WO2020252878A1 - 货物分拣***及方法 - Google Patents

货物分拣***及方法 Download PDF

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Publication number
WO2020252878A1
WO2020252878A1 PCT/CN2019/101091 CN2019101091W WO2020252878A1 WO 2020252878 A1 WO2020252878 A1 WO 2020252878A1 CN 2019101091 W CN2019101091 W CN 2019101091W WO 2020252878 A1 WO2020252878 A1 WO 2020252878A1
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WIPO (PCT)
Prior art keywords
container
conveyor
target
goods
sorting
Prior art date
Application number
PCT/CN2019/101091
Other languages
English (en)
French (fr)
Inventor
张良友
丰效录
陈德平
Original Assignee
北京旷视机器人技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 北京旷视机器人技术有限公司 filed Critical 北京旷视机器人技术有限公司
Priority to JP2021555862A priority Critical patent/JP2022525232A/ja
Priority to US17/611,844 priority patent/US20220193730A1/en
Publication of WO2020252878A1 publication Critical patent/WO2020252878A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/003—Destination control; Electro-mechanical or electro- magnetic delay memories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B07C3/04—Drum-type sorting machines or having circularly arranged sorting compartments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • 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
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/10—Apparatus characterised by the means used for detection ofthe destination
    • B07C3/12—Apparatus characterised by the means used for detection ofthe destination using electric or electronic detecting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/18—Devices or arrangements for indicating destination, e.g. by code marks
    • 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
    • B07C2301/00—Sorting according to destination
    • B07C2301/0008—Electronic Devices, e.g. keyboard, displays

Definitions

  • the embodiments of the present disclosure relate to a goods sorting system and method.
  • one of the key links is the sorting of goods, which specifically includes batch goods that are mixed together, and the goods are classified according to the destination and other rules, and the goods of each category are collected for collection. In the next step of transportation or delivery.
  • common goods sorting methods include: the sorter picks all the goods in an order, and according to the information of the goods, the goods are delivered to the corresponding bin of the goods, when a bin is full , The full box can be shipped.
  • the embodiments of the present disclosure provide a system and method for sorting goods, so as to solve the problems of low efficiency of the sorting operation and low accuracy of the sorting operation.
  • an embodiment of the present invention provides a goods sorting system, and the method may include:
  • a sorter a plurality of container conveyors and a processor, a plurality of sorting conveyors are arranged along the outer side of the sorter, and each sorting conveyor is set to correspond to a container conveyor, and each container conveyor is arranged There are multiple containers;
  • the processor is used for:
  • the target container conveyor and the target container corresponding to the goods determine the target container conveyor and the target container corresponding to the goods
  • control the sorter According to the relative positional relationship between the first target sorting conveyor where the goods are located on the sorter and the target container conveyor, control the sorter to transfer the first target sorting conveyor Align with the target container conveyor;
  • an embodiment of the present invention provides a method for sorting goods.
  • the method may include:
  • the target container conveyor and the target container corresponding to the goods determine the target container conveyor and the target container corresponding to the goods
  • control the sorter According to the relative positional relationship between the first target sorting conveyor where the goods are located on the sorter and the target container conveyor, control the sorter to transfer the first target sorting conveyor Align with the target container conveyor;
  • a computer-readable storage medium is provided, and a computer program is stored on the computer-readable storage medium.
  • the computer program is executed by a processor, the above-mentioned goods sorting method is implemented A step of.
  • a device including a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program being executed by the processor When realizing the steps of the above-mentioned goods sorting method.
  • the goods sorting system includes: a sorter, a plurality of container conveyors, and a processor.
  • a plurality of sorting conveyors are arranged along the outer side of the sorter, and each sorting conveyor is set to correspond to one
  • the container conveyor is equipped with multiple containers on each container conveyor; the processor is used to: obtain the information of the goods; determine the target container conveyor and the target container corresponding to the goods according to the information of the goods; according to the position of the goods on the sorter
  • the relative positional relationship between the first target sorting conveyor and the target container conveyor control the sorter to align the first target sorting conveyor with the target container conveyor; control the first target sorting conveyor to move the goods Transport to the target container of the target container conveyor.
  • the processor automatically allocates the corresponding target container conveyor and target container for the goods according to the information of the goods, and realizes the interaction between the goods sorting system and the goods information system, so as to improve the sorting accuracy.
  • the present disclosure controls the alignment of the first target sorting conveyor with goods temporarily stored with the target container conveyor of the goods to be delivered through the processor, and controls the first target sorting conveyor to transport the goods In the target container of the target container conveyor, the accuracy and automation of the sorting operation are further improved, and the problems of low sorting efficiency and poor sorting accuracy caused by manual sorting are solved.
  • Figure 1 is a structural block diagram of a goods sorting system provided by an embodiment of the present invention.
  • Figure 2 is a specific structure diagram of a goods sorting system provided by an embodiment of the present invention.
  • FIG. 3 is a flowchart of execution steps of a processor provided by an embodiment of the present invention.
  • Figure 4 is a specific structure diagram of a sorting conveyor provided by an embodiment of the present invention.
  • Figure 5 is a specific structure diagram of a container conveyor provided by an embodiment of the present invention.
  • FIG. 6 is a diagram of the relative position relationship between the feeding port of the first target sorting conveyor and the target container conveyor according to an embodiment of the present invention
  • FIG. 7 is a flowchart of specific execution steps of a processor according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of the distribution of container placement positions provided by an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of the distribution of another container placement position provided by an embodiment of the present invention.
  • FIG. 11 is a flowchart of specific execution steps of another processor provided by an embodiment of the present invention.
  • Figure 12 is an assembly structure diagram between a sorter and a feeding conveyor belt provided by an embodiment of the present invention.
  • FIG. 13 is a flowchart of specific execution steps of another processor according to an embodiment of the present invention.
  • Figure 16 is a top view of an assembly structure of a sorter and a container turntable according to an embodiment of the present invention
  • Figure 17 is a top view of an assembly structure between a container carousel and a box changing conveyor according to an embodiment of the present invention
  • Figure 18 is a flow chart of the steps of a method for sorting goods according to an embodiment of the present invention.
  • Fig. 19 is a block diagram of a device according to an embodiment of the present invention.
  • FIG. 1 is a structural block diagram of a goods sorting system provided by an embodiment of the present invention.
  • the system may include: a sorter 10 including a plurality of sorting conveyors 101, and a sorter 10 including a plurality of containers 201 A plurality of container conveyors 20 and a processor 30, the processor 30 is respectively connected to the sorter 10 and the plurality of container conveyors 20, the processor 30 is used to control the sorter 10 to drive the sorting conveyor 101 to move, and The container conveyor 20 is controlled to move the position of the container 201 set on the container conveyor 20.
  • Fig. 2 is a specific structure diagram of a goods sorting system provided by an embodiment of the present invention.
  • the system may include: a sorter 10, a plurality of container conveyors 20, and A processor (not shown in Figure 2), wherein a plurality of sorting conveyors 101 are arranged along the outer side of the sorter 10, and each sorting conveyor 101 is provided with a corresponding container conveyor 20, and each container A plurality of containers 201 are provided on the conveyor 20.
  • the sorter 10 may have a ring structure, and the center of the sorter 10 may be provided with a drive motor 50, which handles By controlling the drive motor 50, the sorter 10 can drive the sorting conveyor 101 to move.
  • a multi-component sorting conveyor 101 is connected, and a corresponding container conveyor 20 is provided for each sorting conveyor 101.
  • the multi-pack conveyor 101 and the corresponding multi-group container conveyor 20 may be arranged radially at the center of the sorter 10.
  • the sorter 10 and the multiple container conveyors 20 can be fixed in position by the supporting bracket 40.
  • the shape of the sorter 10 may be a ring shape.
  • the shape of the sorter 10 may also be other closed shapes, such as a rectangle, a diamond, and the like.
  • the processor can control the drive motor 50 to make the sorter 10 rotate with the center of the sorter 10 as the origin and drive the sorting conveyor 101 to move.
  • the shape of the sorter 10 may also be a non-closed shape, such as a U-shape, an L-shape, a linear shape, and the like.
  • the processor can control the driving motor 50 to make the sorter 10 perform a reciprocating movement and drive the sorting conveyor 101 to move.
  • FIG. 3 is a flowchart of execution steps of a processor provided by an embodiment of the present invention, and the processor is configured to execute the following steps:
  • Step 101 Obtain information about the goods.
  • the goods identification code (such as bar code, two-dimensional code, one-dimensional code, etc.) can be attached to the outer packaging of the goods, and the visual scanning device such as a code scanner can be used to check Scan the product identification code to obtain the information of the goods.
  • the information of the goods includes but is not limited to the goods information of the goods and the order information to which the goods belong.
  • the visual scanning device can send the information of the goods to the processor.
  • the visual scanning device can be installed in the feeding conveyor belt. After the goods are delivered to the feeding conveyor belt and the information of the goods is obtained through the visual scanning device, the feeding conveyor belt can deliver the goods to the sorter. The first target sorting conveyor in the idle state is temporarily stored.
  • Step 102 Determine a target container conveyor and a target container corresponding to the goods according to the information of the goods.
  • a corresponding target container conveyor needs to be allocated to it, and it is determined that the cargo needs to be delivered to the target container in the target container conveyor.
  • a corresponding target container conveyor and target container may be allocated to the list, so that all the goods in the list are delivered To the target container of the target container conveyor.
  • the destination corresponding to the goods may be assigned to the goods a target container conveyor and a target container corresponding to the destination, so that the goods are delivered to The destination corresponds to the target container of the target container conveyor.
  • the target container conveyor and target container corresponding to the other information may be assigned to the other information according to the other information of the goods in the information of the goods.
  • Other information includes but not limited to the classification of the goods, and the goods are fragile/not fragile. , Cargo size, etc.
  • Step 103 Control the sorter to sort the first target according to the relative position relationship between the first target sorting conveyor where the goods are located on the sorter and the target container conveyor.
  • the picking conveyor is aligned with the target container conveyor.
  • FIG. 4 is a specific structure diagram of a sorting conveyor provided by an embodiment of the present invention, in which the sorting conveyor 101 may include a two-way conveyor belt 1013, and two oppositely arranged on the two-way conveyor belt 1013.
  • the first feeding port 1012 and the second feeding port 1013 in the conveying direction, through the first feeding port 1012, the second feeding port 1013, and the bidirectional conveying capacity of the bidirectional conveyor belt 1013, the sorting conveyor 101 can transfer the bidirectional conveyor belt 1013
  • the goods on the board are delivered in two opposite delivery directions.
  • the design of the sorting conveyor 101 can also retain only the first feeding port 1012 or only the second feeding port 1013, and replace the two-way conveyor belt 1013 with a corresponding one-way conveyor belt to reduce The number of parts of the sorting conveyor 101 reduces its production cost.
  • the sorting conveyor 101 may further include a tray or a dumper, and a first feeding port and a second feeding port respectively arranged on the tray or the dumper along the radial direction of the sorter 10.
  • the tray or the tipping bucket can be controlled to incline in the direction of the first feeding port or the second feeding port, so that the goods placed on it slide down into the corresponding container below through the first feeding port or the second feeding port. 5, FIG.
  • FIG. 5 is a specific structure diagram of a container conveyor provided by an embodiment of the present invention, in which, in the container conveyor 20, a plurality of container placement positions 202 arranged side by side can be divided, and the number is less than or
  • the containers 201 equal to the container placement position 202 are arranged side by side in the container placement position 202.
  • the container 201 may be a device capable of accommodating goods such as a bin, a magazine, or a bag.
  • the processor can move the container placement position 202 by controlling the container conveyor 20 to achieve the purpose of changing the position of the container 201 in the container conveyor 20. It should be noted that in practical applications, the number of container placement positions 202 and containers 201 can be increased or decreased according to actual needs.
  • the embodiment of the present invention does not limit the number of container placement positions 202 and containers 201.
  • the processor may include an encoder.
  • the encoder can detect the relative positional relationship between a sorting conveyor and a container conveyor, and determine the sorting conveyor and the container based on the relative positional relationship. Whether the conveyors are aligned.
  • the processor can perform the operation of step 104 to transport the goods to the target container of the target container conveyor.
  • the processor can control the drive motor 50 to drive the sorter 10 to move until the first target sorting conveyor A is aligned with the target container conveyor B to stop.
  • the processor controls the drive motor 50 to drive the sorter 10 to move, and moves the first target sorting conveyor A to a path aligned with the target container conveyor B, based on the shortest path
  • the processor can control the drive motor 50 to drive the sorter 10 to rotate counterclockwise until the first target sorting Conveyor A moves to align with the target container conveyor B; compared to the processor controlling the drive motor 50 to drive the sorter 10 to rotate clockwise, until the first target sorting conveyor A moves to align with the target container conveyor B, The path length corresponding to counterclockwise rotation is greatly reduced.
  • Step 104 Control the first target sorting conveyor to transport the goods to the target container of the target container conveyor.
  • the processor when the first target sorting conveyor moves to align with the target container conveyor, the processor needs to further determine whether the feeding port of the first target sorting conveyor is in line with the target container conveyor.
