CN114042640A - Express sorting system and method - Google Patents

Abstract

The scheme relates to an express sorting system and method. The system comprises: the device comprises a mechanical arm, an annular conveying belt and a control end; the control end is respectively connected with the mechanical arm and the annular conveyor belt and is used for controlling the mechanical arm and the annular conveyor belt to work; the mechanical arm comprises a first mechanical arm and a second mechanical arm; the first mechanical arm is used for grabbing the express delivery piece from the stacking frame, identifying the position of a bar code on the express delivery piece and upwards placing the express delivery piece on the annular conveying belt according to the bar code; the second mechanical arm is used for identifying the bar codes of the express items on the annular conveying belt and grabbing the express items to a target area according to an identification result. By arranging two types of mechanical arms, one type of mechanical arms is used for identifying the position of a bar code, placing the express delivery bar code on the annular conveying belt upwards, and the other type of mechanical arms is used for identifying the bar code and grabbing the express delivery to a target area, so that automatic express delivery sorting is realized; because the conveyer belt is annular, cooperates the arm to carry out the express delivery letter sorting, area is less, has reduced the cost of express delivery letter sorting.

Description

Express sorting system and method

Technical Field

The invention relates to the field of logistics express delivery transportation, in particular to an express delivery sorting system and method.

Background

With the development of society, the living standard of people is continuously improved, the integration of the Internet and the electronic commerce technology brings huge transformation to modern consumption concepts and modes, and the achievement of remote transaction also brings huge development thrust to the express industry. However, the continuous development of the e-commerce industry also puts higher requirements on the express delivery industry, and the sorting link of the express delivery is tested while facing to a large batch of express delivery orders. The express sorting points can be divided into first-level sorting points, second-level sorting points and third-level sorting points, wherein the first-level sorting points basically realize automatic sorting, and a first-level grading express point sorting system is mainly constructed on the basis of a conveying belt and an AGV trolley, so that the floor area is large, and the development and manufacturing cost is high; two tertiary letter sorting points mainly rely on the manual work to sort, and automatic sorting's realization is extremely low, and two tertiary letter sorting points construct the huge system that uses the conveyer belt and the dolly that carries cargo as the basis usually, shunts the express delivery at each letter sorting mouth, and bicycle manufacturing cost is high, maintains inconveniently, and big piece and dysmorphism piece need sort alone.

Therefore, the traditional two-level and three-level express sorting system has the problems of high development and manufacturing cost due to the fact that the equipment system is large and the occupied area is too large.

Disclosure of Invention

Based on this, in order to solve the technical problem, an express sorting system and method are provided, which can reduce the express sorting cost.

A courier sortation system, the system comprising: the device comprises a mechanical arm, an annular conveying belt and a control end; the control end is respectively connected with the mechanical arm and the annular conveyor belt and is used for controlling the mechanical arm and the annular conveyor belt to work; the mechanical arm comprises a first mechanical arm and a second mechanical arm;

the first mechanical arm is arranged on one side of the annular conveyor belt; the first mechanical arm is used for grabbing the express delivery piece from the stacking frame, identifying the position of a bar code on the express delivery piece and placing the express delivery piece on the annular conveying belt according to the upward direction of the bar code;

the second mechanical arm is arranged on the other side of the annular conveying belt and used for identifying the bar codes of the express items on the annular conveying belt and grabbing the express items to a target area according to an identification result.

In one embodiment, the system further comprises a first camera, a second camera, and a third camera; the first camera, the second camera and the third camera are all connected with the control end and distributed around the annular conveyor belt, and are used for collecting a first image containing the express delivery piece, transmitting the first image to the control end, and identifying the position of a bar code on the express delivery piece by the control end according to the first image; when the bar code on the express delivery piece is on the top of the express delivery piece, the first binocular camera recognizes the bar code on the top of the express delivery piece and sends a recognition result to the control end, and the control end controls the first mechanical arm to place the express delivery piece on the annular conveying belt in the upward direction of the bar code.

In one embodiment, the control end calculates a turning angle according to the position of a bar code on the express item, and controls the first mechanical arm to place the express item on the annular conveying belt according to the turning angle in the upward direction of the bar code.

In one embodiment, the first mechanical arm is provided with a suction cup and a guide plate; the first mechanical arm grabs the express delivery piece through the sucker, turns over the express delivery piece according to the turning angle, then removes the sucker, and guides the express delivery piece to the annular conveying belt through the guide plate.

In one embodiment, a second dual-purpose camera is arranged on the second mechanical arm; the second binocular camera is used for collecting a second image containing the bar code and transmitting the second image to the control end, and the control end identifies the bar code according to the second image to obtain an identification result.

In one embodiment, the identification result comprises a correct parcel, an incorrect parcel; when the identification result is correct package, the second mechanical arm grabs the express delivery piece to a correct material frame; and when the identification result is an error package, the second mechanical arm grabs the express delivery piece to an error material frame.

In one embodiment, the second mechanical arm scans the bar code through the second binocular camera to obtain the description information of the express delivery piece; the second mechanical arm transmits the description information to the control end.

