the conveying device The travel information of the sorting device is calculated according to the distance from the preset starting position of the sorting device to the end of the conveying device and the conveying time.
在一些实施例中,根据运行设置信息,确定运行控制信息包括:将物品的输送时 长与分拣设备在预设的启动位置所等待的预设时长之差确定为分拣设备的行驶时长;根据启动位置与输送设备的端部之间的距离以及分拣设备的行驶时长确定行驶信息;向输送设备、分拣设备中的至少一个发送控制信息包括:向分拣设备发送启动位置、行驶信息、在启动位置等待的预设时长,以便分拣设备在到达预设的启动位置后,等待预设时长并启动,并根据预设的行驶信息移动、以便与输送设备上的物品同时到达输送设备的端部。In some embodiments, determining the operation control information according to the operation setting information comprises: determining, by the difference between the delivery duration of the item and the preset duration of the sorting device at the preset activation position, as the travel time of the sorting device; The driving information is determined by the distance between the starting position and the end of the conveying device and the driving time of the sorting device; and transmitting the control information to the at least one of the conveying device and the sorting device comprises: transmitting the starting position, driving information, The preset duration waiting at the starting position, so that after the sorting device reaches the preset starting position, it waits for the preset duration and starts, and moves according to the preset driving information to reach the conveying device at the same time as the articles on the conveying device. Ends.
在一些实施例中,根据分拣设备的预设的启动位置与输送设备端部的距离以及输送时间,计算分拣设备的行驶速度、或者分拣设备的初始的行驶速度和加速度。In some embodiments, the travel speed of the sorting device, or the initial travel speed and acceleration of the sorting device, is calculated based on the distance of the preset starting position of the sorting device from the end of the transport device and the delivery time.
在一些实施例中,获取输送设备用于输送物品的第一速度;确定分拣设备在经过输送设备的端部时的第二速度,其中,第一速度和第二速度的差距小于预设范围。In some embodiments, obtaining a first speed of the transport device for transporting the item; determining a second speed of the sorting device as it passes over the end of the transport device, wherein the difference between the first speed and the second speed is less than a predetermined range .
在一些实施例中,向多个分拣设备发送预设的时间间隔,以便多个分拣设备以预设的时间间隔依次启动并经过输送设备的端部,预设的时间间隔为相邻物品被放置到输送设备上的时间间隔。In some embodiments, the plurality of sorting devices are sent a preset time interval such that the plurality of sorting devices are sequentially activated at a predetermined time interval and pass through the end of the conveying device, the preset time interval being an adjacent item. The time interval that is placed on the conveyor.
根据本发明一些实施例的第三个方面,提供一种运输装置,包括:存储器;以及耦接至存储器的处理器,处理器被配置为基于存储在存储器中的指令,执行前述任意一种运输方法。According to a third aspect of some embodiments of the present invention there is provided a transport apparatus comprising: a memory; and a processor coupled to the memory, the processor being configured to perform any of the foregoing transports based on instructions stored in the memory method.
根据本发明一些实施例的第四个方面,提供一种计算机可读存储介质,其上存储有计算机程序,该程序被处理器执行时实现前述任意一种运输方法。According to a fourth aspect of some embodiments of the present invention, there is provided a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements any of the foregoing transportation methods.
通过以下参照附图对本公开的示例性实施例的详细描述,本公开的其它特征及其优点将会变得清楚。Other features of the present disclosure and its advantages will be apparent from the following detailed description of exemplary embodiments.
为了更清楚地说明本公开实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本公开的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings to be used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present disclosure, and other drawings can be obtained from those skilled in the art without any inventive labor.
图1A、1B为相关技术中的运输场景示意图。1A and 1B are schematic diagrams of a transportation scenario in the related art.
图2A、2B为根据本公开一些实施例的运输***的示例性结构图。2A, 2B are exemplary structural diagrams of a transportation system in accordance with some embodiments of the present disclosure.
图3A和3B是根据本公开一些实施例的翻板机器人的侧视示意图。3A and 3B are side schematic views of a flapping robot in accordance with some embodiments of the present disclosure.
图4A为根据本公开另一些实施例的运输***的示例性结构图。4A is an exemplary structural diagram of a transportation system in accordance with further embodiments of the present disclosure.
图4B为根据本公开一些实施例的delta机械手的俯视示意图4B is a top plan view of a delta robot in accordance with some embodiments of the present disclosure.
图5A、5B为根据本公开一些实施例的运输***的工作过程示意图。5A, 5B are schematic illustrations of the operational process of a transport system in accordance with some embodiments of the present disclosure.
图6为根据本公开一些实施例的运输分拣场景的俯视示意图。6 is a top plan view of a transport sorting scene, in accordance with some embodiments of the present disclosure.
图7为根据本公开一些实施例的运输方法的示例性流程图。7 is an exemplary flow diagram of a shipping method in accordance with some embodiments of the present disclosure.
图8A、8B为根据本公开另一些实施例的运输方法的示例性流程图。8A, 8B are exemplary flow diagrams of a shipping method in accordance with further embodiments of the present disclosure.
图9为根据本公开又一些实施例的运输方法的示例性流程图。9 is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure.
图10为根据本公开再一些实施例的运输方法的示例性流程图。10 is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure.
图11为根据本公开再一些实施例的运输方法的示例性流程图。11 is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure.
图12为根据本公开一些实施例的运输装置的示例性结构图。12 is an exemplary structural diagram of a transport device in accordance with some embodiments of the present disclosure.
图13为根据本公开另一些实施例的运输装置的示例性结构图。FIG. 13 is an exemplary structural diagram of a transport device in accordance with further embodiments of the present disclosure.
下面将结合本公开实施例中的附图,对本公开实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本公开一部分实施例,而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的,决不作为对本公开及其应用或使用的任何限制。基于本公开中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本公开保护的范围。The technical solutions in the embodiments of the present disclosure are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present disclosure. It is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of the at least one exemplary embodiment is merely illustrative and is in no way All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present disclosure without departing from the inventive scope are the scope of the disclosure.
除非另外具体说明,否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本公开的范围。The relative arrangement of the components and steps, numerical expressions and numerical values set forth in the embodiments are not intended to limit the scope of the disclosure.
同时,应当明白,为了便于描述,附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。In the meantime, it should be understood that the dimensions of the various parts shown in the drawings are not drawn in the actual scale relationship for the convenience of the description.
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论,但在适当情况下,所述技术、方法和设备应当被视为授权说明书的一部分。Techniques, methods and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and apparatus should be considered as part of the authorization specification.
在这里示出和讨论的所有示例中,任何具体值应被解释为仅仅是示例性的,而不是作为限制。因此,示例性实施例的其它示例可以具有不同的值。In all of the examples shown and discussed herein, any specific values are to be construed as illustrative only and not as a limitation. Accordingly, other examples of the exemplary embodiments may have different values.