  • the target containers are aligned. If they are aligned, the processor can control the conveyor belt on the first target sorting conveyor to directly work and deliver the goods from the feeding port to the target container; if they are not aligned, the processor can control the target container conveyor to The target container is moved to be aligned with the feeding port of the first target sorting conveyor, and the conveyor belt on the first target sorting conveyor is further controlled to deliver the goods from the feeding port to the target container.
  • the processor may control the target container conveyor to move the target container to the feeding port of the first target sorting conveyor
  • the aligned path needs to follow the shortest path principle.
  • FIG. 6 is a diagram of the relative position relationship between the feeding port of the first target sorting conveyor and the target container conveyor according to an embodiment of the present invention, where the first target sorting conveyor A There can be two oppositely set feeding ports C and D, and the position of the target container conveyor is currently fixed. There are 9 container placement positions in the target container conveyor B, and 5 containers: container 1, container 2, container 3. , The container 4 and the container 5 are arranged side by side in the 9 container placement positions from the third container placement position to the seventh container placement position from the left. If the current target container is the container 5, move the container 5 to be aligned with the feeding port C or the feeding port D. There are two moving paths.
  • Path 1 Move the entire 5 containers to the right by one square, so that the container 5 and the feeding port ⁇ D is aligned.
  • Path 2 Move the entire 5 containers to the left by two grids so that the container 5 is aligned with the feeding port C. Based on the shortest path principle, the processor can preferentially move the container 5 to be aligned with the feeding port D according to the path 1.
  • the processor judging whether the feeding port of a sorting conveyor is aligned with a container in the container conveyor may include setting an identifier including the identifier of the target container on each target container (such as a two-dimensional Code, barcode, one-dimensional code, etc.), and a code scanner is set at the feeding port, and when the feeding port of the sorting conveyor is aligned with the container, the identifier is within the scanning range of the code scanner.
  • the code scanner installed at the position of the feeding port of the first target sorting conveyor can scan the identification of the target container Symbol to determine that the feeding port of the first target sorting conveyor is aligned with the target container in the target container conveyor.
  • the goods sorting system includes: a sorter, a plurality of container conveyors, and a processor.
  • a plurality of sorting conveyors are arranged along the outer side of the sorter, and each sorter
  • the conveyor setting corresponds to a container conveyor, and each container conveyor is equipped with multiple containers;
  • the processor is used to: obtain the information of the goods; determine the target container conveyor and the target container corresponding to the goods according to the information of the goods;
  • the relative positional relationship between the first target sorting conveyor and the target container conveyor on the sorter control the sorter to align the first target sorting conveyor with the target container conveyor; control the first target sorting Conveyor conveys goods to the target container of the target container conveyor.
  • the processor automatically allocates the corresponding target container conveyor and target container for the goods according to the information of the goods, and realizes the interaction between the goods sorting system and the goods information system, so as to improve the sorting accuracy.
  • the present disclosure uses the processor to control the alignment of the first target sorting conveyor of the goods and the target container conveyor of the goods to be delivered through the processor, and control the first target sorting conveyor to transport the goods In the target container of the target container conveyor, the accuracy and automation of the sorting operation are further improved, and the problems of low sorting efficiency and poor sorting accuracy caused by manual sorting are solved.
  • FIG. 7 is a flowchart of specific execution steps of a processor according to an embodiment of the present invention.
  • the processor is configured to specifically execute the following steps:
  • Step 1041 When the feeding port of the first target sorting conveyor is aligned with the target container, control the first target sorting conveyor to transport the goods to the target container.
  • the processor when the first target sorting conveyor moves to align with the target container conveyor, the processor needs to further determine whether the feeding port of the first target sorting conveyor is in line with the target container conveyor. The target containers are aligned. If they are aligned, the processor can control the conveyor belt on the first target sorting conveyor to work directly, and deliver the goods from the feeding port to the target container.
  • Step 1042 When the feeding port of the first target sorting conveyor is not aligned with the target container, control the target container conveyor to move the target container to the position of the first target sorting conveyor. The feeding ports are aligned, and the goods on the first target sorting conveyor are transported to the target container.
  • the processor when the first target sorting conveyor moves to align with the target container conveyor, the processor needs to further determine whether the feeding port of the first target sorting conveyor is in line with the target container conveyor. The target containers are aligned. If they are not aligned, the processor can control the target container conveyor to move the target container to be aligned with the feeding port of the first target sorting conveyor, and further control the work of the conveyor belt on the first target sorting conveyor, The goods are delivered from the feeding port to the target container.
  • step 1042 may specifically include:
  • Step 10421 Determine the current position of the target container.
  • determining the current position of the target container may specifically be determining the position of the target container in the target container conveyor; in another case, determining the current position of the target container specifically It can be to determine the relative position between the target container and the feeding port.
  • a distance measuring sensor 203 is provided at the end of the container conveyor 20 facing away from the sorting conveyor 101.
  • Step 10421 may specifically include:
  • Step A1 Obtain the target separation distance between the distance measuring sensor and the container facing the distance measuring sensor through the distance measuring sensor.
  • a distance measuring sensor 203 may be provided at the end of the side of the container conveyor facing away from the sorting conveyor. When all containers stop moving on the container conveyor, the distance measuring sensor 203 can measure the distance a between the distance measuring sensor 203 and the container 1 that the distance measuring sensor 203 faces.
  • Step A2 Determine the current position of the target container according to the target separation distance.
  • the container conveyor is divided into a plurality of container placement positions, and the spacing distances between the plurality of container placement positions and the end are different.
  • the separation distance is the container placement position of the target separation distance, which is determined as the current position of the target container.
  • the total length b of the 9 container placement positions can be known according to the length of each container placement position. Further According to the distance a obtained in step A1, it can be known that the distance a in the total length b is the length of the two container placement positions, so it can be known that there are 5 containers: container 1, container 2, container 3, container 4, and container 5 Set side by side in 9 container placement positions, from the third container placement position to the seventh container placement position from the left. At this time, no matter which of the 5 containers is the target container, you can know that the target container is in 9 containers. The specific position in the container placement position.
  • Step 10422 according to the current position of the target container, determine that the target container conveyor moves the target container to a first path aligned with the feeding port.
  • the first path is to move the target container to the path with the shortest length among the multiple paths aligned with the feeding port.
  • the target container conveyor moves the target container to be aligned with the feeding port, and the first path is also At the same time, it is the shortest path.
  • Step 10423 According to the first path, control the target container conveyor to move the target container to be aligned with the feeding port.
  • the processor can control the target container conveyor according to the first path with the shortest length among the multiple paths to move the target container to the feeding port. Aligned.
  • the feeding port includes a first feeding port C and a second feeding port D located on both sides of the first target sorting conveyor A, and the feeding direction of the first feeding port C is the same as The feeding direction of the second feeding port D is opposite; step 10422 to step 10423 can also be specifically implemented through step B1 to step B2:
  • Step B1 control the target container conveyor to move the target container to be aligned with one of the first feeding port and the second feeding port.
  • Step B2 the second path is the path with the shortest length among the multiple paths aligned with the first feeding port and the second feeding port to move the target container.
  • the feeding port includes a first feeding port C and a second feeding port D located on both sides of the first target sorting conveyor A, if the current target container is container 5, then container 5 is moved To be aligned with the feeding port C or the feeding port D, there are two moving paths.
  • Path 1 Move the 5 containers to the right by one square so that the container 5 is aligned with the feeding port D.
  • Path 2 Move the entire 5 containers to the left by two grids so that the container 5 is aligned with the feeding port C. Based on the shortest path principle, the processor can preferentially move the container 5 to be aligned with the feeding port D according to the path 1.
  • the embodiment of the present invention may specifically include two container placement positions division schemes: Scheme one is that five containers arranged side by side are arranged in nine container placement positions arranged side by side.
  • the second scheme is that five containers arranged side by side are arranged in the seven container placement positions arranged side by side.
  • solution one in the container conveyor 20, there are nine container placement positions arranged side by side, and five containers arranged side by side are arranged in the container placement position, from left to right Judgment in the right order, the first feeding port C is aligned with the third one of the nine container placement positions, and the second feeding port D is aligned with the nine container placement positions The sixth container placement position among the placement positions is aligned;
  • the first state includes setting the five containers at the third container placement position to the seventh container placement position among the nine container placement positions;
  • the second state includes setting the five containers at the second container placement position to the sixth container placement position among the nine container placement positions;
  • the third state includes setting the five containers at the first container placement position to the fifth container placement position among the nine container placement positions;
  • the fourth state includes setting the five containers at the fourth container placement position to the eighth container placement position among the nine container placement positions;
  • the fifth state includes setting the five containers at the fifth container placement position to the ninth container placement position among the nine container placement positions;
  • the second path is to move the five containers in the first state along the first direction to In the second state, the first direction is the direction in which the second feeding port D points to the first feeding port C;
  • the second path is to move the five containers in the first state to the fourth container along the second direction.
  • the second direction is the direction in which the first feeding port C points to the second feeding port D;
  • the second path is to move the five containers in the second state along the second direction to In the first state, the second direction is the direction in which the first feeding port C points to the second feeding port D;
  • the second path is to move the five containers in the second state to the third container along the first direction.
  • the first direction is the direction in which the second feeding port D points to the first feeding port C;
  • the second path is to move the five containers in the third state along the second direction to In the second state, the second direction is the direction in which the first feeding port C points to the second feeding port D;
  • the second path is to move the five containers in the third state along the second direction to In the first state, the second direction is the direction in which the first feeding port C points to the second feeding port D;
  • the second path is to move the five containers in the fourth state along the first direction to In the first state, the first direction is the direction in which the second feeding port D points to the first feeding port C;
  • the second path is to move the five containers in the fourth state along the first direction to In the second state, the first direction is the direction in which the second feeding port D points to the first feeding port C;
  • the second path is to move the five containers in the fifth state along the first direction to In the first state, the first direction is the direction in which the second feeding port D points to the first feeding port C;
  • the second path is to move the five containers in the fifth state along the first direction to the fourth container.
  • the first direction is the direction in which the second feeding port D points to the first feeding port C;
  • the second path is to move the five containers in the fifth state along the first direction to the second container.
  • the first direction is the direction in which the second feeding port D points to the first feeding port C.
  • the container conveyor 20 is divided into seven container placement positions arranged side by side, five containers arranged side by side are provided in the container placement position, and the first A feeding port C is aligned with the second container placement position of the seven container placement positions, and the second feeding port D is aligned with the fifth one of the seven container placement positions Align the container placement position;
  • the sixth state includes setting the five containers at the second container placement position to the sixth container placement position among the seven container placement positions;
  • the seventh state includes setting the five containers at the first container placement position to the fifth container placement position among the seven container placement positions;
  • the eighth state includes setting the five containers at the third container placement position to the seventh container placement position among the seven container placement positions;
  • the second path is to move the five containers in the sixth state along the first direction to In the seventh state, the first direction is the direction in which the second feeding port D points to the first feeding port C;
  • the second path is to move the five containers in the sixth state along the second direction to the eighth container.
  • the second direction is the direction in which the first feeding port C points to the second feeding port D;
  • the second path is to move the five containers in the seventh state along the second direction to In the sixth state, the second direction is the direction in which the first feeding port C points to the second feeding port D;
  • the second path is to move the five containers in the seventh state to the eighth container along the second direction.
  • the second direction is the direction in which the first feeding port C points to the second feeding port D;
  • the second path is to move the five containers in the eighth state along the first direction to In the sixth state, the first direction is the direction in which the second feeding port D points to the first feeding port C;
  • the second path is to move the five containers in the eighth state along the first direction to In the seventh state, the first direction is the direction in which the second feeding port D points to the first feeding port C.
  • FIG. 10 is a flowchart of specific execution steps of a processor according to an embodiment of the present invention. Based on step 102 in FIG. 3, the processor is configured to specifically execute the following steps:
  • Step 1021 If the goods are the first goods to be sorted in the first list to which the goods belong, allocate the target container conveyor and the target container to the goods.
  • the processor can allocate the target container conveyor and the target container corresponding to the destination to the cargo based on the information of the cargo, so that the cargo is delivered to the target container conveyor corresponding to the destination.
  • the target container can assign the target container conveyor and target container corresponding to the other information according to the other information of the goods in the information of the goods.
  • Other information includes but not limited to the classification of the goods, and the goods are fragile/not fragile. , Cargo size, etc.
  • the processor can allocate the corresponding target container conveyor and target container to the first list based on the information of the goods and the first list to which the goods belong, so that all the goods in the first list are delivered to the target container for transportation Machine in the target container.
  • the number of goods in the first list is large, or the volume of the goods is large.
  • the target container conveyor and the target container of the goods can be any one of the multiple target container conveyors or the multiple target containers in the first list.
  • the processor is specifically configured to: allocate the target container conveyor and the target container to the goods based on the principle of minimum workload.
  • the processor may allocate the target container conveyor and the target container to the goods based on the principle of minimum workload. Based on the principle of minimum workload, it can be based on the shortest path when the sorting conveyor where the goods are moved to the target container conveyor, and the target container conveyor moves the target container to the sorting conveyor. The path to the mouth is the shortest.
  • step 1021 may specifically include:
  • Step C1 in the case that the goods are the first goods to be sorted in the first list to which the goods belong, determine a container conveyor with empty containers.