A method of sorting parcels, the method comprising:

grabbing a courier from a stacking frame through a first mechanical arm, identifying the position of a bar code on the courier, and placing the courier on an annular conveying belt according to the upward direction of the bar code;

the express delivery pieces placed upwards according to the bar codes are transmitted through the annular conveying belt, and the express delivery pieces are transmitted to a second mechanical arm;

and identifying the bar code on the express delivery piece through a second mechanical arm, and grabbing the express delivery piece to a target area according to an identification result.

In one embodiment, the grabbing a courier from a stack frame by a first robotic arm and identifying a location of a barcode on the courier comprises:

the method comprises the following steps that a first camera, a second camera and a third camera are distributed around the annular conveyor belt and are all used for collecting a first image containing the express delivery piece and transmitting the first image to a control end, and the control end identifies the position of a bar code on the express delivery piece according to the first image;

a first binocular camera is arranged on the first mechanical arm; when the bar code on the express delivery piece is on the top of the express delivery piece, the first binocular camera recognizes the bar code on the top of the express delivery piece and sends a recognition result to the control end, and the control end controls the first mechanical arm to place the express delivery piece on the annular conveying belt in the upward direction of the bar code.

In one embodiment, the placing the courier on the endless conveyor belt in the upward direction of the barcode includes:

sending the identified position of the bar code on the express item to a control end through the first mechanical arm;

and the control end calculates a turning angle according to the position of the bar code on the express item, and controls the first mechanical arm to place the express item on the annular conveyor belt according to the upward direction of the bar code according to the turning angle.

The express sorting system and method comprise the following steps: the device comprises a mechanical arm, an annular conveying belt and a control end; the control end is respectively connected with the mechanical arm and the annular conveyor belt and is used for controlling the mechanical arm and the annular conveyor belt to work; the mechanical arm comprises a first mechanical arm and a second mechanical arm; the first mechanical arm is arranged on one side of the annular conveyor belt; the first mechanical arm is used for grabbing the express delivery piece from the stacking frame, identifying the position of a bar code on the express delivery piece and placing the express delivery piece on the annular conveying belt according to the upward direction of the bar code; the second mechanical arm is arranged on the other side of the annular conveying belt and used for identifying the bar codes of the express items on the annular conveying belt and grabbing the express items to a target area according to an identification result. By arranging the two types of mechanical arms, the first mechanical arm is used for upwards placing the express delivery bar code on the annular conveying belt through the position of identifying the bar code, the second mechanical arm is used for identifying the bar code, and the express delivery piece is grabbed to the target area, so that automatic express delivery sorting is realized without manual participation; because the conveyer belt is annular, cooperates the arm to carry out the express delivery letter sorting, area is less, sorts efficiently, has reduced the cost of express delivery letter sorting.

Drawings

FIG. 1 is a block diagram of an express sorting system in one embodiment;

FIG. 2 is a schematic diagram of the internal structure of the courier sorting system in one embodiment;

FIG. 3 is a diagram illustrating the collection of a first image containing a courier, according to one embodiment;

FIG. 4 is a schematic diagram of a first robot 110 according to one embodiment;

FIG. 5 is a schematic view of a first robot 110 according to another embodiment;

fig. 6 is a schematic flow chart of an express item sorting method in an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that the terms "first," "second," and the like as used herein may be used herein to describe robotic arms, but that such robotic arms are not limited by these terms. These terms are only used to distinguish a first mechanical arm from another mechanical arm. For example, a first robot arm may be referred to as a second robot arm, and similarly, a second robot arm may be referred to as a first robot arm, without departing from the scope of the present application. The first and second robotic arms are both robotic arms, but they are not the same robotic arm.

In one embodiment, as shown in fig. 1, the present invention provides a system for sorting express items, which mainly includes: the mechanical arm 100, the endless belt 200 and the control end 300; the control end 300 is respectively connected with the mechanical arm 100 and the annular conveyor belt 200 and is used for controlling the mechanical arm 100 and the annular conveyor belt 200 to work; the robot arm 100 includes a first robot arm 110 and a second robot arm 120.

The control terminal 300 may be a microcomputer, and the control terminal 300 may be connected to the robot arm 100 and the endless belt 200 according to a communication protocol. In this embodiment, the control end 300 may be connected to the robot arm 100 and the endless belt 200 through WIFI, an optical fiber, or the like, so as to control the robot arm 100 and the endless belt 200 to work.

The robotic arm 100 may include a first robotic arm 110, a second robotic arm 120. The number of the first robot arms 110 may be one or more; likewise, the number of the second mechanical arms 120 may be one, or may be plural, and is not limited herein. In the present embodiment, the first robot arm 110 and the second robot arm 120 are connected to the control terminal 300.

In the present embodiment, the first robot arm 110 is disposed at one side of the endless belt 200; the first robot arm 110 is used to pick up the courier item from the stacker frame and identify the position of the barcode on the courier item, and place the courier item on the endless conveyor 200 in the upward direction of the barcode.