应注意到:相似的标号和字母在下面的附图中表示类似项,因此,一旦某一项在一个附图中被定义,则在随后的附图中不需要对其进行进一步讨论。It should be noted that similar reference numerals and letters indicate similar items in the following figures, and therefore, once an item is defined in one figure, it is not required to be further discussed in the subsequent figures.
发明人对相关技术进行了分析,发现相关技术中所采用的六轴机械手的供件节拍较慢,一般在8~10秒左右能够完成一件包裹的取放,严重影响了供件效率。本公开实施例所要解决的一个技术问题是:如何提高供件效率。The inventors analyzed the related technology and found that the six-axis robot used in the related art has a slower tempo, and generally can complete the pick-and-place of a package in about 8 to 10 seconds, which seriously affects the efficiency of the supply. One technical problem to be solved by the embodiments of the present disclosure is how to improve the efficiency of the supply.
如图1A所示,分拣机器人101、102、103…10N在排队等候中,机械手11将包裹放到队首的分拣机人上。分拣机器人101获得包裹后启动、加速并向前行驶。而如果将六轴机械手更换为其他节拍更快的机械手时,可能会出现其他问题。如图1B所示,分拣机器人101已获得包裹,其启动需要一段时间。在机械手11已经准备好了下一个包裹时,分拣机器人101仍然未启动离开,因此严重影响了供件效率。As shown in Fig. 1A, the sorting robots 101, 102, 103, ... 10N are waiting in line, and the robot 11 places the package on the sorter who is at the head of the team. The sorting robot 101 starts, accelerates, and travels forward after obtaining the package. Other problems may arise if you replace a six-axis robot with another robot that has a faster tempo. As shown in FIG. 1B, the sorting robot 101 has obtained a package, which takes a while to start. When the robot 11 has prepared the next package, the sorting robot 101 still does not start to leave, thus seriously affecting the efficiency of the supply.
图2A为根据本公开一些实施例的运输***的示例性结构图。如图2A所示,该实施例的运输***210包括输送设备2110和分拣设备2120。分拣设备2120位于输送设备2110下方,即,分拣设备2120的工作平面位于输送设备2110所在平面的下方,以便分拣设备2120可以在输送设备2110下方通行。***210中可以包括一个或多个分拣设备,图2A中仅示例性地示出一个分拣设备2120。2A is an exemplary structural diagram of a transportation system in accordance with some embodiments of the present disclosure. As shown in FIG. 2A, the transportation system 210 of this embodiment includes a conveying device 2110 and a sorting device 2120. The sorting device 2120 is located below the transport device 2110, ie the work plane of the sorting device 2120 is located below the plane in which the transport device 2110 is located so that the sorting device 2120 can pass under the transport device 2110. One or more sorting devices may be included in system 210, and only one sorting device 2120 is shown by way of example in FIG. 2A.
输送设备2110用于输送物品,例如可以用于将抓取设备放置到输送设备2110上的物品输送到输送设备2110的端部。分拣设备2120用于在经过输送设备2110的端部时,在移动状态中接收从输送设备2110的端部上掉落的物品,以便分拣设备2120对承载的物品进行分拣。The delivery device 2110 is used to deliver items, such as items that can be used to place the grasping device onto the delivery device 2110 to the end of the delivery device 2110. The sorting device 2120 is configured to receive an item dropped from the end of the conveying device 2110 in a moving state when passing the end of the conveying device 2110, so that the sorting device 2120 sorts the carried items.
在一些实施例中,分拣设备2120可以为翻板机器人或分拣机。分拣机例如可以包括交叉皮带分拣机、落袋式分拣机等等。In some embodiments, the sorting device 2120 can be a flapper or sorter. The sorter may include, for example, a cross belt sorter, a bag sorter, and the like.
通过上述实施例,分拣设备可以在移动中接收物品,即,可以在接取物品之前启动,从而可以使分拣设备的接收物品的效率与物品的供应效率相适应,提高了供件效率,并且进一步提高了分拣效率。Through the above embodiment, the sorting device can receive the item on the move, that is, can be activated before picking up the item, so that the efficiency of receiving the item of the sorting device can be adapted to the supply efficiency of the item, and the efficiency of the supply is improved. And further improve the sorting efficiency.
图2B为根据本公开另一些实施例的运输***的示例性结构图。如图2B所示,该实施例的运输***220包括输送设备2210、分拣设备2220和控制器2230。控制器2230与输送设备2210、分拣设备2220中的至少一个通信连接。控制器2230用于获取输送设备2210、分拣设备2220中的至少一个的运行设置信息;根据运行设置信息,确定运行控制信息;向输送设备2210、分拣设备2220中的至少一个发送运行控制信息,以便输送设备2210上的物品和分拣设备2220同时到达输送设备2210的端部。2B is an exemplary structural diagram of a transportation system in accordance with further embodiments of the present disclosure. As shown in FIG. 2B, the transportation system 220 of this embodiment includes a conveying device 2210, a sorting device 2220, and a controller 2230. The controller 2230 is communicatively coupled to at least one of the transport device 2210 and the sorting device 2220. The controller 2230 is configured to acquire operation setting information of at least one of the conveying device 2210 and the sorting device 2220; determine operation operation information according to the operation setting information; and send operation control information to at least one of the conveying device 2210 and the sorting device 2220. The article on the conveyor 2210 and the sorting device 2220 simultaneously reach the end of the conveyor 2210.
输送设备2210、分拣设备2220依照运行信息进行运转。运行信息中的运行设置信息是预设的已知信息,而运行控制信息是未知信息,需要控制器2230进行计算获得。The conveying device 2210 and the sorting device 2220 operate in accordance with the operation information. The running setting information in the running information is preset known information, and the running control information is unknown information, and the controller 2230 is required to perform calculation.
通过上述实施例,控制器可以根据输送设备、分拣设备的运行设置信息确定运行控制信息,以便实现输送设备上的物品与分拣设备在预设位置的同步。该预设位置即 为输送设备的端部。Through the above embodiment, the controller can determine the operation control information according to the operation setting information of the conveying device and the sorting device, so as to realize the synchronization of the articles on the conveying device and the sorting device at the preset position. This preset position is the end of the conveyor.
图3A和3B是一些实施例中翻板机器人的侧视示意图。在图3A中,翻板机器人320的托盘321上载有物品330。在图3B中,当翻板机器人320需要卸货时,例如到达分拣格口340时,翻板机器人320的托盘321可以转动以使物品330落进分拣格口340中以完成分拣。本领域技术人员应当清楚,图3A和3B仅用于示例性地介绍翻板机器人的主要结构和基本的工作原理,并未示出翻板机器人的所有部件,也不对本公开其他实施例中的翻板机器人起任何限制作用。3A and 3B are side schematic views of a flapping robot in some embodiments. In FIG. 3A, the tray 321 of the flapping robot 320 carries the article 330. In FIG. 3B, when the flapping robot 320 needs to unload, for example, when the sorting compartment 340 is reached, the tray 321 of the flapping robot 320 can be rotated to cause the article 330 to fall into the sorting compartment 340 to complete the sorting. It should be clear to those skilled in the art that FIGS. 3A and 3B are only used to exemplarily introduce the main structure and basic working principle of the flapping robot, and do not show all the components of the flapping robot, nor in other embodiments of the present disclosure. The flapper robot has any limiting effect.