  • the processor can obtain the information of the container conveyor B and the container conveyor E.
  • Step C2 If a plurality of the empty container conveyors are included, it is determined to move the first target sorting conveyor to a third path aligned with the empty container conveyor, and the third path is to move the The first target sorting conveyor moves to the path with the shortest length among the multiple paths aligned with the empty container conveyor.
  • Path 1 control the first target sorting conveyor A to rotate clockwise until the first target sorting conveyor A is aligned with the container conveyor B.
  • Path 2 control the first target sorting conveyor A to rotate counterclockwise until the first target sorting conveyor A is aligned with the container conveyor B.
  • Path 3 control the first target sorting conveyor A to rotate clockwise until the first target sorting conveyor A is aligned with the container conveyor E.
  • Path 4 control the first target sorting conveyor A to rotate counterclockwise until the first target sorting conveyor A is aligned with the container conveyor E.
  • the shortest path 2 can be determined as the third path.
  • Step C3 Assign the empty container conveyor corresponding to the third path as the target container conveyor of the goods.
  • the empty container conveyor B corresponding to the third path can be assigned as the target container conveyor of the goods. It should be understood that if there are multiple third paths, any one of the third paths is assigned as the target container conveyor of the goods.
  • Step C4 Determine the empty container closest to the feeding port of the first target sorting conveyor in the target container conveyor as the target container of the goods.
  • the target container conveyor generally has multiple containers. If there are multiple containers, the distance between the first target sorting conveyor and the target container conveyor can be adjusted. The empty container closest to the feeding port of a target sorting conveyor is determined as the target container of the goods.
  • step A1 to step A2 the method of determining the empty container closest to the feeding port of the first target sorting conveyor can be specifically referred to the above step A1 to step A2, which will not be repeated here.
  • Step 1022 In the case that the goods are not the first goods to be sorted in the first list to which the goods belong, determine the container conveyors and containers allocated for the first list as the target The container conveyor and the target container.
  • the goods are not the first goods to be sorted in the first list to which the goods belong, it is indicated that the first list is undergoing a sorting operation and is already
  • the first list assigns the corresponding target container conveyor and target container, and the goods can be delivered to the target container of the target container conveyor.
  • FIG. 11 is a flowchart of specific execution steps of a processor according to an embodiment of the present invention. Based on step 104 in FIG. 3, the processor is configured to specifically execute the following steps:
  • Step 1043 After controlling the first target sorting conveyor to transport the goods to the target container, determine an adjacent container adjacent to the target container.
  • Step 1044 When there is currently no goods corresponding to the target container on the multiple sorting conveyors of the sorter, prioritize the allocation of the adjacent containers to the first goods to be sorted in the second list As the target container.
  • Step 1045 Control the sorter to move the second target sorting conveyor where the first goods to be sorted in the second list is located to align with the container conveyor where the adjacent containers are located, and control The target container conveyor moves the adjacent containers to be aligned with the feeding opening of the second target sorting conveyor.
  • Step 1046 Control the second target sorting conveyor to transport the first goods to be sorted in the second list to the adjacent containers.
  • the container conveyor 20 is divided into nine parallel container placement positions, and five parallel container placement positions are provided in the container placement position.
  • steps 1043 to 1046 are explained.
  • the container 2 and the container 5 can be determined as adjacent containers, and the delivery demand of the container 2 and the container 5 will be given priority. And assign the container conveyor where container 2 and container 5 are located to the second list that has not been sorted as the target container conveyor, and set the second target sorting conveyor where the first goods to be sorted in the second list are located Move to be aligned with the container conveyor where the container 2 and the container 5 are located, and control the container conveyor where the container 2 and the container 5 are located to move the container 2 and the container 5 to the feeding port of the second target sorting conveyor Align, and transport the first goods to be sorted in the second list to the adjacent containers. When the container 2 and the container 5 have no goods to be put in, the demand of the container 3 will be responded to.
  • container 1 and container 4 >container 2 and container 5>container 3;
  • container 3> (container 2 and container 5> container 1 and container 4>;
  • container 3 >container 1 and container 4>container 2 and container 5;
  • FIG. 12 is an assembly structure diagram between a sorter and a feeding conveyor belt provided by an embodiment of the present invention.
  • the system further includes: a feeding conveyor belt 60.
  • the conveyor belt 60 is used to connect with one of the sorting conveyors 101 of the sorter 10.
  • FIG. 13 is a flowchart of specific execution steps of a processor provided by an embodiment of the present invention, and the processor is configured to execute the following steps:
  • Step 201 When it is determined that there is no goods in the sorting conveyor currently docked with the feed conveyor belt, control the feed conveyor belt to convey the sorting conveyor to the sorting conveyor currently docked with the feed conveyor belt. goods.
  • the feeding conveyor belt can be composed of two-end conveyor belts, one is the conveyor belt 601 where the vision scanning system is located; the other is the conveyor belt 602 that is next to the sorter and transports goods to the sorter.
  • the processor needs to make a logical judgment and analyze that the level has not been put into the goods or the put goods have been successfully put in the target container to ensure the sorting and transportation behind the conveyor belt 602
  • the material space of machine 101 is empty. It should be understood that the feeding conveyor belt is not limited to the structure shown in FIG. 12, as long as it can meet the requirements for conveying goods to the sorting conveyor 101.
  • the processor can control the feeding conveyor belt 60 to convey to the sorting conveyor currently docked with the feeding conveyor belt 60
  • the machine 101 transports the goods.
  • Step 202 When it is determined that there are goods in the sorting conveyor currently docked with the feeding conveyor belt, control the feeding conveyor belt to stop working until the sorting conveyor docked next time by the feeding conveyor belt When there is no goods, the feeding conveyor belt is controlled to convey the goods to the sorting conveyor docked with the feeding conveyor belt.
  • the processor can control the movement of the sorter 10, and move the sorting conveyor 101 with no goods to the conveyor belt.
  • the belt 602 is aligned and controls the feeding conveyor belt 60 to convey the goods to a new sorting conveyor 101 docked with the feeding conveyor belt 60.
  • the specific cargo information sent by the sending module of the infeed conveyor 60 to the processor should include the following two items:
  • New goods flag bit This is a data bit in the internal memory of the processor. Whenever the visual scanning device scans new goods, the sending module of the feeding conveyor belt 60 will set this position to True by communicating with the processor; when the processor receives this signal bit from False to True, the processor It will be known that there is a new product on the conveyor belt 601, and the processor must control the conveyor belt 601 to stop at this time. The purpose of stopping the conveyor belt 601 is to wait for the right time to send the goods onto the sorting conveyor.
  • the identification of the target container the sending module of the feeding conveyor belt 60 transmits the identification of the target container for the goods to the processor. After the processor receives the bin number, it controls the sorting conveyor and the container conveyor to drop the goods. Into the correct target container.
  • the sending module of the feeding conveyor belt 60 should set the "new cargo flag position" to False when the goods leave the visual scanning device, and set it to True when new goods are scanned.
  • a photoelectric switch sending end 603 is provided at the end of the feeding conveyor belt 60; when the sorting conveyor 101 is docked with the feeding conveyor belt 60, the sorting conveyor A photoelectric switch receiving end 604 is provided at one end of 101 facing away from the feeding conveyor belt 60.
  • FIG. 14 is a flowchart of specific execution steps of a processor provided by an embodiment of the present invention, and the processor is configured to execute the following steps:
  • Step 301 When the sending end of the photoelectric switch is connected to the receiving end of the photoelectric switch, it is determined that there is no goods in the sorting conveyor docked with the feeding conveyor belt.
  • the photoelectric switch transmitting terminal 603 and the photoelectric switch receiving terminal 604 When the photoelectric switch transmitting terminal 603 and the photoelectric switch receiving terminal 604 are connected, it means that there is no obstacle between the photoelectric switch transmitting terminal 603 and the photoelectric switch receiving terminal 604, which prevents the photoelectric switch transmitting terminal 603 from sending signals to the photoelectric switch receiving terminal 604. With this, it can be judged that there is no goods in the sorting conveyor docked by the feeding conveyor belt.
  • Step 302 When the sending end of the photoelectric switch is disconnected from the receiving end of the photoelectric switch, it is determined that there is goods in the sorting conveyor docked with the feeding conveyor belt.
  • the device can determine that there is goods in the sorting conveyor docked by the feeding conveyor belt.
  • the processor includes a first logic controller and a first encoder; the system further includes a first driver, the first driver is used to drive the sorter to drive the sorting conveyor to move;
  • a driver may be the driver 50 shown in FIG. 2.
  • the first driver may be a servo driver.
  • FIG. 15 is a flowchart of specific execution steps of a processor according to an embodiment of the present invention. Based on step 103 in FIG. 3, the processor is configured to execute the following steps:
  • Step 1031 The first encoder is used to determine a first relative positional relationship between the first target sorting conveyor and the target container conveyor.
  • the first logic controller can control the sorter 10 to rotate at a certain speed through the first driver; and, taking a certain point on the circumference of the sorter 10 as the origin, passing
  • the first encoder can measure the rotation angle of the sorter 10 based on the origin in real time, so that the real-time circumferential position of each sorting conveyor 101 on the sorter 10 based on the origin can be calculated. That is, the first encoder can obtain the first relative positional relationship between the first target sorting conveyor and the target container conveyor based on this method.
  • the system further includes: a container carousel 70, and the plurality of container conveyors 20 are arranged at positions corresponding to the plurality of sorting conveyors 101 in the container carousel 70;
  • Step 1031 may specifically include:
  • Step 10311 Determine a first rotation angle of the target container conveyor based on a first origin, where the first origin is a preset origin on the side of the container carousel.
  • Step 10312 Determine the second rotation angle of the first target sorting conveyor based on the second origin based on the first rotation angle, and determine the second rotation angle as the first target sorting conveyor A first relative positional relationship with the target container conveyor, the second origin is a preset origin corresponding to the first origin at the side of the sorter;
  • the second rotation angle is the same as the first rotation angle.
  • Figure 16 is a top view of the assembly structure of a sorter and a container turntable provided by an embodiment of the present invention. It is assumed that the outer contours of the sorter 10 and the container turntable 70 are circular, and the sorter 10 and the container If the carousel 70 has the same center, the first origin F can be set at the 12 o'clock position of the container carousel 70, the second origin G can be set at the 12 o'clock position of the sorter 10, and the first target sorting conveyor A At the 6 o'clock position of the sorter 10, the target container conveyor B is at the 3 o'clock position of the container carousel 70.
  • the first encoder may determine that the first rotation angle of the target container conveyor B based on the first origin F is 90 degrees.
  • the first encoder can determine the second rotation required based on the second origin G when the strong first target sorting conveyor A moves to align with the target container conveyor B according to the first rotation angle The angle is 90 degrees, and the second rotation angle is determined as the first relative positional relationship between the first target sorting conveyor A and the target container conveyor B.
  • the first logic controller controls the sorter 10 to rotate 90 degrees counterclockwise to align the first target sorting conveyor A with the target container conveyor B.
  • Step 1032 The first logic controller is configured to control the first driver to drive the sorter to sort and transport the first target according to the first relative positional relationship determined by the first encoder The machine is aligned with the target container conveyor.
  • the first logic controller can plan to move the first target sorting conveyor of the sorter to the target container.
  • the two paths (clockwise rotation path and counterclockwise rotation path) are aligned by the machine, and based on the shortest path principle, the shortest path is selected from the two paths, and according to the shortest path, the first logic controller controls the first The driver drives the sorter to align the first target sorting conveyor with the target container conveyor.
  • Figure 17 is a top view of an assembly structure between a container carousel and a container changing conveyor according to an embodiment of the present invention.
  • the system further includes: a container changing conveyor 80 and a container carousel 70.
  • the multiple container conveyors 20 are arranged at positions corresponding to the multiple sorting conveyors in the container carousel 70, and the box changing conveyor 80 is arranged around the container carousel 70.
  • the processor is used to specifically perform the following steps:
  • Step 401 In the case that there is a container that meets the replacement condition, control the rotation of the container turntable, align the container conveyor to be replaced where the container that meets the replacement condition is located with the container change conveyor, and replace the empty container. Describe the container that meets the replacement conditions.
  • the remaining storage space of a preset number of containers on a container conveyor is less than or equal to a preset threshold, it is determined that there is a container that meets the container changing condition.
  • the container that meets the replacement condition needs to be replaced by the container changing conveyor, that is, the container that meets the replacement condition is replaced by controlling the container.
  • Manner 1 For a container conveyor, if the processor determines that the remaining storage space of a preset number of containers is less than or equal to a preset threshold, it is considered that there are containers that meet the condition for changing containers.
  • Manner 2 For a container conveyor, if the processor determines that the remaining storage space of all the containers is less than or equal to a preset threshold, it is considered that there are containers that meet the container change condition.
  • the processor controls the container turntable 70 to rotate to place the container that meets the replacement condition on the container conveyor H to be replaced and the The container changing conveyor 80 is aligned to replace the empty container with the container that meets the replacement condition.
  • the processor includes a second logic controller and a second encoder; the system further includes a second driver for driving the container turntable to rotate.
  • the second drive can be a servo drive.
  • the second driver and the first driver may be the same driver, and in addition, the second driver and the first driver may also be different drivers.
  • the second encoder is used to perform:
  • Step 4011 Determine a second relative positional relationship between the container conveyor to be replaced and the container changing conveyor.
  • Step 4012 the second logic controller is used to control the second driver to drive the sorter to align the container conveyor to be replaced with the container changing conveyor according to the second relative position relationship .
  • steps 4011 to 4012 For details of steps 4011 to 4012, reference may be made to the above steps 1031 to 1032, which will not be described here.
  • the box changing conveyor 80 includes a box-out conveyor 801 and a box-in conveyor 802.
  • the box-out conveyor 801 and the box-in conveyor 802 are arranged on the container carousel 70. Around.
  • Step 401 may specifically include:
  • Step 4013 controlling the rotation of the container turntable, and aligning the container conveyor to be replaced with the outgoing conveyor.
  • Step 4014 Control the container conveyor to be replaced to transfer the container that meets the replacement condition to the box-out conveyor.
  • Step 4015 After the containers that meet the replacement conditions on the container conveyor to be replaced are transferred to the outfeed conveyor, the container carousel is controlled to rotate, and the container conveyor to be replaced and the infeed conveyor are connected Aligned.
  • Step 4016 Control the infeed conveyor to transfer a preset number of empty containers to the container conveyor to be replaced.
  • the processor may control the rotation of the container turntable 70 to align the container conveyor H to be replaced with the out-conveyor 801 first.
  • the container carousel 70 is controlled to rotate, and the container conveyor H to be replaced is connected to the inlet conveyor 801.
  • the box conveyor 802 is aligned, and controls the box-in conveyor 802 to transfer a preset number of empty containers to the container conveyor H to be replaced to complete the box changing operation.
  • the goods sorting system includes: a sorter, a plurality of container conveyors, and a processor.
  • a plurality of sorting conveyors are arranged along the outer side of the sorter, and each sorter
  • the conveyor setting corresponds to a container conveyor, and each container conveyor is equipped with multiple containers;
  • the processor is used to: obtain the information of the goods; determine the target container conveyor and the target container corresponding to the goods according to the information of the goods;
  • the relative positional relationship between the first target sorting conveyor and the target container conveyor on the sorter control the sorter to align the first target sorting conveyor with the target container conveyor; control the first target sorting Conveyor conveys goods to the target container of the target container conveyor.
  • the processor automatically allocates the corresponding target container conveyor and target container for the goods according to the information of the goods, and realizes the interaction between the goods sorting system and the goods information system, so as to improve the sorting accuracy.
  • the present disclosure controls the alignment of the first target sorting conveyor with goods temporarily stored with the target container conveyor of the goods to be delivered through the processor, and controls the first target sorting conveyor to transport the goods In the target container of the target container conveyor, the accuracy and automation of the sorting operation are further improved, and the problems of low sorting efficiency and poor sorting accuracy caused by manual sorting are solved.
  • Fig. 18 is a flowchart of steps of a method for sorting goods provided by an embodiment of the present invention. As shown in Fig. 18, the method may include:
  • Step 501 Obtain information about the goods.
  • Step 502 Determine the target container conveyor and target container corresponding to the goods according to the information of the goods.
  • step 102 For details of this step, please refer to the above step 102, which will not be repeated here.
  • Step 503 Control the sorter to sort the first target according to the relative positional relationship between the first target sorting conveyor where the goods are located on the sorter and the target container conveyor.
  • the picking conveyor is aligned with the target container conveyor.
  • step 103 For details of this step, refer to the above step 103, which will not be repeated here.
  • Step 504 Control the first target sorting conveyor to transport the goods to the target container of the target container conveyor.
  • step 104 For details of this step, refer to the above step 104, which will not be repeated here.
  • a method for sorting goods includes: obtaining information about the goods; determining the target container conveyor and the target container corresponding to the goods according to the information about the goods; according to the position of the goods on the sorter A relative positional relationship between the target sorting conveyor and the target container conveyor, control the sorter to align the first target sorting conveyor with the target container conveyor; control the first target sorting conveyor to convey the goods to The target container of the target container conveyor.
  • the processor automatically allocates the corresponding target container conveyor and target container for the goods according to the information of the goods, and realizes the interaction between the goods sorting system and the goods information system, so as to improve the sorting accuracy.
  • the present disclosure uses the processor to control the alignment of the first target sorting conveyor of the goods and the target container conveyor of the goods to be delivered through the processor, and control the first target sorting conveyor to transport the goods In the target container of the target container conveyor, the accuracy and automation of the sorting operation are further improved, and the problems of low sorting efficiency and poor sorting accuracy caused by manual sorting are solved.
  • an embodiment of the present invention also provides an apparatus.
  • the apparatus 600 includes a processor 610, a memory 620, and a computer program stored on the memory 620 and running on the processor 610.