图4A为根据本公开另一些实施例的运输***的示例性结构图。如图4A所示,该实施例的运输***40包括输送设备410和分拣设备420,还包括抓取设备430。抓取设备430用于以预设频率将物品输送线上的物品放置到输送设备410上。输送设备410和分拣设备420的具体实施方式可以参考前述实施例,这里不再赘述。物品输送线例如可以是包裹运输线,用于提供待分拣的无序排列的包裹、货物等物品。物品输送线可以是传送带。4A is an exemplary structural diagram of a transportation system in accordance with further embodiments of the present disclosure. As shown in FIG. 4A, the transport system 40 of this embodiment includes a transport device 410 and a sorting device 420, and also includes a gripping device 430. Grab device 430 is used to place items on the item transport line onto transport device 410 at a predetermined frequency. For specific implementations of the transporting device 410 and the sorting device 420, reference may be made to the foregoing embodiments, and details are not described herein again. The item transport line may be, for example, a parcel transport line for providing unordered packages, goods, and the like to be sorted. The item transport line can be a conveyor belt.
在一些实施例中,抓取设备430的工作高度范围的下限值可以不低于输送设备410的上表面,以降低抓取设备430和输送设备410发生误碰撞的可能性。当然,如果物品输送线的高度低于输送设备410,输送设备410所在的高度也可以位于抓取设备430的工作高度范围内,本领域技术人员可以根据需要进行选择。In some embodiments, the lower limit of the working height range of the gripping device 430 may not be lower than the upper surface of the conveying device 410 to reduce the likelihood of a mis-collision of the gripping device 430 and the conveying device 410. Of course, if the height of the article transport line is lower than the transport device 410, the height of the transport device 410 can also be within the working height range of the grasping device 430, and those skilled in the art can make selections as needed.
例如,设分拣设备运行的平面标高为0m,则翻板机器人的车体表面标高可以为0.2m,输送设备的表面标高可以为0.35m,抓取设备的工作面范围标高为0.35m~0.55m。本领域技术人员应当清楚,以上数据仅为说明各个设备之间的位置关系而进行示例性描述的数据,根据需要,本公开实施例的***中的设备可以具有其他高度,这里不再赘述。For example, if the plane elevation of the sorting equipment is 0m, the surface height of the body of the flapping robot can be 0.2m, the surface elevation of the conveying equipment can be 0.35m, and the working surface range of the grabbing equipment is 0.35m~0.55. m. It should be clear to those skilled in the art that the above data is only for the exemplary description of the positional relationship between the respective devices. The devices in the system of the embodiments of the present disclosure may have other heights as needed, and details are not described herein again.
在一些实施例中,抓取设备430可以是delta机械手,delta机械手的俯视示意图可以参考图4B。delta机械手的承载能力强、自重负荷比小、动态性能好、工作节拍快,其工作节拍可以达到2s取放一件物品,提高了供件效率。In some embodiments, the gripping device 430 can be a delta robot, and a top view of the delta robot can refer to FIG. 4B. The delta manipulator has strong bearing capacity, small self-weight load ratio, good dynamic performance and fast working tempo. Its working beat can reach one item for 2s, which improves the efficiency of the supply.
本领域技术人员应当清楚,虽然图4A中的分拣设备420的结构更接近于delta机械手,但是图4A仅为一个示例性的实施例。根据需要,本领域技术人员可以选择其他类型的抓取设备。It will be apparent to those skilled in the art that although the structure of the sorting apparatus 420 of Figure 4A is closer to the delta robot, Figure 4A is merely one exemplary embodiment. Those skilled in the art can select other types of gripping devices as needed.
图5A、5B为根据本公开一些实施例的运输***的工作过程示意图。在图5A中,delta机械手530从包裹传送带540上抓取物品550并放置到输送设备——供件传送带 520上。排队在队首的翻板机器人510启动并向前行驶。翻板机器人510的启动时刻可以与delta机械手530放置物品550的放置时刻为同一时刻,也可以稍早于或晚于放置时刻,只要翻板机器人510与供件传送带520上的物品同时到达传送带端部即可。在图5B中,供件传送带520已经将物品550输送到供件传送带520的端部,翻板机器人510也已经到达供件传送带520的端部。当物品550从供件传送带520的端部掉落,可以直接落在翻板机器人510的托盘上。从而,翻板机器人510可以载着物品550继续向前行驶。5A, 5B are schematic illustrations of the operational process of a transport system in accordance with some embodiments of the present disclosure. In Figure 5A, the delta robot 530 grabs the article 550 from the parcel conveyor 540 and places it onto the conveyor device 520. The flapping robot 510, which is lined up at the head of the team, starts and moves forward. The start timing of the flapping robot 510 may be the same as the placement time of the article 550 placed by the delta robot 530, or may be earlier or later than the placement time, as long as the flapper 510 and the article on the infeed conveyor belt 520 arrive at the conveyor end simultaneously. You can do it. In FIG. 5B, the infeed conveyor 520 has conveyed the article 550 to the end of the infeed conveyor 520, which has also reached the end of the infeed conveyor 520. When the article 550 is dropped from the end of the infeed conveyor 520, it can fall directly on the tray of the flipper 510. Thus, the flapper 510 can carry the article 550 to continue moving forward.
在一些实施例中,分拣设备还可以用于检测当前位置,以判断当前应当采用的行驶模式。分拣设备可以通过扫描地面上的二维码等标识确定当前位置,也可以采用GPS(Global Positioning System,全球定位***)等定位设备确定当前位置,这里不再赘述。In some embodiments, the sorting device can also be used to detect the current position to determine the driving mode that should currently be employed. The sorting device can determine the current position by scanning a two-dimensional code or the like on the ground, and can also determine the current position by using a positioning device such as a GPS (Global Positioning System), and details are not described herein.
图6为根据本公开一些实施例的供件分拣场景的俯视示意图,为了便于观看和描述,图6中省略了部分设备和装置。如图6所示,根据分拣设备的不同阶段的任务,可以将该应用场景划分为排队等待区61、供件区62、识别区63、分拣区64。在排队等待区61,分拣设备610依次排列等候,并且处于低速移动状态,以在有分拣设备离开排队等待区61后缓慢向前移动。启动位置611位于排队等待区61、供件区62的交界处。当分拣设备识别到当前处于启动位置611时,可以进入接件模式,以立即启动或停留预设时间后启动,并根据预设的行驶信息移动到输送设备621的端部,以接收由抓取设备622放置并同时到达输送设备621的端部后掉落的物品,并在接到物品后以预设的用于长距离运输的速度高速行驶。到达识别区63后,分拣设备进入识别模式,可以减速运行或停止,以便视觉识别装置识别分拣设备承载的货物,并根据货物信息的类型指示分拣设备去往相应的分拣格口640。分拣格口640位于分拣区64,分拣设备到达分拣格口640后可以投入物品。然后,分拣设备返回排队等待区61排队,以等待下一次的分拣工作。6 is a top plan view of a feed sorting scene in accordance with some embodiments of the present disclosure, some of which are omitted in FIG. 6 for ease of viewing and description. As shown in FIG. 6, the application scenario may be divided into a queuing waiting area 61, a supply area 62, an identification area 63, and a sorting area 64 according to tasks of different stages of the sorting apparatus. In the queuing waiting area 61, the sorting devices 610 are sequentially arranged and are in a low speed moving state to move forward slowly after the sorting device leaves the queuing waiting area 61. The start position 611 is located at the junction of the queue waiting area 61 and the supply area 62. When the sorting device recognizes that it is currently in the starting position 611, it can enter the connector mode to start immediately after starting or staying for a preset time, and move to the end of the conveying device 621 according to the preset driving information to receive The pick-up device 622 is placed at the same time and reaches the end of the transport device 621 and then falls off, and after receiving the item, travels at a high speed at a preset speed for long-distance transport. After reaching the identification area 63, the sorting device enters the recognition mode, and can be decelerated to run or stop, so that the visual recognition device recognizes the goods carried by the sorting device, and instructs the sorting device to go to the corresponding sorting port 640 according to the type of the cargo information. . The sorting compartment 640 is located in the sorting area 64, and the sorting device can enter the sorting compartment 640 to inject the item. The sorting device then returns to the queue waiting area 61 to queue for the next sorting operation.
在一些实施例中,预设的行驶信息例如可以为速度、加速度等信息,以指示分拣设备如何行驶。例如,控制器可以用于获取输送设备、分拣设备中的至少一个的运行设置信息;根据运行设置信息,确定运行控制信息;向输送设备、分拣设备中的至少一个发送运行控制信息,以便输送设备上的物品和分拣设备同时到达输送设备的端部。In some embodiments, the preset travel information may be, for example, information such as speed, acceleration, etc., to indicate how the sorting device is traveling. For example, the controller may be configured to acquire operation setting information of at least one of the conveying device and the sorting device; determine operation control information according to the operation setting information; and send operation control information to at least one of the conveying device and the sorting device, so that The items on the conveyor and the sorting equipment arrive at the end of the conveyor simultaneously.
又例如,控制器可以进一步用于根据物品被放置到输送设备的位置到输送设备端部的距离、以及输送设备的运行速度,计算物品在输送设备上的输送时间;根据分拣 设备的预设的启动位置到输送设备端部的距离以及所述输送时间,计算分拣设备的行驶信息;向分拣设备发送行驶信息和预设的启动位置。分拣设备用于在到达预设的启动位置时等待预设时长后启动并根据预设的行驶信息移动,以便与输送设备上的物品同时到达输送设备的端部。设启动位置与输送设备的端部之间的距离为S,分拣设备从启动位置移动到输送设备的端部的时间、即行驶时长为t,则有公式(1)的关系。For another example, the controller may be further configured to calculate a delivery time of the article on the delivery device according to a distance from the position where the article is placed to the delivery device to the end of the delivery device, and the running speed of the delivery device; according to the preset of the sorting device The distance from the starting position to the end of the conveying device and the conveying time, the driving information of the sorting device is calculated; the driving information and the preset starting position are transmitted to the sorting device. The sorting device is adapted to be activated after waiting for a preset length of time after reaching the preset starting position and to move according to the preset driving information so as to reach the end of the conveying device at the same time as the item on the conveying device. It is assumed that the distance between the starting position and the end of the conveying device is S, and the time when the sorting device moves from the starting position to the end of the conveying device, that is, the running time is t, there is a relationship of formula (1).
S=f(c,t) (1)S=f(c,t) (1)
其中,c为行驶信息,f为距离计算函数。如果分拣设备采用匀加速运动的方式,则公式(1)具体可以为公式(2)。此时c为加速度信息。Where c is the driving information and f is the distance calculation function. If the sorting device adopts a uniform acceleration motion, the formula (1) may specifically be the formula (2). At this time, c is acceleration information.
如果分拣设备采用先加速、再匀速运动的方式,则公式(1)具体可以为公式(3),其中,c={c
1,c
2},t=t
1+t
2。c
1、t
1分别表示加速运行段的加速度和时间,c
2、t
2分别表示匀速运行段的速度和时间。
If the sorting device adopts the method of first accelerating and then moving at a uniform speed, the formula (1) may specifically be the formula (3), wherein c={c 1 , c 2 }, t=t 1 +t 2 . c 1 and t 1 respectively represent the acceleration and time of the acceleration running section, and c 2 and t 2 respectively represent the speed and time of the constant speed running section.
如果预设的情景为抓取设备放置物品和分拣设备启动同时发生,则t值可以等于物品的输送时长,即分拣设备在启动位置所等待的预设时长可以为0。If the preset situation is that the picking device places the item and the sorting device starts simultaneously, the value of t may be equal to the conveying time of the item, that is, the preset time waiting for the sorting device to wait at the starting position may be zero.
根据需要,本领域技术人员还可以采用其他的计算方式,这里不再赘述。在确定了预设的行驶信息之后,控制器可以将行驶信息预先发送给每个分拣设备进行存储,从而分拣设备可以根据一次性的指示来按照统一的节奏和方式自动化地工作,提高了供件效率。Those skilled in the art can also adopt other calculation methods as needed, and details are not described herein again. After determining the preset driving information, the controller may pre-send the driving information to each sorting device for storage, so that the sorting device can automatically work according to the one-time instruction in a uniform rhythm and manner, and the working condition is improved. Supply efficiency.
在一些实施例中,控制器可以进一步用于根据分拣设备的预设的启动位置与输送设备端部的距离以及输送时间,计算分拣设备的行驶速度、或者分拣设备的初始的行驶速度和加速度。分拣设备可以进一步用于在加速或匀速经过输送设备的端部时,接收输送设备上掉落的物品。即,分拣设备在启动后可以加速行驶,或者在加速到一定速度后匀速行驶。从而,分拣设备接收待分拣的物品时无需停止或者减速即可获取输送设备上掉落的物品,提高了供件效率,从而进一步提升了分拣效率。In some embodiments, the controller may be further configured to calculate the travel speed of the sorting device or the initial travel speed of the sorting device according to the distance between the preset starting position of the sorting device and the end of the conveying device and the conveying time. And acceleration. The sorting device can be further adapted to receive items that are dropped on the transport device when accelerating or uniformly passing the end of the transport device. That is, the sorting device can accelerate after starting, or travel at a constant speed after accelerating to a certain speed. Therefore, the sorting device can receive the items to be sorted without stopping or decelerating to obtain the items dropped on the conveying device, thereby improving the efficiency of the feeding, thereby further improving the sorting efficiency.