  • the computer program is When the processor 610 is executed, each process of the goods sorting method embodiment of the foregoing embodiment is realized, and the same technical effect can be achieved. To avoid repetition, details are not described herein again.
  • the embodiment of the present invention also provides a computer-readable storage medium, and a computer program is stored on the computer-readable storage medium.
  • a computer program is stored on the computer-readable storage medium.
  • the computer-readable storage medium may be a read-only memory (Read-Only Memory, ROM for short), a random access memory (Random Access Memory, RAM for short), a magnetic disk or an optical disk, etc.
  • the embodiment of the present invention also provides a computer program, which can be stored in a cloud or a local storage medium.
  • the computer program is run by a computer or a processor, it is used to execute the corresponding steps of the goods sorting system in the embodiment of the present invention, and is used to implement the corresponding modules in the deep learning model establishment device according to the embodiment of the present invention.
  • a person of ordinary skill in the art can understand that all or part of the steps in the foregoing method embodiments can be implemented by a program instructing relevant hardware.
  • the aforementioned program can be stored in a computer readable storage medium.
  • the steps including the foregoing method embodiments are executed; and the foregoing storage medium includes: ROM, RAM, magnetic disk, or optical disk and other media that can store program codes.

Abstract

一种货物分拣***及方法，包括：分拣机（10）、多个容器输送机（20）和处理器（30），处理器（30）用于：根据货物的信息，确定货物对应的目标容器输送机（B）和目标容器；根据货物在分拣机（10）上所处的第一目标分拣输送机（A）和目标容器输送机（B）之间的相对位置关系，控制分拣机（10）将第一目标分拣输送机（A）和目标容器输送机（B）对齐；控制第一目标分拣输送机（A），将货物输送至目标容器输送机（B）的目标容器中。

Description

货物分拣***及方法
本申请要求于2019年6月17日提交的中国专利申请第201910523820.1的优先权，该中国专利申请的全文通过引用的方式结合于此以作为本申请的一部分。
技术领域
本公开的实施例涉及一种货物分拣***及方法。
背景技术
在快递物流行业中，其中的一个关键环节为货物的分拣，具体包括将混合聚集在一起的批量货物，按照目的地等规则，将货物进行分类，并将各个类别的货物进行聚集收揽，以便于下一步运输或派送。
在目前，常见的货物分拣方式包括：由分拣员对一个订单中的所有货物进行拣货，并根据货物的信息，将货物投递至该货物对应的料箱，当一个料箱满箱时，即可将该满箱的料箱进行发货。
但是，上述方案中，需要人工进行对货物的分拣操作，使得分拣操作的效率低下，并且，由于人工分拣为长时间机械式劳动，导致分拣的误差较大，降低了分拣操作的精度。
发明内容
本公开的实施例提供一种货物分拣***及方法，以便解决分拣操作的效率低下、分拣操作的精度较低的问题。
为了解决上述技术问题，本发明实施例是这样实现的：
第一方面，本发明实施例提供了一种货物分拣***，该方法可以包括：
分拣机、多个容器输送机和处理器，沿所述分拣机的外侧设置有多个分拣输送机，每个分拣输送机设置对应一个容器输送机，在每个容器输送机上设置有多个容器；
所述处理器用于：
获取所述货物的信息；
根据所述货物的信息，确定所述货物对应的目标容器输送机和目标容器；
根据所述货物在所述分拣机上所处的第一目标分拣输送机和所述目标容器输送机之间的相对位置关系，控制所述分拣机将所述第一目标分拣输送机和所述目标容器输送机对齐；
控制所述第一目标分拣输送机，将所述货物输送至所述目标容器输送机的目标容器中。
第二方面，本发明实施例提供了一种货物分拣方法，该方法可以包括：
获取所述货物的信息；
根据所述货物的信息，确定所述货物对应的目标容器输送机和目标容器；
根据所述货物在所述分拣机上所处的第一目标分拣输送机和所述目标容器输送机之间的相对位置关系，控制所述分拣机将所述第一目标分拣输送机和所述目标容器输送机对齐；
控制所述第一目标分拣输送机，将所述货物输送至所述目标容器输送机的目标容器中。
本发明实施例的第三方面，提供了一种计算机可读存储介质，所述计算机可读存储介质上存储计算机程序，所述计算机程序被处理器执行时实现上述所述的货物分拣分法的步骤。
本发明实施例的第四方面，提供了一种装置，包括处理器、存储器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现上述所述的货物分拣分法的步骤。
在本发明实施例中，货物分拣***包括：分拣机、多个容器输送机和处理器，沿分拣机的外侧设置有多个分拣输送机，每个分拣输送机设置对应一个容器输送机，在每个容器输送机上设置有多个容器；处理器用于：获取货物的信息；根据货物的信息，确定货物对应的目标容器输送机和目标容器；根据货物在分拣机上所处的第一目标分拣输送机和目标容器输送机之间的相对位置关系，控制分拣机将第一目标分拣输送机和目标容器输送机对齐；控制第一目标分拣输送机，将货物输送至目标容器输送机的目标容器中。本公开中，处理器根据货物的信息，自动为货物分配对应的目标容器输送机和目标容器，实现了货物分拣***与货物信息***的交互，以在提高分拣精度的 基础上，达到了自动化拣货的目的，并且，本公开通过处理器控制暂存有货物的第一目标分拣输送机和待投递货物的目标容器输送机对齐，并控制第一目标分拣输送机，将货物输送至目标容器输送机的目标容器中，进一步提高了分拣操作的精度和自动化程度，解决了通过人工分拣而带来的分拣效率低下、分拣精度差的问题。
附图说明
图1是本发明实施例提供的一种货物分拣***的结构框图；
图2是本发明实施例提供的一种货物分拣***的具体结构图；
图3是本发明实施例提供的一种处理器的执行步骤流程图；
图4是本发明实施例提供的一种分拣输送机的具体结构图；
图5是本发明实施例提供的一种容器输送机的具体结构图；
图6是本发明实施例提供的一种第一目标分拣输送机的投料口与目标容器输送机之间的相对位置关系图；
图7是本发明实施例提供的一种处理器的具体执行步骤流程图；
图8是本发明实施例提供的一种容器安放位置的分布示意图；
图9是本发明实施例提供的另一种容器安放位置的分布示意图；
图10是本发明实施例提供的另一种处理器的具体执行步骤流程图；
图11是本发明实施例提供的另一种处理器的具体执行步骤流程图；
图12是本发明实施例提供的一种分拣机和上料输送带之间的装配结构图；
图13是本发明实施例提供的另一种处理器的具体执行步骤流程图；
图14是本发明实施例提供的另一种处理器的具体执行步骤流程图；
图15是本发明实施例提供的另一种处理器的具体执行步骤流程图；
图16是本发明实施例提供的一种分拣机和容器转盘的装配结构俯视图；
图17是本发明实施例提供的一种容器转盘和换箱输送机之间的装配结构俯视图；
图18是本发明实施例提供的一种货物分拣方法的步骤流程图；
图19是本发明实施例提供的一种装置的框图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，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，都属于本发明保护的范围。
图1是本发明实施例提供的一种货物分拣***的结构框图，如图1所示，该***可以包括：包括多个分拣输送机101的分拣机10、包括多个容器201的多个容器输送机20和处理器30，处理器30分别与所述分拣机10和多个容器输送机20连接，处理器30用于控制分拣机10带动分拣输送机101移动，以及控制容器输送机20移动设置在容器输送机20上的容器201的位置。
具体的，参照图2，图2是本发明实施例提供的一种货物分拣***的具体结构图，如图2所示，该***可以包括：分拣机10、多个容器输送机20和处理器(图2中未示出)，其中沿所述分拣机10的外侧设置有多个分拣输送机101，每个分拣输送机101设置对应一个容器输送机20，在每个容器输送机20上设置有多个容器201。
在本发明实施例的一种具体实现方式中，参照图2提供的一种货物分拣***的结构，分拣机10可以为环形结构，分拣机10的中心可以设置有驱动电机50，处理器可以通过控制驱动电机50，使得分拣机10带动分拣输送机101移动。
围绕分拣机10的环形外侧四周，连接了多组分拣输送机101，且为各个分拣输送机101设置了对应的容器输送机20。多组分拣输送机101和对应的多组容器输送机20可以以分拣机10的中心，呈放射状设置。且分拣机10和多个容器输送机20可以通过承载支架40进行位置固定。
参照图2，例如，分拣机10的形状可以为环形，另外，分拣机10的形状也可以为封闭形状的其他形状，如矩形，菱形等。当分拣机10的形状为封闭形状时，处理器可以通过控制驱动电机50，使得分拣机10以分拣机10的中心为原点进行旋转，并带动分拣输送机101移动。
需要说明的是，分拣机10的形状也可以为非封闭形状，如U型、L型、直线型等。在分拣机10的形状为非封闭形状时，处理器可以通过控制驱动电机50，使得分拣机10做往复式运动，并带动分拣输送机101移动。
在本发明实施例中，参照图3，图3是本发明实施例提供的一种处理器的执行步骤流程图，处理器用于执行以下步骤：
步骤101、获取所述货物的信息。
在本发明实施例中，在打包货物的过程中，可以在货物的外包装上贴附有货品识别码(如条码、二维码、一维码等)，通过视觉扫描装置如扫码器对该货品识别码进行扫描，可以得到该货物的信息，货物的信息包括但不限于该货物的货品信息、该货物所属的订单信息。视觉扫描装置在获取到货物的信息之后，可以将货物的信息发送给处理器。
另外，视觉扫描装置可以安装在进料输送带中，货物在投递至进料输送带，并通过视觉扫描装置获取到货物的信息之后，进料输送带可以将该货物投递至分拣机中处于空闲状态的第一目标分拣输送机中进行暂存。
步骤102、根据所述货物的信息，确定所述货物对应的目标容器输送机和目标容器。
在本发明实施例中，针对一件货物，需要为其分配对应的目标容器输送机，并确定该货物需要投递至该目标容器输送机中的目标容器。
在本发明实施例的一种实现方式中，可以基于货物的信息中，该货物所属的清单，为所述清单分配对应的目标容器输送机和目标容器，使得该清单中的所有货物都被投递至目标容器输送机的目标容器中。
在本发明实施例的另一种实现方式中，可以基于货物的信息中，该货物对应的目的地，为该货物分配与目的地对应的目标容器输送机和目标容器，使得该货物被投递至目的地对应的目标容器输送机的目标容器中。当然，也可以根据货物的信息中，该货物的其他信息，为该货物分配与其他信息对应的目标容器输送机和目标容器，其他信息包括但不限于货物的货品分类、货物易碎/不易碎、货物大小等等。
步骤103，根据所述货物在所述分拣机上所处的第一目标分拣输送机和所述目标容器输送机之间的相对位置关系，控制所述分拣机将所述第一目标分拣输送机和所述目标容器输送机对齐。
参照图4，图4是本发明实施例提供的一种分拣输送机的具体结构图，其中，分拣输送机101可以包括双向输送带1013，以及分别设置在双向输送带1013的两个相对输送方向上的第一投料口1012和第二投料口1013，通过 第一投料口1012和第二投料口1013，以及双向输送带1013的双向输送能力，分拣输送机101可以将双向输送带1013上的货物沿两个相对的投递方向进行投递。另外，在一些其他情况下，分拣输送机101的设计也可以仅保留第一投料口1012或仅保留第二投料口1013，并将双向输送带1013更换为对应的单向输送带，以降低分拣输送机101的零件数量，降低其生产成本。
在本发明实施例的另一种实现方式中，分拣输送机101还可以包括托盘或翻斗，以及分别设置在托盘或翻斗沿分拣机10径向的第一投料口和第二投料口。可以控制托盘或翻斗向第一投料口方向或第二投料口方向倾斜，使得其上放置的货物通过第一投料口或第二投料口滑落到下方对应的容器中。参照图5，图5是本发明实施例提供的一种容器输送机的具体结构图，其中，在容器输送机20中，可以划分多个并列排布的容器安放位置202，并将数量小于或等于容器安放位置202的容器201，并列排布在容器安放位置202中，容器201可以为料箱、料盒、料袋等能够容纳货物的装置。处理器可以通过控制容器输送机20，对容器安放位置202进行移动，以达到改变容器输送机20中容器201的位置目的。需要说明的是，在实际应用中，可以根据实际需求，增加或减少容器安放位置202和容器201的数量，本发明实施例对容器安放位置202和容器201的数量不作限定。
具体的，处理器可以包括编码器，通过编码器能够检测一个分拣输送机和一个容器输送机之间的相对位置关系，并根据该相对位置关系，确定该一个分拣输送机和该一个容器输送机之间是否处于对齐状态。
若货物在分拣机上所处的第一目标分拣输送机与目标容器输送机处于对齐状态，则处理器可以执行步骤104的操作，将货物输送至目标容器输送机的目标容器中。
参照图2，假设货物在分拣机10上处于第一目标分拣输送机A，货物需要分拣至目标容器输送机B中的目标容器中，此时第一目标分拣输送机A与目标容器输送机B处于不对齐状态，则处理器可以控制驱动电机50带动分拣机10移动，直至将第一目标分拣输送机A与目标容器输送机B对齐时停止。