在一些实施例中,控制器可以进一步用于获取所述输送设备用于输送物品的第一速度;确定分拣设备在经过所述输送设备的端部时的第二速度,其中,第一速度和第二速度的差距小于预设范围。从而,输送设备可以用于以第一速度将物品输送到输送设备的端部,分拣设备在启动后运行经过输送设备的端部时具有第二速度。物品在输送设备上的运行速度和分拣设备的运行速度接近。从而,物品可以更准确、更稳定地 掉落在分拣设备上。In some embodiments, the controller may be further configured to obtain a first speed of the conveying device for conveying the item; determining a second speed of the sorting device as it passes the end of the conveying device, wherein the first speed The difference from the second speed is less than the preset range. Thereby, the conveying device can be used to convey the articles at the first speed to the end of the conveying device, the sorting device having a second speed when running through the end of the conveying device after starting. The running speed of the item on the conveying device is close to the running speed of the sorting device. Thereby, the article can be dropped onto the sorting device more accurately and stably.
在一些实施例中,控制器可以进一步用于向所述多个分拣设备发送预设的时间间隔,以便多个分拣设备以预设的时间间隔依次启动并经过所述输送设备的端部,以接收从输送设备上掉落的物品其中。预设的时间间隔为相邻物品被放置到输送设备上的时间间隔,例如抓取设备放置物品的时间间隔。从而可以使得供件过程可以自动化地进行,分拣设备也可以在高效的供件过程中准确地获取每个物品。在一个分拣设备启动并出发后,排在刚刚出发的分拣设备之后的分拣设备会向前移动到启动位置等待启动。因此,在一些实施例中,分拣设备从等待队伍的第二位移动到启动位置的时间与分拣设备在启动位置的等待时间之和可以等于分拣设备的启动间隔时间。In some embodiments, the controller may be further configured to send the plurality of sorting devices a preset time interval such that the plurality of sorting devices sequentially start at a preset time interval and pass through the end of the conveying device To receive items dropped from the conveyor. The preset time interval is the time interval at which adjacent items are placed on the transport device, such as the time interval at which the grab device places the items. Thereby, the feeding process can be automated, and the sorting device can also accurately acquire each item in an efficient feeding process. After a sorting device has been started and started, the sorting device that has been placed after the sorting device that has just started will move forward to the starting position and wait for the start. Thus, in some embodiments, the sum of the time that the sorting device moves from the second position of the waiting team to the starting position and the waiting time of the sorting device at the starting position may be equal to the starting interval of the sorting device.
在一些实施例中,输送设备的输送区域可以沿输送方向被划分为多个子区域。如图6所示,图6中的传送带表面被虚线划分为两个子区域。每个子区域对应一列分拣设备,每列中的分拣设备用于在经过输送设备的相应子区域的端部时,接收从输送设备的端部上掉落的物品。从而,可以在抓取设备的节拍非常快的情况下,使***中的其他装置也能够配合其节拍进行工作,提高了供件效率。在一些实施例中,抓取设备可以用于将物品放置在输送设备的子区域,例如可以使得物品前后交错排列。In some embodiments, the delivery area of the delivery device can be divided into a plurality of sub-areas along the conveying direction. As shown in Fig. 6, the surface of the conveyor belt in Fig. 6 is divided into two sub-areas by a broken line. Each sub-area corresponds to a column of sorting devices, and the sorting device in each column is used to receive items that are dropped from the end of the conveying device as they pass the ends of the respective sub-areas of the conveying device. Thereby, other devices in the system can be operated in conjunction with the beats in the case where the beat of the gripping device is very fast, improving the efficiency of the supply. In some embodiments, the grasping device can be used to place an item in a sub-area of the delivery device, for example, such that the items can be staggered in tandem.
下面根据图7描述本公开运输方法的实施例。An embodiment of the transport method of the present disclosure is described below with reference to FIG.
图7为根据本公开一些实施例的运输方法的示例性流程图。如图7所示,该实施例的运输方法包括步骤S702~S706。7 is an exemplary flow diagram of a shipping method in accordance with some embodiments of the present disclosure. As shown in FIG. 7, the transportation method of this embodiment includes steps S702 to S706.
在步骤S702中,获取输送设备、分拣设备中的至少一个的运行设置信息。在一些实施例中,输送设备可以是传送带。In step S702, operation setting information of at least one of the conveying device and the sorting device is acquired. In some embodiments, the delivery device can be a conveyor belt.
在步骤S704中,根据所述运行设置信息,确定运行控制信息。In step S704, the operation control information is determined based on the operation setting information.
在步骤S706中,向输送设备、分拣设备中的至少一个发送控制信息,以便输送设备上的物品和分拣设备同时到达输送设备的端部。In step S706, control information is transmitted to at least one of the conveying device and the sorting device such that the articles on the conveying device and the sorting device simultaneously reach the end of the conveying device.
通过上述实施例,分拣设备可以在移动中接收物品,即,可以在接取物品之前启动,从而可以使分拣设备的接收物品的效率与抓取装置的工作效率相适应,提高了供件效率,并且进一步提高了分拣效率。Through the above embodiment, the sorting device can receive the item on the move, that is, can be activated before picking up the item, so that the efficiency of receiving the item of the sorting device can be adapted to the working efficiency of the grasping device, and the supply is improved. Efficiency and further improved sorting efficiency.
图8A为根据本公开另一些实施例的运输方法的示例性流程图。如图8A所示,该实施例的运输方法包括步骤S802~S806。FIG. 8A is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure. As shown in FIG. 8A, the transportation method of this embodiment includes steps S802 to S806.
在步骤S802中,根据物品被放置到输送设备的位置到输送设备端部的距离、以及输送设备的运行速度,计算物品在输送设备上的输送时间。In step S802, the conveyance time of the article on the conveying device is calculated based on the distance from the position where the article is placed to the conveying device to the end of the conveying device, and the running speed of the conveying device.
在步骤S804中,根据分拣设备的预设的启动位置到输送设备端部的距离以及输送时间,计算分拣设备的行驶信息。In step S804, the travel information of the sorting device is calculated according to the distance from the preset starting position of the sorting device to the end of the conveying device and the conveying time.
在步骤S806中,向分拣设备发送行驶信息和预设的启动位置。In step S806, the travel information and the preset start position are transmitted to the sorting device.
图8B为根据本公开又一些实施例的运输方法的示例性流程图。如图8B所示,该实施例的运输方法包括步骤S812~S816。FIG. 8B is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure. As shown in FIG. 8B, the transportation method of this embodiment includes steps S812 to S816.