需要说明的是，在本发明实施例中，处理器控制驱动电机50带动分拣机10移动，将第一目标分拣输送机A移动至与目标容器输送机B对齐的路径， 需基于最短路径原则，在图2中，若将第一目标分拣输送机A移动至与目标容器输送机B对齐，则处理器可以控制驱动电机50带动分拣机10逆时针旋转，直至第一目标分拣输送机A移动至与目标容器输送机B对齐；相较于处理器控制驱动电机50带动分拣机10顺时针旋转，直至第一目标分拣输送机A移动至与目标容器输送机B对齐，逆时针旋转对应的路径长度大大降低。
步骤104，控制所述第一目标分拣输送机，将所述货物输送至所述目标容器输送机的目标容器中。
在本发明实施例中，在第一目标分拣输送机移动至与目标容器输送机对齐的情况下，处理器需要进一步判断第一目标分拣输送机的投料口是否与目标容器输送机中的目标容器对齐，若对齐，则处理器可以控制第一目标分拣输送机上的输送带直接工作，将货物由投料口投递至目标容器中；若不对齐，则处理器可以控制目标容器输送机将目标容器移动至与第一目标分拣输送机的投料口对齐，并进一步控制第一目标分拣输送机上的输送带工作，将货物由投料口投递至目标容器中。
进一步的，在第一目标分拣输送机的投料口与目标容器输送机中的目标容器不对齐，处理器可以控制目标容器输送机将目标容器移动至与第一目标分拣输送机的投料口对齐的路径需要遵循最短路径原则。
例如，参照图6，图6是本发明实施例提供的一种第一目标分拣输送机的投料口与目标容器输送机之间的相对位置关系图，其中，第一目标分拣输送机A可以具有两个相对设置的投料口C和投料口D，且目标容器输送机的位置当前固定，目标容器输送机B中具有9个容器安放位置，5个容器：容器1、容器2、容器3、容器4和容器5并列设置在9个容器安放位置从左起第三个容器安放位置至第七个容器安放位置中。若当前的目标容器为容器5，则将容器5移动至与投料口C或投料口D对齐，具有两种移动路径，路径1：将5个容器整体向右移动一格，使得容器5与投料口D对齐。路径2：将5个容器整体向左移动两格，使得容器5与投料口C对齐。基于最短路径原则，处理器可以优先根据路径1，将容器5移动至与投料口D对齐。
需要说明的是，处理器判断一个分拣输送机的投料口是否与容器输送机中的一个容器对齐，可以包括，在每个目标容器上设置包括该目标容器的标识的标识符(如二维码、条码、一维码等)，并在投料口处设置扫码器，且 使得分拣输送机的投料口与容器对齐时，标识符处于扫码器的扫描范围内。这样能够使得第一目标分拣输送机的投料口与目标容器输送机中的目标容器对齐时，安装在第一目标分拣输送机的投料口位置处的扫码器可以通过扫描目标容器的标识符，从而确定第一目标分拣输送机的投料口与目标容器输送机中的目标容器对齐。
综上，本发明实施例提供的一种货物分拣***，包括：分拣机、多个容器输送机和处理器，沿分拣机的外侧设置有多个分拣输送机，每个分拣输送机设置对应一个容器输送机，在每个容器输送机上设置有多个容器；处理器用于：获取货物的信息；根据货物的信息，确定货物对应的目标容器输送机和目标容器；根据货物在分拣机上所处的第一目标分拣输送机和目标容器输送机之间的相对位置关系，控制分拣机将第一目标分拣输送机和目标容器输送机对齐；控制第一目标分拣输送机，将货物输送至目标容器输送机的目标容器中。本公开中，处理器根据货物的信息，自动为货物分配对应的目标容器输送机和目标容器，实现了货物分拣***与货物信息***的交互，以在提高分拣精度的基础上，达到了自动化拣货的目的，并且，本公开通过处理器控制暂存由货物的第一目标分拣输送机和待投递货物的目标容器输送机对齐，并控制第一目标分拣输送机，将货物输送至目标容器输送机的目标容器中，进一步提高了分拣操作的精度和自动化程度，解决了通过人工分拣而带来的分拣效率低下、分拣精度差的问题。
可选的，参照图7，图7是本发明实施例提供的一种处理器的具体执行步骤流程图，基于上述图3中的步骤104，处理器用于具体执行以下步骤：
步骤1041，在所述第一目标分拣输送机的投料口与所述目标容器对齐时，控制所述第一目标分拣输送机，将所述货物输送至所述目标容器中。
在本发明实施例中，在第一目标分拣输送机移动至与目标容器输送机对齐的情况下，处理器需要进一步判断第一目标分拣输送机的投料口是否与目标容器输送机中的目标容器对齐，若对齐，则处理器可以控制第一目标分拣输送机上的输送带直接工作，将货物由投料口投递至目标容器中。
步骤1042，在所述第一目标分拣输送机的投料口与所述目标容器不对齐时，控制所述目标容器输送机将所述目标容器移动至与所述第一目标分拣输送机的投料口对齐，并将所述第一目标分拣输送机上的货物，输送至所述目 标容器中。
在本发明实施例中，在第一目标分拣输送机移动至与目标容器输送机对齐的情况下，处理器需要进一步判断第一目标分拣输送机的投料口是否与目标容器输送机中的目标容器对齐，若不对齐，则处理器可以控制目标容器输送机将目标容器移动至与第一目标分拣输送机的投料口对齐，并进一步控制第一目标分拣输送机上的输送带工作，将货物由投料口投递至目标容器中。
可选的，步骤1042具体可以包括：
步骤10421，确定所述目标容器的当前位置。
在本发明实施例中，在一种情况下，确定目标容器的当前位置，具体可以为确定目标容器在目标容器输送机中的位置；在另一种情况下，确定目标容器的当前位置，具体可以为确定目标容器与投料口之间的相对位置。
可选的，参照图2，在所述容器输送机20背离所述分拣输送机101的一侧的末端设置有测距传感器203，步骤10421具体可以包括：
步骤A1，通过所述测距传感器，获取所述测距传感器与所述测距传感器面对的容器之间的目标间隔距离。
在本发明实施例中，进一步参照图6，可以在容器输送机背离所述分拣输送机的一侧的末端设置有测距传感器203，当所有容器在容器输送机上停止移动时，测距传感器203可以测得测距传感器203与测距传感器203面向的容器1之间的距离a。
步骤A2，根据所述目标间隔距离，确定所述目标容器的当前位置。
可选的，在所述容器输送机中划分有多个容器安放位置，所述多个容器安放位置与所述末端之间的间隔距离不同，所述步骤A2还可以通过将与所述末端之间的间隔距离为所述目标间隔距离的容器安放位置，确定为所述目标容器的当前位置的方式进行实现。
在本发明实施例中，参照图6，在容器输送机中划分有9个容器安放位置，因此，可以根据每个容器安放位置的长度，得知9个容器安放位置的总长度b，进一步的，根据步骤A1得到的距离a，可以得知距离a在总长度b中为占有两个容器安放位置的长度，因而可以得知5个容器：容器1、容器2、容器3、容器4和容器5并列设置在9个容器安放位置从左起第三个容器安放位置至第七个容器安放位置中，此时，无论目标容器是5个容器中的哪一 个，都可以知道目标容器在9个容器安放位置中的具***置。
步骤10422，根据所述目标容器的当前位置，确定所述目标容器输送机将所述目标容器移动至与所述投料口对齐的第一路径。
可选的，第一路径为将所述目标容器移动至与所述投料口对齐的多条路径中长度最短的路径。
在本发明实施例中，在分拣输送机的投料口只有一个的情况下，目标容器输送机将所述目标容器移动至与所述投料口对齐的第一路径只有一个，该第一路径也同时为长度最短的路径。
而在分拣输送机的投料口有多个的情况下，将一个目标容器移动至多个不同的投料口，会产生多条路径，此时可以选取多条路径中最短的第一路径。
步骤10423，根据所述第一路径，控制所述目标容器输送机，将所述目标容器移动至与所述投料口对齐。
在该步骤中，在分拣输送机的投料口只有一个的情况下，目标容器输送机将所述目标容器移动至与所述投料口对齐的第一路径只有一个，处理器可以根据所述第一路径，控制所述目标容器输送机，将所述目标容器移动至与所述投料口对齐。
在分拣输送机的投料口有多个的情况下，处理器可以根据多条路径中长度最短的第一路径，控制所述目标容器输送机，将所述目标容器移动至与所述投料口对齐。
可选的，参照图6，所述投料口包括位于所述第一目标分拣输送机A两侧的第一投料口C和第二投料口D，所述第一投料口C的投料方向与所述第二投料口D的投料方向相反；步骤10422至步骤10423具体还可以通过步骤B1至步骤B2进行实现：
步骤B1，根据第二路径，控制所述目标容器输送机，将所述目标容器移动至与所述第一投料口和所述第二投料口之一对齐。
步骤B2，所述第二路径为将所述目标容器移动至与所述第一投料口和所述第二投料口对齐的多条路径中长度最短的路径。
参照图6，在所述投料口包括位于所述第一目标分拣输送机A两侧的第一投料口C和第二投料口D，若当前的目标容器为容器5，则将容器5移动至与投料口C或投料口D对齐，具有两种移动路径，路径1：将5个容器整 体向右移动一格，使得容器5与投料口D对齐。路径2：将5个容器整体向左移动两格，使得容器5与投料口C对齐。基于最短路径原则，处理器可以优先根据路径1，将容器5移动至与投料口D对齐。
具体的，本发明实施例具体可以包括两种容器安放位置划分方案：方案一为九个并列排布的容器安放位置中设置5个并列排布的容器。方案二为七个并列排布的容器安放位置中设置5个并列排布的容器。
其中，参照图8，方案一，在所述容器输送机20中划分有九个并列排布的容器安放位置，在所述容器安放位置中设置有五个并列排布的容器，以从左到右的顺序进行判断，所述第一投料口C与所述九个所述容器安放位置中的第三个所述容器安放位置对齐，所述第二投料口D与所述九个所述容器安放位置中的第六个所述容器安放位置对齐；
所述容器输送机20上的容器设置在所述容器安放位置中时，存在第一状态、第二状态、第三状态、第四状态和第五状态；
所述第一状态包括将所述五个容器，设置在九个所述容器安放位置中的第三个所述容器安放位置至第七个所述容器安放位置；
所述第二状态包括将所述五个容器，设置在九个所述容器安放位置中的第二个所述容器安放位置至第六个所述容器安放位置；
所述第三状态包括将所述五个容器，设置在九个所述容器安放位置中的第一个所述容器安放位置至第五个所述容器安放位置；
所述第四状态包括将所述五个容器，设置在九个所述容器安放位置中的第四个所述容器安放位置至第八个所述容器安放位置；
所述第五状态包括将所述五个容器，设置在九个所述容器安放位置中的第五个所述容器安放位置至第九个所述容器安放位置；
当所述容器输送机20上的容器处于所述第一状态的情况下，
若所述目标容器为所述五个容器中的第二个容器或第五个容器，则所述第二路径为沿着第一方向将处于所述第一状态的所述五个容器移动至处于所述第二状态，所述第一方向为所述第二投料口D指向所述第一投料口C的方向；
若所述目标容器为所述五个容器中的第三个容器，则所述第二路径为沿着第二方向将处于所述第一状态的所述五个容器移动至处于所述第四状 态，所述第二方向为所述第一投料口C指向所述第二投料口D的方向；
或，当所述容器输送机20上的容器处于所述第二状态的情况下，
若所述目标容器为所述五个容器中的第一个容器或第四个容器，则所述第二路径为沿着第二方向将处于所述第二状态的所述五个容器移动至处于所述第一状态，所述第二方向为所述第一投料口C指向所述第二投料口D的方向；
若所述目标容器为所述五个容器中的第三个容器，则所述第二路径为沿着第一方向将处于所述第二状态的所述五个容器移动至处于所述第三状态，所述第一方向为所述第二投料口D指向所述第一投料口C的方向；
或，当所述容器输送机20上的容器处于所述第三状态的情况下，
若所述目标容器为所述五个容器中的第二个容器或第五个容器，则所述第二路径为沿着第二方向将处于所述第三状态的所述五个容器移动至处于所述第二状态，所述第二方向为所述第一投料口C指向所述第二投料口D的方向；
若所述目标容器为所述五个容器中的第一个容器或第四个容器，则所述第二路径为沿着第二方向将处于所述第三状态的所述五个容器移动至处于所述第一状态，所述第二方向为所述第一投料口C指向所述第二投料口D的方向；
或，当所述容器输送机20上的容器处于所述第四状态的情况下，
若所述目标容器为所述五个容器中的第一个容器或第四个容器，则所述第二路径为沿着第一方向将处于所述第四状态的所述五个容器移动至处于所述第一状态，所述第一方向为所述第二投料口D指向所述第一投料口C的方向；
若所述目标容器为所述五个容器中的第二个容器或第五个容器，则所述第二路径为沿着第一方向将处于所述第四状态的所述五个容器移动至处于所述第二状态，所述第一方向为所述第二投料口D指向所述第一投料口C的方向；
或，当所述容器输送机20上的容器处于所述第五状态的情况下，
若所述目标容器为所述五个容器中的第一个容器或第四个容器，则所述第二路径为沿着第一方向将处于所述第五状态的所述五个容器移动至处 于所述第一状态，所述第一方向为所述第二投料口D指向所述第一投料口C的方向；
若所述目标容器为所述五个容器中的第三个容器，则所述第二路径为沿着第一方向将处于所述第五状态的所述五个容器移动至处于所述第四状态，所述第一方向为所述第二投料口D指向所述第一投料口C的方向；
若所述目标容器为所述五个容器中的第五个容器，则所述第二路径为沿着第一方向将处于所述第五状态的所述五个容器移动至处于所述第二状态，所述第一方向为所述第二投料口D指向所述第一投料口C的方向。
其中，参照图9，方案二，在所述容器输送机20中划分有七个并列排布的容器安放位置，在所述容器安放位置中设置有五个并列排布的容器，且所述第一投料口C与所述七个所述容器安放位置中的第二个所述容器安放位置对齐，所述第二投料口D与所述七个所述容器安放位置中的第五个所述容器安放位置对齐；
所述容器输送机20上的容器设置在所述容器安放位置中时，存在第六状态、第七状态和第八状态；
所述第六状态包括将所述五个容器，设置在七个所述容器安放位置中的第二个所述容器安放位置至第六个所述容器安放位置；
所述第七状态包括将所述五个容器，设置在七个所述容器安放位置中的第一个所述容器安放位置至第五个所述容器安放位置；
所述第八状态包括将所述五个容器，设置在七个所述容器安放位置中的第三个所述容器安放位置至第七个所述容器安放位置；
当所述容器输送机20上的容器处于所述第六状态的情况下，
若所述目标容器为所述五个容器中的第二个容器或第五个容器，则所述第二路径为沿着第一方向将处于所述第六状态的所述五个容器移动至处于所述第七状态，所述第一方向为所述第二投料口D指向所述第一投料口C的方向；
若所述目标容器为所述五个容器中的第三个容器，则所述第二路径为沿着第二方向将处于所述第六状态的所述五个容器移动至处于所述第八状态，所述第二方向为所述第一投料口C指向所述第二投料口D的方向；
或，当所述容器输送机20上的容器处于所述第七状态的情况下，
若所述目标容器为所述五个容器中的第一个容器或第四个容器，则所述第二路径为沿着第二方向将处于所述第七状态的所述五个容器移动至处于所述第六状态，所述第二方向为所述第一投料口C指向所述第二投料口D的方向；
若所述目标容器为所述五个容器中的第三个容器，则所述第二路径为沿着第二方向将处于所述第七状态的所述五个容器移动至处于所述第八状态，所述第二方向为所述第一投料口C指向所述第二投料口D的方向；
或，当所述容器输送机20上的容器处于所述第八状态的情况下，
若所述目标容器为所述五个容器中的第一个容器或第四个容器，则所述第二路径为沿着第一方向将处于所述第八状态的所述五个容器移动至处于所述第六状态，所述第一方向为所述第二投料口D指向所述第一投料口C的方向；
若所述目标容器为所述五个容器中的第二个容器或第五个容器，则所述第二路径为沿着第一方向将处于所述第八状态的所述五个容器移动至处于所述第七状态，所述第一方向为所述第二投料口D指向所述第一投料口C的方向。