在步骤S812中,将物品的输送时长与分拣设备在预设的启动位置所等待的预设时长之差确定为分拣设备的行驶时长。In step S812, the difference between the delivery duration of the article and the preset duration that the sorting device waits at the preset activation position is determined as the travel duration of the sorting device.
在步骤S814中,根据启动位置与输送设备的端部之间的距离以及分拣设备的行驶时长确定行驶信息。In step S814, the travel information is determined based on the distance between the start position and the end of the transport device and the travel time of the sorting device.
在步骤S816中,向分拣设备发送启动位置、行驶信息、在启动位置等待的预设时长,以便分拣设备在到达预设的启动位置后,等待预设时长并启动,并根据预设的行驶信息移动、以便与输送设备上的物品同时到达所述输送设备的端部。In step S816, the starting position, the driving information, and the preset duration waiting at the starting position are sent to the sorting device, so that the sorting device waits for the preset time and starts after reaching the preset starting position, and according to the preset The travel information is moved to arrive at the end of the transport device simultaneously with the items on the transport device.
从而,可以根据物品的运行时长以及分拣设备的行驶距离确定分拣设备的行驶信息,以便物品和分拣设备同时到达输送设备的端部。Thereby, the travel information of the sorting device can be determined according to the running time of the article and the travel distance of the sorting device, so that the article and the sorting device reach the end of the transport device at the same time.
在一些实施例中,根据分拣设备的预设的启动位置与输送设备端部的距离以及所述输送时间,计算分拣设备的行驶速度、或者分拣设备的初始的行驶速度和加速。从而,分拣设备可以在加速或匀速经过输送设备的端部时,接收输送设备上掉落的物品。从而,分拣设备接收待分拣的物品时无需额外调整自身的行驶计划即可获取输送设备上掉落的物品,提高了供件效率,从而进一步提升了分拣效率。In some embodiments, the travel speed of the sorting device, or the initial travel speed and acceleration of the sorting device, is calculated based on the distance of the preset starting position of the sorting device from the end of the transport device and the delivery time. Thereby, the sorting device can receive the items dropped on the conveying device when accelerating or passing through the end of the conveying device at a constant speed. Therefore, when the sorting device receives the item to be sorted, the item dropped on the conveying device can be obtained without additionally adjusting its own driving plan, thereby improving the efficiency of the feeding, thereby further improving the sorting efficiency.
图9为根据本公开又一些实施例的运输方法的示例性流程图。如图9所示,该实施例的运输方法包括步骤S902~S908。9 is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure. As shown in FIG. 9, the transportation method of this embodiment includes steps S902 to S908.
在步骤S902中,获取输送设备用于输送物品的第一速度。In step S902, a first speed at which the conveying device is used to convey the item is acquired.
在步骤S904中,确定分拣设备在经过所述输送设备的端部时的第二速度,并将第二速度发送给分拣设备,其中,第一速度和第二速度的差距小于预设范围。In step S904, determining a second speed of the sorting device when passing the end of the conveying device, and transmitting the second speed to the sorting device, wherein the difference between the first speed and the second speed is less than a preset range .
在步骤S906中,输送设备以第一速度输送物品,以便将抓取设备放置到输送设备上的物品匀速输送到输送设备的端部。In step S906, the conveying device conveys the article at a first speed so that the article on which the gripping device is placed on the conveying device is uniformly conveyed to the end of the conveying device.
在步骤S908中,分拣设备在启动后运行经过输送设备的端部时具有第二速度,并接收从输送设备的端部上掉落的物品。In step S908, the sorting device has a second speed when running through the end of the conveying device after starting, and receives an item dropped from the end of the conveying device.
从而,物品可以更准确、更稳定地掉落在分拣设备上。Thereby, the article can be dropped onto the sorting device more accurately and stably.
在一些实施例中,抓取设备可以以预设频率将物品输送线上的物品放置到输送设 备上。分拣设备也可以与之配合,完成有规律的、自动化的供件和分拣过程。下面参考图10描述本公开运输方法的实施例。In some embodiments, the gripping device can place items on the item transport line onto the transport device at a predetermined frequency. Sorting equipment can also be used to complete a regular, automated supply and sorting process. An embodiment of the transport method of the present disclosure is described below with reference to FIG.
图10为根据本公开再一些实施例的运输方法的示例性流程图。如图10所示,该实施例的运输方法包括步骤S1002~S1006。10 is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure. As shown in FIG. 10, the transportation method of this embodiment includes steps S1002 to S1006.
在步骤S1002中,抓取设备以预设的时间间隔将物品输送线上的物品放置到输送设备上。In step S1002, the grabbing device places the articles on the article transport line onto the transport device at predetermined time intervals.
在步骤S1004中,向多个分拣设备发送预设的时间间隔。In step S1004, a preset time interval is transmitted to the plurality of sorting devices.
在步骤S1006中,多个分拣设备以预设的时间间隔依次启动,以接收从输送设备的端部上掉落的物品。In step S1006, a plurality of sorting devices are sequentially activated at preset time intervals to receive articles dropped from the end of the conveying device.
从而可以使得供件过程可以自动化地进行,分拣设备也可以在高效的供件过程中准确地获取每个物品。Thereby, the feeding process can be automated, and the sorting device can also accurately acquire each item in an efficient feeding process.
在一些实施例中,输送设备还可以同时输送多列物品。输送设备的输送区域沿输送方向被划分为多个子区域,在每个子区域对应的方向上有一列等待的分拣设备。下面参考图11描述本公开运输方法的实施例。In some embodiments, the delivery device can also deliver multiple rows of items simultaneously. The conveying area of the conveying device is divided into a plurality of sub-areas in the conveying direction, and a row of waiting sorting devices is arranged in a corresponding direction of each sub-area. An embodiment of the transport method of the present disclosure is described below with reference to FIG.
图11为根据本公开再一些实施例的运输方法的示例性流程图。如图11所示,该实施例的运输方法包括步骤S1102~S1104。11 is an exemplary flow chart of a shipping method in accordance with further embodiments of the present disclosure. As shown in FIG. 11, the transportation method of this embodiment includes steps S1102 to S1104.
在步骤S1102中,抓取设备将物品轮流放置在输送设备的沿输送方向划分的各个子区域。In step S1102, the gripping device places the articles in turn in respective sub-areas divided by the conveying direction of the conveying device.
在步骤S1104中,分拣设备在经过输送设备的子区域的端部时,接收输送设备上掉落的物品。In step S1104, the sorting device receives the item dropped on the conveying device as it passes through the end of the sub-area of the conveying device.
从而,可以在抓取设备的节拍非常快的情况下,使***中的其他装置也能够配合其节拍进行工作,提高了供件效率。Thereby, other devices in the system can be operated in conjunction with the beats in the case where the beat of the gripping device is very fast, improving the efficiency of the supply.
图12为根据本发明另一些实施例的运输装置的结构示意图。如图12所示,该实施例的运输装置120包括:存储器1210以及耦接至该存储器1210的处理器1220,处理器1220被配置为基于存储在存储器1210中的指令,执行前述任意一个实施例中的运输方法。Figure 12 is a schematic view showing the structure of a transport apparatus according to other embodiments of the present invention. As shown in FIG. 12, the transport device 120 of this embodiment includes a memory 1210 and a processor 1220 coupled to the memory 1210, the processor 1220 being configured to perform any of the foregoing embodiments based on instructions stored in the memory 1210. Transportation method.
其中,存储器1210例如可以包括***存储器、固定非易失性存储介质等。***存储器例如存储有操作***、应用程序、引导装载程序(Boot Loader)以及其他程序等。The memory 1210 may include, for example, a system memory, a fixed non-volatile storage medium, or the like. The system memory stores, for example, an operating system, an application, a boot loader, and other programs.
图13为根据本发明又一些实施例的运输装置的结构示意图。如图13所示,该实 施例的运输装置130包括:存储器1310以及处理器1320,还可以包括输入输出接口1330、网络接口1340、存储接口1350等。这些接口1330,1340,1350以及存储器1310和处理器1320之间例如可以通过总线1360连接。其中,输入输出接口1330为显示器、鼠标、键盘、触摸屏等输入输出设备提供连接接口。网络接口1340为各种联网设备提供连接接口。存储接口1350为SD卡、U盘等外置存储设备提供连接接口。Figure 13 is a schematic view showing the structure of a transport apparatus according to still another embodiment of the present invention. As shown in FIG. 13, the transport device 130 of this embodiment includes a memory 1310 and a processor 1320, and may further include an input/output interface 1330, a network interface 1340, a storage interface 1350, and the like. These interfaces 1330, 1340, 1350 and the memory 1310 and the processor 1320 can be connected, for example, via a bus 1360. The input/output interface 1330 provides a connection interface for input and output devices such as a display, a mouse, a keyboard, and a touch screen. Network interface 1340 provides a connection interface for various networked devices. The storage interface 1350 provides a connection interface for an external storage device such as an SD card or a USB flash drive.
本发明的实施例还提供一种计算机可读存储介质,其上存储有计算机程序,其特征在于,该程序被处理器执行时实现前述任意一种运输方法。Embodiments of the present invention also provide a computer readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor to implement any of the foregoing transportation methods.
本领域内的技术人员应当明白,本公开的实施例可提供为方法、***、或计算机程序产品。因此,本公开可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且,本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用非瞬时性存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art will appreciate that embodiments of the present disclosure can be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware aspects. Moreover, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code. .
本公开是参照根据本公开实施例的方法、设备(***)、和计算机程序产品的流程图和/或方框图来描述的。应理解为可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器,使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present disclosure. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中,使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品,该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上,使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理,从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.
以上所述仅为本公开的较佳实施例,并不用以限制本公开,凡在本公开的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本公开的保护范围之内。The above description is only the preferred embodiment of the present disclosure, and is not intended to limit the disclosure. Any modifications, equivalent substitutions, improvements, etc., which are within the spirit and principles of the present disclosure, should be included in the protection of the present disclosure. Within the scope.
Claims (20)
- 一种运输***,包括:A transportation system comprising:输送设备,用于输送物品;Conveying equipment for conveying articles;分拣设备,所述分拣设备位于所述输送设备下方,用于在经过所述输送设备的端部时,在移动状态中接收从所述输送设备的端部上掉落的物品。A sorting device, located below the conveying device, for receiving articles falling from the end of the conveying device in a moving state when passing the end of the conveying device.
- 根据权利要求1所述的运输***,还包括:The transportation system of claim 1 further comprising:控制器,用于获取输送设备、分拣设备中的至少一个的运行设置信息;根据所述运行设置信息,确定运行控制信息;向输送设备、分拣设备中的至少一个发送运行控制信息,以便输送设备上的物品和分拣设备同时到达输送设备的端部。a controller, configured to acquire operation setting information of at least one of the conveying device and the sorting device; determine operation control information according to the operation setting information; and send operation control information to at least one of the conveying device and the sorting device, so that The items on the conveyor and the sorting equipment arrive at the end of the conveyor simultaneously.
- 根据权利要求2所述的运输***,其中,所述控制器进一步用于根据物品被放置到输送设备的位置到输送设备端部的距离、以及输送设备的运行速度,计算物品在输送设备上的输送时间;根据分拣设备的预设的启动位置到输送设备端部的距离以及所述输送时间,计算分拣设备的行驶信息;向分拣设备发送行驶信息和预设的启动位置。The transportation system according to claim 2, wherein said controller is further configured to calculate an item on the conveying device based on a distance from the position at which the article is placed to the conveying device to the end of the conveying device, and the running speed of the conveying device The conveying time; calculating the driving information of the sorting device according to the preset starting position of the sorting device to the end of the conveying device and the conveying time; and transmitting the driving information and the preset starting position to the sorting device.
- 根据权利要求2所述的运输***,其中,The transportation system according to claim 2, wherein所述控制器进一步用于将物品的输送时长与分拣设备在预设的启动位置所等待的预设时长之差确定为分拣设备的行驶时长,根据启动位置与输送设备的端部之间的距离以及分拣设备的行驶时长确定行驶信息,并向分拣设备发送启动位置、行驶信息、在启动位置等待的预设时长;The controller is further configured to determine a difference between a delivery duration of the item and a preset duration that the sorting device waits at the preset activation position as a travel time of the sorting device, according to the start position and the end of the transport device The distance and the travel time of the sorting device determine the travel information, and send the start position, the travel information, and the preset duration waiting at the start position to the sorting device;所述分拣设备还用于在到达预设的启动位置后,等待预设时长并启动,并根据预设的行驶信息移动,以便与输送设备上的物品同时到达所述输送设备的端部。The sorting device is further configured to wait for a preset duration and start after reaching the preset starting position, and move according to the preset driving information to reach the end of the conveying device at the same time as the item on the conveying device.
- 根据权利要求2所述的运输***,其中,The transportation system according to claim 2, wherein所述控制器进一步用于根据分拣设备的预设的启动位置与输送设备端部的距离以及所述输送时间,计算分拣设备的行驶速度、或者分拣设备的初始的行驶速度和加速度。The controller is further configured to calculate a travel speed of the sorting device or an initial travel speed and acceleration of the sorting device according to the distance between the preset starting position of the sorting device and the end of the transport device and the transport time.
- 根据权利要求2所述的运输***,其中,The transportation system according to claim 2, wherein控制器进一步用于获取所述输送设备用于输送物品的第一速度;确定分拣设备在经过所述输送设备的端部时的第二速度,其中,所述第一速度和第二速度的差距小于预设范围。The controller is further for obtaining a first speed of the conveying device for conveying the article; determining a second speed of the sorting device as it passes the end of the conveying device, wherein the first speed and the second speed The gap is less than the preset range.