可选的，参照图10，图10是本发明实施例提供的一种处理器的具体执行步骤流程图，基于上述图3中的步骤102，处理器用于具体执行以下步骤：
步骤1021，在所述货物为所述货物所属的第一清单中待分拣的首个货物的情况下，为所述货物分配所述目标容器输送机和所述目标容器。
在本发明实施例的一种实现方式中，在货物为所述货物所属的第一清单中待分拣的首个货物的情况下，说明该第一清单正准备开始进行分拣操作。因此，处理器可以基于货物的信息中，该货物对应的目的地，为该货物分配与目的地对应的目标容器输送机和目标容器，使得该货物被投递至目的地对应的目标容器输送机的目标容器中。当然，也可以根据货物的信息中，该货物的其他信息，为该货物分配与其他信息对应的目标容器输送机和目标容器，其他信息包括但不限于货物的货品分类、货物易碎/不易碎、货物大小等等。
在本发明实施例的另一种实现方式中，在货物为所述货物所属的第一清单中待分拣的首个货物的情况下，说明该第一清单正准备开始进行分拣操作，还未对其分配目标容器输送机和目标容器。因此，处理器可以基于货物的信 息中，该货物所属的第一清单，为第一清单分配对应的目标容器输送机和目标容器，使得该第一清单中的所有货物都被投递至目标容器输送机的目标容器中。
另外，在一些情况下，第一清单中的货物数量较多，或货物体积较大，则此时需要为第一清单分配多个目标容器，或分配多个目标容器输送机，以供将第一清单中的货物全部存储，则此时，货物的目标容器输送机和目标容器，可以为第一清单的多个目标容器输送机或多个目标容器中的任意一个。
可选的，处理器具体用于：基于工作量最小的原则为所述货物分配所述目标容器输送机和所述目标容器。
在本发明实施例中，为了尽可能的提高分拣效率，处理器可以基于工作量最小的原则为所述货物分配所述目标容器输送机和所述目标容器。基于工作量最小的原则，可以为基于将该货物所处的分拣输送机移动移动至目标容器输送机时的路径最短，且将目标容器输送机将目标容器移动至与分拣输送机的投料口的路径最短。
可选的，步骤1021具体可以包括：
步骤C1，在所述货物为所述货物所属的第一清单中待分拣的首个货物的情况下，确定具有空置容器的容器输送机。
参照图2，假设货物分拣***中，容器输送机B和容器输送机E中具有控制的容器，则处理器可以获取容器输送机B和容器输送机E的信息。
步骤C2，若包括多个所述空置容器输送机，则确定将所述第一目标分拣输送机移动至与所述空置容器输送机对齐的第三路径，所述第三路径为将所述第一目标分拣输送机移动至与所述空置容器输送机对齐的多条路径中长度最短的路径。
进一步参照图2，假设货物当前所处的分拣输送机为第一目标分拣输送机A，则将第一目标分拣输送机A移动至与容器输送机B和容器输送机E的路径有四条：
路径1，控制第一目标分拣输送机A顺时针旋转，直至第一目标分拣输送机A与容器输送机B对齐。
路径2，控制第一目标分拣输送机A逆时针旋转，直至第一目标分拣输送机A与容器输送机B对齐。
路径3，控制第一目标分拣输送机A顺时针旋转，直至第一目标分拣输送机A与容器输送机E对齐。
路径4，控制第一目标分拣输送机A逆时针旋转，直至第一目标分拣输送机A与容器输送机E对齐。
根据路径长短判断，得知路径1的长度>路径3的长度>路径4的长度>路径2的长度，因此，可以将最短路径2确定为第三路径。
步骤C3，将所述第三路径对应的空置容器输送机，分配为所述货物的目标容器输送机。
在该步骤中，参照图2，确定了最短的第三路径后，可以将第三路径对应的空置容器输送机B，分配为所述货物的目标容器输送机。应理解，若存在多条第三路径，则将其中任一条第三路径分配为所述货物的目标容器输送机。
步骤C4，将所述目标容器输送机中距离所述第一目标分拣输送机的投料口最近的空置容器，确定为所述货物的目标容器。
在本发明实施例中，目标容器输送机中一般具有多个容器，若其中存在多个容器，则在第一目标分拣输送机与目标容器输送机对齐的情况下，可以将距离所述第一目标分拣输送机的投料口最近的空置容器，确定为所述货物的目标容器。
其中，确定距离第一目标分拣输送机的投料口最近的空置容器的方法，具体可以参照上述步骤A1至步骤A2，此处不再赘述。
步骤1022，在所述货物为所述货物所属的第一清单中待分拣的非首个货物的情况下，将针对所述第一清单所分配的容器输送机和容器，确定为所述目标容器输送机和所述目标容器。
在本发明实施例的一种实现方式中，在货物为所述货物所属的第一清单中待分拣的非首个货物的情况下，说明该第一清单正在进行分拣操作，且已经为该第一清单分配了对应的目标容器输送机和目标容器，则可以将该货物投递至目标容器输送机的目标容器中。
可选的，参照图11，图11是本发明实施例提供的一种处理器的具体执行步骤流程图，基于上述图3中的步骤104，处理器用于具体执行以下步骤：
步骤1043，在控制所述第一目标分拣输送机将所述货物输送至所述目标 容器中之后，确定与所述目标容器相邻的相邻容器。
步骤1044，在所述分拣机的所述多个分拣输送机上当前不存在对应于所述目标容器的货物时，为第二清单中待分拣的首个货物优先分配所述相邻容器作为目标容器。
步骤1045，控制所述分拣机将所述第二清单中待分拣的首个货物所在的第二目标分拣输送机移动至与所述相邻容器所处的容器输送机对齐，并控制所述目标容器输送机将所述相邻容器移动至与所述第二目标分拣输送机的投料口对齐。
步骤1046，控制所述第二目标分拣输送机，将所述第二清单中待分拣的首个货物输送至所述相邻容器中。
在本发明实施例中，可以基于图8示出的方案一：在所述容器输送机20中划分有九个并列排布的容器安放位置，在所述容器安放位置中设置有五个并列排布的容器的示例，对步骤1043至步骤1046进行解释说明。
其中，当处于第一状态时，且容器1和容器4都没有要投入的货物时，则可以将容器2和容器5确定为相邻容器，则优先响应容器2和容器5的投货需求，并将容器2和容器5所处的容器输送机分配给未进行分拣的第二清单作为目标容器输送机，将第二清单中待分拣的首个货物所在的第二目标分拣输送机移动至与容器2和容器5所处的容器输送机对齐，并控制容器2和容器5所处的容器输送机将容器2和容器5移动至与所述第二目标分拣输送机的投料口对齐，将所述第二清单中待分拣的首个货物输送至所述相邻容器中。当容器2和容器5都没有欲投入的货物时，则再响应容器3的需求。
总之当容器处于容器输送机中的不同位置时，相应的响应等级如下：
第一状态：容器1和容器4>容器2和容器5>容器3；
第二状态：容器2和容器5>容器1和容器4>容器3；
第三状态：容器3>(容器2和容器5>容器1和容器4>；
第四状态：容器3>容器1和容器4>容器2和容器5；
第五状态：容器2>容器3>容器1和容器4>容器5。
可选的，参照图12，图12是本发明实施例提供的一种分拣机和上料输送带之间的装配结构图，所述***还包括：进料输送带60，所述进料输送带60用于与所述分拣机10的一个所述分拣输送机101连接。
进一步参照图13，图13是本发明实施例提供的一种处理器的具体执行步骤流程图，处理器用于执行以下步骤：
步骤201，在确定所述进料输送带当前对接的分拣输送机中无货物的情况下，控制所述进料输送带，向所述进料输送带当前对接的分拣输送机输送所述货物。
在一种实现方式中，进料输送带可以由两端输送带组成，一个是视觉扫描***所在的输送带601；另一为紧挨分拣机，往分拣机上输送货物的输送带602。输送带601往输送带602输送货物前，处理器需要进行逻辑判断，分析出此物位尚未被投入过货物或者是投入的货物已成功投放于目标容器，以确保输送带602后面的分拣输送机101的物料位是空着的。应理解，进料输送带并不限于图12所示的结构，只要能够满足将货物输送至分拣输送机101即可。
在处理器确定输送带602后面的分拣输送机101的物料位是空着的情况下，处理器可以控制所述进料输送带60，向所述进料输送带60当前对接的分拣输送机101输送所述货物。
步骤202，在确定所述进料输送带当前对接的分拣输送机中有货物的情况下，控制所述进料输送带停止工作，直到所述进料输送带下一次对接的分拣输送机中无货物时，控制所述进料输送带，向所述进料输送带对接的分拣输送机输送所述货物。
在处理器确定输送带602后面的分拣输送机101的物料位是有货物的情况下，处理器可以控制分拣机10移动，将物料位是无货物的分拣输送机101移动至与输送带602对齐，并控制所述进料输送带60，向所述进料输送带60对接的新的分拣输送机101输送所述货物。
具体的进料输送带60的发送模块给处理器的关于货物的信息应该包含以下两项：
(1)新货物标志位(BOOL)：此为处理器内部存储器的一个数据位。每当视觉扫描装置扫描到新货物时，进料输送带60的发送模块会通过与处理器通讯的方式把此位置为True；当处理器接受到此信号位由False变为True时，处理器就会知道输送带601上有个新商品，此时处理器要控制输送带601停止。停止输送带601的目的是等待合适时机把货物送入分拣输送机上。
(2)目标容器的标识：进料输送带60的发送模块把货物要的目标容器的标识传送至处理器，处理器接收到料箱号后控制分拣输送机和容器输送机，把货物落入正确的目标容器。进料输送带60的发送模块要在货物离开视觉扫描装置时把“新货物标志位”置为False，待扫描到新货物时再置为True。
可选的，参照图12，在所述进料输送带60的末端设置有光电开关发送端603；所述分拣输送机101对接所述进料输送带60时，在所述分拣输送机101背离所述进料输送带60的一端设置有光电开关接收端604。
参照图14，图14是本发明实施例提供的一种处理器的具体执行步骤流程图，处理器用于执行以下步骤：
步骤301，在所述光电开关发送端与所述光电开关接收端接通时，确定所述进料输送带对接的分拣输送机中无货物。
在光电开关发送端603与光电开关接收端604接通时，说明光电开关发送端603与光电开关接收端604之间，无障碍物阻挡光电开关发送端603向光电开关接收端604发送信号，处理器以此可以判断进料输送带对接的分拣输送机中无货物。
步骤302，在所述光电开关发送端与所述光电开关接收端断开时，确定所述进料输送带对接的分拣输送机中有货物。
在光电开关发送端603与光电开关接收端604断开时，说明光电开关发送端603与光电开关接收端604之间，存在障碍物阻挡光电开关发送端603向光电开关接收端604发送信号，处理器以此可以判断进料输送带对接的分拣输送机中有货物。
可选的，处理器包括第一逻辑控制器和第一编码器；所述***还包括第一驱动器，所述第一驱动器用于驱动所述分拣机带动所述分拣输送机移动；第一驱动器可以为图2中所示的驱动器50。第一驱动器可以为伺服驱动器。
参照图15，图15是本发明实施例提供的一种处理器的具体执行步骤流程图，基于图3中的步骤103，处理器用于执行以下步骤：
步骤1031，所述第一编码器用于，确定所述第一目标分拣输送机和所述目标容器输送机之间的第一相对位置关系。
在本发明实施例中，参照图2，第一逻辑控制器可以通过第一驱动器，控制分拣机10以一定速度旋转；并且，以分拣机10所旋转的圆周上某一点 为原点，通过第一编码器能够实时测量出分拣机10基于该原点的旋转角度，这样就能够计算出分拣机10上每个分拣输送机101基于原点的实时圆周位置。即第一编码器可以基于该方式，得到第一目标分拣输送机和所述目标容器输送机之间的第一相对位置关系。
可选的，参照图2，所述***还包括：容器转盘70，所述多个容器输送机20设置在所述容器转盘70中对应所述多个分拣输送机101的位置处；
步骤1031具体可以包括：
步骤10311，确定所述目标容器输送机基于第一原点的第一旋转角度，所述第一原点为所述容器转盘侧边的预设原点。
步骤10312，根据所述第一旋转角度，确定所述第一目标分拣输送机基于第二原点的第二旋转角度，并将所述第二旋转角度确定为所述第一目标分拣输送机和所述目标容器输送机之间的第一相对位置关系，所述第二原点为所述分拣机侧边处与所述第一原点对应的预设原点；
所述第二旋转角度与所述第一旋转角度相同。
参照图16，图16是本发明实施例提供的一种分拣机和容器转盘的装配结构俯视图，假设分拣机10和容器转盘70的外轮廓都为圆形，且分拣机10和容器转盘70具有相同的圆心，则可以在容器转盘70的12点钟位置处设置第一原点F，在分拣机10的12点钟位置处设置第二原点G，第一目标分拣输送机A处于分拣机10的6点钟位置，目标容器输送机B处于容器转盘70的3点钟位置。
则在步骤10311中，第一编码器可以确定所述目标容器输送机B基于第一原点F的第一旋转角度为90度。在步骤10312中，第一编码器可以根据所述第一旋转角度，确定强第一目标分拣输送机A移动至与目标容器输送机B对齐时，基于第二原点G所需的第二旋转角度为90度，并将所述第二旋转角度确定为所述第一目标分拣输送机A和所述目标容器输送机B之间的第一相对位置关系。以供第一逻辑控制器控制分拣机10逆时针旋转90度，将第一目标分拣输送机A和所述目标容器输送机B对齐。
步骤1032，所述第一逻辑控制器用于，根据所述第一编码器确定的所述第一相对位置关系，控制所述第一驱动器带动所述分拣机将所述第一目标分拣输送机和所述目标容器输送机对齐。
在本发明实施例中，第一逻辑控制器基于第一编码器确定的所述第一相对位置关系，可以规划出将分拣机的第一目标分拣输送机移动至和所述目标容器输送机对齐的两条路径(顺时针旋转路径和逆时针旋转路径)，并基于最短路径原则，从两条路径中选取一条最短路径，并按照该最短路径，第一逻辑控制器控制所述第一驱动器带动所述分拣机使得将所述第一目标分拣输送机和所述目标容器输送机对齐。
可选的，参照图17，图17是本发明实施例提供的一种容器转盘和换箱输送机之间的装配结构俯视图，所述***还包括：换箱输送机80和容器转盘70，所述多个容器输送机20设置在所述容器转盘70中对应所述多个分拣输送机的位置处，所述换箱输送机80设置在所述容器转盘70的周围。
处理器用于具体执行以下步骤：
步骤401，在存在满足更换条件的容器的情况下，控制所述容器转盘旋转，将满足更换条件的容器所处的待更换的容器输送机和所述换箱输送机对齐，将空置容器替换所述满足更换条件的容器。
可选的，若一个容器输送机上预设数量的容器的剩余存储空间小于或等于预设阈值，则确定存在满足换箱条件的容器。
在本发明实施例中，当存在满足更换条件的容器时，需要通过换箱输送机对该满足更换条件的容器进行换箱操作，即通过控制容器更换该满足更换条件的容器。
处理器确定是否存在满足更换条件的容器的方式可以有两种。方式1，针对一个容器输送机，若处理器只要确定其中存在预设数量的容器的剩余存储空间小于或等于预设阈值，则认为存在满足换箱条件的容器。方式2，针对一个容器输送机，若处理器确定其中所有的容器的剩余存储空间都小于或等于预设阈值，则认为存在满足换箱条件的容器。
参照图17，假设在确定容器输送机H存在满足更换条件的容器的情况下，处理器控制所述容器转盘70旋转，将满足更换条件的容器所处的待更换的容器输送机H和所述换箱输送机80对齐，将空置容器替换所述满足更换条件的容器。
可选的，所述处理器包括第二逻辑控制器和第二编码器；所述***还包括第二驱动器，所述第二驱动器用于驱动所述容器转盘旋转。其中，第二驱 动器可以为伺服驱动器。第二驱动器可以与第一驱动器为同一驱动器，另外，第二驱动器也可以与第一驱动器分别为不同的驱动器。
基于步骤401，所述第二编码器用于执行：
步骤4011，确定所述待更换的容器输送机与所述换箱输送机之间的第二相对位置关系。
步骤4012，所述第二逻辑控制器用于，根据所述第二相对位置关系，控制所述第二驱动器带动所述分拣机将所述待更换的容器输送机和所述换箱输送机对齐。