- 根据权利要求1所述的运输***,其中,所述运输***包括多个分拣设备,所述控制器进一步用于向所述多个分拣设备发送预设的时间间隔,以便所述多个分拣设备以预设的时间间隔依次启动并经过所述输送设备的端部,所述预设的时间间隔为相邻物品被放置到输送设备上的时间间隔。The transport system of claim 1 wherein said transport system includes a plurality of sorting devices, said controller further for transmitting a predetermined time interval to said plurality of sorting devices for said plurality of The sorting device is sequentially activated at a predetermined time interval and passes through the end of the conveying device, the predetermined time interval being a time interval at which adjacent items are placed on the conveying device.
- 根据权利要求1所述的运输***,其中,The transportation system according to claim 1, wherein所述输送设备的输送区域具有沿输送方向划分的多个子区域;The conveying area of the conveying device has a plurality of sub-areas divided along the conveying direction;每个子区域对应一列分拣设备,每列中的分拣设备用于在经过输送设备的相应子区域的端部时,接收从所述输送设备的端部上掉落的物品。Each sub-zone corresponds to a column of sorting devices, and the sorting device in each column is adapted to receive articles dropped from the ends of the conveyor device as they pass the ends of the respective sub-regions of the conveyor device.
- 根据权利要求1所述的运输***,还包括:The transportation system of claim 1 further comprising:抓取设备,用于以预设频率将物品输送线上的物品放置到输送设备上。A grabbing device for placing items on the item transport line onto the transport device at a predetermined frequency.
- 根据权利要求9所述的运输***,The transportation system according to claim 9,所述输送设备的输送区域具有沿输送方向划分的多个子区域,所述抓取设备用于将物品放置在输送设备的子区域。The conveying area of the conveying device has a plurality of sub-areas divided in the conveying direction, the gripping device for placing the item in a sub-area of the conveying device.
- 根据权利要求1所述的运输***,其中,所述分拣设备为翻板机器人或分拣机。The transportation system according to claim 1, wherein the sorting device is a flapping robot or a sorter.
- 根据权利要求9所述的运输***,其中,所述抓取设备为delta机械手。The transport system of claim 9 wherein said gripping device is a delta robot.
- 一种运输方法,包括:A method of transportation comprising:获取输送设备、分拣设备中的至少一个的运行设置信息;Obtaining operation setting information of at least one of the conveying device and the sorting device;根据所述运行设置信息,确定运行控制信息;Determining operation control information according to the operation setting information;向输送设备、分拣设备中的至少一个发送控制信息,以便输送设备上的物品和分拣设备同时到达输送设备的端部。Control information is transmitted to at least one of the conveying device and the sorting device such that the articles on the conveying device and the sorting device simultaneously reach the end of the conveying device.
- 根据权利要求13所述的运输方法,其中,所述根据所述运行设置信息,确定运行控制信息包括:The transportation method according to claim 13, wherein the determining the operation control information according to the operation setting information comprises:根据物品被放置到输送设备的位置到输送设备端部的距离、以及输送设备的运行速度,计算物品在输送设备上的输送时间;Calculating the delivery time of the item on the conveying device according to the distance from the position where the article is placed to the conveying device to the end of the conveying device, and the running speed of the conveying device;根据分拣设备的预设的启动位置到输送设备端部的距离以及所述输送时间,计算分拣设备的行驶信息。The travel information of the sorting device is calculated based on the distance from the preset starting position of the sorting device to the end of the transport device and the transport time.
- 根据权利要求13所述的运输方法,其中,The transportation method according to claim 13, wherein所述根据所述运行设置信息,确定运行控制信息包括:Determining the operation control information according to the operation setting information includes:将物品的输送时长与分拣设备在预设的启动位置所等待的预设时长之差确定为 分拣设备的行驶时长;Determining the difference between the delivery duration of the article and the preset duration of the sorting device waiting at the preset activation position as the travel time of the sorting device;根据启动位置与输送设备的端部之间的距离以及分拣设备的行驶时长确定行驶信息;Determining driving information according to the distance between the starting position and the end of the conveying device and the driving time of the sorting device;所述向输送设备、分拣设备中的至少一个发送控制信息包括:The sending the control information to the at least one of the conveying device and the sorting device includes:向分拣设备发送启动位置、行驶信息、在启动位置等待的预设时长,以便分拣设备在到达预设的启动位置后,等待预设时长并启动,并根据预设的行驶信息移动、以便与输送设备上的物品同时到达所述输送设备的端部。Sending a starting position, driving information, and a preset duration waiting at the starting position to the sorting device, so that the sorting device waits for the preset time and starts after reaching the preset starting position, and moves according to the preset driving information, so as to The end of the delivery device is reached simultaneously with the item on the delivery device.
- 根据权利要求13所述的运输方法,其中,根据分拣设备的预设的启动位置与输送设备端部的距离以及所述输送时间,计算分拣设备的行驶速度、或者分拣设备的初始的行驶速度和加速度。The transport method according to claim 13, wherein the travel speed of the sorting device or the initial state of the sorting device is calculated according to the distance between the preset starting position of the sorting device and the end of the conveying device and the conveying time Driving speed and acceleration.
- 根据权利要求13所述的运输方法,其中,The transportation method according to claim 13, wherein获取所述输送设备用于输送物品的第一速度;Obtaining a first speed at which the conveying device is used to convey an item;确定分拣设备在经过所述输送设备的端部时的第二速度,其中,所述第一速度和第二速度的差距小于预设范围。Determining a second speed of the sorting device as it passes the end of the transport device, wherein the difference between the first speed and the second speed is less than a predetermined range.
- 根据权利要求13所述的运输方法,其中,The transportation method according to claim 13, wherein向所述多个分拣设备发送预设的时间间隔,以便所述多个分拣设备以预设的时间间隔依次启动并经过所述输送设备的端部,所述预设的时间间隔为相邻物品被放置到输送设备上的时间间隔。Sending a preset time interval to the plurality of sorting devices, so that the plurality of sorting devices are sequentially activated and passed through the end of the conveying device at a preset time interval, the preset time interval being phase The time interval between the adjacent items being placed on the conveyor.
- 一种运输装置,包括:A transport device comprising:存储器;以及Memory;耦接至所述存储器的处理器,所述处理器被配置为基于存储在所述存储器中的指令,执行如权利要求13~18中任一项所述的运输方法。A processor coupled to the memory, the processor being configured to perform the transportation method of any one of claims 13-18 based on instructions stored in the memory.
- 一种计算机可读存储介质,其上存储有计算机程序,该程序被处理器执行时实现权利要求13~18中任一项所述的运输方法。A computer readable storage medium having stored thereon a computer program for performing the transportation method according to any one of claims 13 to 18 when executed by a processor.
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CN112371521B (en) * | 2020-10-15 | 2022-07-08 | 上海申雪供应链管理有限公司 | Express delivery operation equipment |
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