步骤4011至步骤4012具体可以参照上述步骤1031至步骤1032，此处不再赘述。
可选的，参照图17，所述换箱输送机80包括出箱输送机801和进箱输送机802，所述出箱输送机801和所述进箱输送机802设置在所述容器转盘70的周围。
步骤401具体可以包括：
步骤4013，控制所述容器转盘旋转，将所述待更换的容器输送机与所述出箱输送机对齐。
步骤4014，控制所述待更换的容器输送机将所述满足更换条件的容器传送至所述出箱输送机上。
步骤4015，在所述待更换的容器输送机上满足更换条件的容器传送至所述出箱输送机上之后，控制所述容器转盘旋转，将所述待更换的容器输送机与所述进箱输送机对齐。
步骤4016，控制所述进箱输送机将预设数量的空置容器，传送至所述待更换的容器输送机上。
参照图17，处理器可以控制所述容器转盘70旋转，将所述待更换的容器输送机H先与所述出箱输送机801对齐。
在所述待更换的容器输送机H上满足更换条件的容器传送至所述出箱输送机801上之后，控制所述容器转盘70旋转，将所述待更换的容器输送机H与所述进箱输送机802对齐，并控制所述进箱输送机802将预设数量的空置容器，传送至所述待更换的容器输送机H上，完成换箱操作。
综上，本发明实施例提供的一种货物分拣***，包括：分拣机、多个容 器输送机和处理器，沿分拣机的外侧设置有多个分拣输送机，每个分拣输送机设置对应一个容器输送机，在每个容器输送机上设置有多个容器；处理器用于：获取货物的信息；根据货物的信息，确定货物对应的目标容器输送机和目标容器；根据货物在分拣机上所处的第一目标分拣输送机和目标容器输送机之间的相对位置关系，控制分拣机将第一目标分拣输送机和目标容器输送机对齐；控制第一目标分拣输送机，将货物输送至目标容器输送机的目标容器中。本公开中，处理器根据货物的信息，自动为货物分配对应的目标容器输送机和目标容器，实现了货物分拣***与货物信息***的交互，以在提高分拣精度的基础上，达到了自动化拣货的目的，并且，本公开通过处理器控制暂存有货物的第一目标分拣输送机和待投递货物的目标容器输送机对齐，并控制第一目标分拣输送机，将货物输送至目标容器输送机的目标容器中，进一步提高了分拣操作的精度和自动化程度，解决了通过人工分拣而带来的分拣效率低下、分拣精度差的问题。
图18是本发明实施例提供的一种货物分拣方法的步骤流程图，如图18所示，该方法可以包括：
步骤501、获取所述货物的信息。
该步骤具体可以参照上述步骤101，此处不再赘述。
步骤502、根据所述货物的信息，确定所述货物对应的目标容器输送机和目标容器。
该步骤具体可以参照上述步骤102，此处不再赘述。
步骤503、根据所述货物在所述分拣机上所处的第一目标分拣输送机和所述目标容器输送机之间的相对位置关系，控制所述分拣机将所述第一目标分拣输送机和所述目标容器输送机对齐。
该步骤具体可以参照上述步骤103，此处不再赘述。
步骤504、控制所述第一目标分拣输送机，将所述货物输送至所述目标容器输送机的目标容器中。
该步骤具体可以参照上述步骤104，此处不再赘述。
综上，本发明实施例提供的一种货物分拣方法，包括：获取货物的信息；根据货物的信息，确定货物对应的目标容器输送机和目标容器；根据货物在分拣机上所处的第一目标分拣输送机和目标容器输送机之间的相对位置关 系，控制分拣机将第一目标分拣输送机和目标容器输送机对齐；控制第一目标分拣输送机，将货物输送至目标容器输送机的目标容器中。本公开中，处理器根据货物的信息，自动为货物分配对应的目标容器输送机和目标容器，实现了货物分拣***与货物信息***的交互，以在提高分拣精度的基础上，达到了自动化拣货的目的，并且，本公开通过处理器控制暂存由货物的第一目标分拣输送机和待投递货物的目标容器输送机对齐，并控制第一目标分拣输送机，将货物输送至目标容器输送机的目标容器中，进一步提高了分拣操作的精度和自动化程度，解决了通过人工分拣而带来的分拣效率低下、分拣精度差的问题。
另外，本发明实施例还提供一种装置，具体可以参照图19，该装置600包括处理器610，存储器620以及存储在存储器620上并可在处理器610上运行的计算机程序，该计算机程序被处理器610执行时实现上述实施例的货物分拣方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
本发明实施例还提供一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，该计算机程序被处理器执行时实现上述的货物分拣***实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。其中，所述的计算机可读存储介质，可以为只读存储器(Read-Only Memory，简称ROM)、随机存取存储器(Random Access Memory，简称RAM)、磁碟或者光盘等。
本发明实施例还提供了一种计算机程序，该计算机程序可以存储在云端或本地的存储介质上。在该计算机程序被计算机或处理器运行时用于执行本发明实施例的货物分拣***的相应步骤，并且用于实现根据本发明实施例的深度学习模型的建立装置中的相应模块。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本发明实施例的技术方案， 而非对其限制；尽管参照前述各实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

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  1. 一种货物分拣***，其中，所述***包括：
    分拣机、多个容器输送机和处理器，沿所述分拣机的外侧设置有多个分拣输送机，每个分拣输送机设置对应一个容器输送机，在每个容器输送机上设置有多个容器；
    所述处理器用于：
    获取所述货物的信息；
    根据所述货物的信息，确定所述货物对应的目标容器输送机和目标容器；
    根据所述货物在所述分拣机上所处的第一目标分拣输送机和所述目标容器输送机之间的相对位置关系，控制所述分拣机将所述第一目标分拣输送机和所述目标容器输送机对齐；
    控制所述第一目标分拣输送机，将所述货物输送至所述目标容器输送机的目标容器中。
  2. 根据权利要求1所述的***，其中，
    所述处理器具体用于：
    在所述第一目标分拣输送机的投料口与所述目标容器对齐时，控制所述第一目标分拣输送机，将所述货物输送至所述目标容器中；
    在所述第一目标分拣输送机的投料口与所述目标容器不对齐时，控制所述目标容器输送机将所述目标容器移动至与所述第一目标分拣输送机的投料口对齐，并将所述第一目标分拣输送机上的货物，输送至所述目标容器中。
  3. 根据权利要求2所述的***，其中，
    所述处理器具体用于：
    确定所述目标容器的当前位置；
    根据所述目标容器的当前位置，确定所述目标容器输送机将所述目标容器移动至与所述投料口对齐的第一路径；
    根据所述第一路径，控制所述目标容器输送机，将所述目标容器移动至与所述投料口对齐。
  4. 根据权利要求3所述的***，其中，所述第一路径为将所述目标容器移动至与所述投料口对齐的多条路径中长度最短的路径。
  5. 根据权利要求4所述的***，其中，所述投料口包括位于所述第一目标分拣输送机两侧的第一投料口和第二投料口，所述第一投料口的投料方向与所述第二投料口的投料方向相反；
    所述处理器具体用于：
    根据第二路径，控制所述目标容器输送机，将所述目标容器移动至与所述第一投料口和所述第二投料口之一对齐；
    所述第二路径为将所述目标容器移动至与所述第一投料口和所述第二投料口对齐的多条路径中长度最短的路径。
  6. 根据权利要求3或4所述的***，其中，在所述容器输送机背离所述分拣输送机的一侧的末端设置有测距传感器；所述处理器具体用于：
    通过所述测距传感器，获取所述测距传感器与所述测距传感器面对的容器之间的目标间隔距离；
    根据所述目标间隔距离，确定所述目标容器的当前位置。
  7. 根据权利要求6所述的***，其中，在所述容器输送机中划分有多个容器安放位置，所述多个容器安放位置与所述末端之间的间隔距离不同；
    所述处理器具体用于将与所述末端之间的间隔距离为所述目标间隔距离的容器安放位置，确定为所述目标容器的当前位置。
  8. 根据权利要求1-7中任一项所述的***，其中，
    所述处理器具体用于：
    在所述货物为所述货物所属的第一清单中待分拣的首个货物的情况下，为所述货物分配所述目标容器输送机和所述目标容器；
    在所述货物为所述货物所属的第一清单中待分拣的非首个货物的情况下，将针对所述第一清单所分配的容器输送机和容器，确定为所述目标容器输送机和所述目标容器。
  9. 根据权利要求8所述的***，其中，所述处理器具体用于：
    基于工作量最小的原则为所述货物分配所述目标容器输送机和所述目标容器。
  10. 根据权利要求9所述的***，其中，所述处理器具体用于：
    在所述货物为所述货物所属的第一清单中待分拣的首个货物的情况下，确定具有空置容器的容器输送机；
    若包括多个所述空置容器输送机，则确定将所述第一目标分拣输送机移动至与所述空置容器输送机对齐的第三路径，所述第三路径为将所述第一目标分拣输送机移动至与所述空置容器输送机对齐的多条路径中长度最短的路径；
    将所述第三路径对应的空置容器输送机，分配为所述货物的目标容器输送机；
    将所述目标容器输送机中距离所述第一目标分拣输送机的投料口最近的空置容器，确定为所述货物的目标容器。
  11. 根据权利要求1-10中任一项所述的***，其中，所述处理器还用于：
    在控制所述第一目标分拣输送机将所述货物输送至所述目标容器中之后，确定与所述目标容器相邻的相邻容器；
    在所述分拣机的所述多个分拣输送机上当前不存在对应于所述目标容器的货物时，为第二清单中待分拣的首个货物优先分配所述相邻容器作为目标容器；
    控制所述分拣机，将所述第二清单中待分拣的首个货物所在的第二目标分拣输送机移动至与所述相邻容器所处的容器输送机对齐，并控制所述目标容器输送机将所述相邻容器移动至与所述第二目标分拣输送机的投料口对齐；
    控制所述第二目标分拣输送机，将所述第二清单中待分拣的首个货物输送至所述相邻容器中。
  12. 根据权利要求1-11中任一项所述的***，其中，所述***还包括：进料输送带，所述进料输送带用于与所述分拣机的一个所述分拣输送机连接；
    所述处理器用于：
    在确定所述进料输送带当前对接的分拣输送机中无货物的情况下，控制所述进料输送带，向所述进料输送带当前对接的分拣输送机输送所述货物；
    在确定所述进料输送带当前对接的分拣输送机中有货物的情况下，控制所述进料输送带停止工作，直到所述进料输送带下一次对接的分拣输送机中无货物时，控制所述进料输送带，向所述进料输送带对接的分拣输送机输送所述货物。
  13. 根据权利要求12所述的***，其中，在所述进料输送带的末端设置 有光电开关发送端；所述分拣输送机对接所述进料输送带时，在所述分拣输送机背离所述进料输送带的一端设置有光电开关接收端；
    所述处理器具体用于：
    在所述光电开关发送端与所述光电开关接收端接通时，确定所述进料输送带对接的分拣输送机中无货物；
    在所述光电开关发送端与所述光电开关接收端断开时，确定所述进料输送带对接的分拣输送机中有货物。
  14. 根据权利要求1-13中任一项所述的***，其中，所述处理器包括第一逻辑控制器和第一编码器；所述***还包括第一驱动器，所述第一驱动器用于驱动所述分拣机带动所述分拣输送机移动；
    所述第一编码器用于，确定所述第一目标分拣输送机和所述目标容器输送机之间的第一相对位置关系；
    所述第一逻辑控制器用于，根据所述第一编码器确定的所述第一相对位置关系，控制所述第一驱动器带动所述分拣机将所述第一目标分拣输送机和所述目标容器输送机对齐。
  15. 根据权利要求14所述的***，其中，所述***还包括：容器转盘，所述多个容器输送机设置在所述容器转盘中对应所述多个分拣输送机的位置处；
    所述第一编码器具体用于：
    确定所述目标容器输送机基于第一原点的第一旋转角度，所述第一原点为所述容器转盘侧边的预设原点；
    根据所述第一旋转角度，确定所述第一目标分拣输送机基于第二原点的第二旋转角度，并将所述第二旋转角度确定为所述第一目标分拣输送机和所述目标容器输送机之间的第一相对位置关系，所述第二原点为所述分拣机侧边处与所述第一原点对应的预设原点；
    所述第二旋转角度与所述第一旋转角度相同。
  16. 根据权利要求1-15中任一项所述的***，其中，所述***还包括：换箱输送机和容器转盘，所述多个容器输送机设置在所述容器转盘中对应所述多个分拣输送机的位置处，所述换箱输送机设置在所述容器转盘的周围；
    所述处理器用于：
    在存在满足更换条件的容器的情况下，控制所述容器转盘旋转，将满足更换条件的容器所处的待更换的容器输送机和所述换箱输送机对齐，将空置容器替换所述满足更换条件的容器。
  17. 根据权利要求16所述的***，其中，若一个容器输送机上预设数量的容器的剩余存储空间小于或等于预设阈值，则确定存在满足换箱条件的容器。
  18. 根据权利要求16所述的***，其中，所述处理器包括第二逻辑控制器和第二编码器；所述***还包括第二驱动器，所述第二驱动器用于驱动所述容器转盘旋转。
    所述第二编码器用于，确定所述待更换的容器输送机与所述换箱输送机之间的第二相对位置关系；
    所述第二逻辑控制器用于，根据所述第二相对位置关系，控制所述第二驱动器带动所述分拣机将所述待更换的容器输送机和所述换箱输送机对齐。
  19. 根据权利要求16至18任一项所述的***，其中，
    所述换箱输送机包括出箱输送机和进箱输送机，所述出箱输送机和所述进箱输送机设置在所述容器转盘的周围；
    所述处理器具体用于：
    控制所述容器转盘旋转，将所述待更换的容器输送机与所述出箱输送机对齐；
    控制所述待更换的容器输送机将所述满足更换条件的容器传送至所述出箱输送机上；
    在所述待更换的容器输送机上满足更换条件的容器传送至所述出箱输送机上之后，控制所述容器转盘旋转，将所述待更换的容器输送机与所述进箱输送机对齐；
    控制所述进箱输送机将预设数量的空置容器，传送至所述待更换的容器输送机上。
  20. 一种货物分拣方法，应用于如权利要求1至19任一项所述的货物分拣***，其中，所述方法包括：
    获取所述货物的信息；
    根据所述货物的信息，确定所述货物对应的目标容器输送机和目标容器；
    根据所述货物在所述分拣机上所处的第一目标分拣输送机和所述目标容器输送机之间的相对位置关系，控制所述分拣机将所述第一目标分拣输送机和所述目标容器输送机对齐；
    控制所述第一目标分拣输送机，将所述货物输送至所述目标容器输送机的目标容器中。
  21. 一种计算机可读存储介质，其中，所述计算机可读存储介质上存储计算机程序，所述计算机程序被处理器执行时实现如权利要求20所述的货物分拣方法的步骤。
  22. 一种装置，其中，包括处理器、存储器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现如权利要求20所述的货物分拣方法的步骤。
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