The stacking frame can be used for placing various express items, and particularly, the stacking frame can contain the express items sorted through the first-level express grading point. Each express item is pasted with a bar code which can be used for distinguishing different express items; the shape of the express delivery piece can be box-shaped, and can also be bag-shaped, and is not limited herein. The box-shaped express delivery piece comprises 6 faces, and the 6 faces on one express delivery piece are possibly pasted with bar codes; similarly, the bag-shaped article includes 2 sides, and a bar code may be attached to each of the 2 sides.

The first robot arm 110 may be disposed at a side of the endless belt 200 where the delivery of the express items starts. The first mechanical arm 110 can grab each express item from the stacking frame, specifically, the first mechanical arm 110 can make a reasonable plan according to the shape and the posture of the top express item of the stacking frame, determine the express item to be grabbed, and grab the express items in the stacking frame in sequence.

After the first mechanical arm 110 captures each express item, the position of the barcode on the express item can be sequentially identified. When the express delivery piece is in a box shape, the position of the bar code can be on the grabbing surface, four adjacent surfaces of the grabbing surface and several opposite surfaces of the grabbing surface, and the first mechanical arm 110 can turn over the express delivery piece, the position of which is not on the grabbing surface, so that the express delivery piece is placed on the annular conveyor belt 200 in the upward direction of the bar code.

In this embodiment, the second robot arm 120 is disposed at the other side of the endless conveyor 200, and is configured to recognize a barcode of the courier on the endless conveyor 200 and grasp the courier to the target area according to the recognition result.

The second robot arm 120 may be disposed at the other side of the endless belt 200, and in particular, the second robot arm 120 may be disposed behind the first robot arm 110 in the moving direction of the endless belt 200, that is, the second robot arm 120 may be disposed at a courier placed upward on the endless belt 200 according to a barcode, so as to identify the barcode on the courier, thereby picking up the courier into the target area according to the identification result.

In this embodiment, an express delivery sorting system that provides mainly includes: the mechanical arm 100, the endless belt 200 and the control end 300; the control end 300 is respectively connected with the mechanical arm 100 and the annular conveyor belt 200 and is used for controlling the mechanical arm 100 and the annular conveyor belt 200 to work; the robot arm 100 includes a first robot arm 110, a second robot arm 120; the first robot arm 110 is disposed at one side of the endless belt 200; the first mechanical arm 110 is used for grabbing the express delivery pieces from the stacking frame, identifying the positions of bar codes on the express delivery pieces, and placing the express delivery pieces on the annular conveyor belt 200 in the upward direction of the bar codes; the second mechanical arm 120 is disposed at the other side of the endless conveyor 200, and is configured to recognize a barcode of the courier on the endless conveyor 200 and grab the courier to the target area according to the recognition result. By arranging the two types of mechanical arms 100, the first mechanical arm 110 is used for upwards placing the express delivery bar code on the annular conveyor belt 200 through identifying the position of the bar code, identifying the bar code through the second mechanical arm 120 and grabbing the express delivery to a target area, so that automatic express delivery sorting is realized without manual participation; because the conveyer belt is annular, cooperates arm 100 to carry out the express delivery letter sorting, area is less, sorts efficiently, has reduced the cost of express delivery letter sorting.

In one embodiment, as shown in fig. 2, a courier sorting system is provided that includes a stereo vision module, a central processing unit, a robotic arm motion control system, a conveyor belt motion control module, and the like. The stereoscopic vision module is arranged in the first binocular camera and the second binocular camera and is mainly used for collecting information and processing image information. The central processing unit is arranged at the control end and mainly comprises a planning decision system and a data and control command transceiver, wherein the planning decision system receives information from each module to complete planning decision, and the data and control command transceiver is mainly used for transmitting the control command of the central processing unit to each execution system. The conveyor belt control module is arranged on the annular conveyor belt and used for receiving and feeding back related information to the central processing unit and controlling the conveyor belt by controlling the conveyor belt motor. The mechanical arm motion control system is arranged on the first mechanical arm and the second mechanical arm and mainly used for controlling a mechanical arm motion track and a mechanical arm motion, mechanical arm position information needs to be fed back to the central processing unit in time, the central processing unit gives out target position information, and the actions of grabbing, checking, stacking and the like of express packages are completed under the coordination of the central processing unit.

In one embodiment, the express sorting system provided may further include a first camera, a second camera, and a third camera connected to the control end. First camera, second camera, third camera can distribute around the endless conveyor for gather the first image that contains the express delivery piece. Wherein, first camera, second camera, third camera can place respectively in different positions to gather the first image that includes the express delivery piece of different angles. The number of the first images can be multiple, and the multiple first images respectively contain different angles of the couriers. For example, when the shape of the courier is a box, the first image may be an image of 5 faces of the courier, as shown in fig. 3, and the first image may be an image of 4 sides and 1 bottom of the courier.

After the three cameras respectively collect the first images containing the express delivery piece at different angles, the first images can be sent to the control end, and the control end identifies the position of the bar code on the express delivery piece according to the first images. In this embodiment, as shown in fig. 4, the first robot arm 110 is provided with a first dual-purpose camera 112; when the barcode on the express item is on the top of the express item, the first binocular camera 112 may recognize the barcode on the top of the express item and send the recognition result to the control end, and the control end controls the first robot arm 110 to place the express item on the endless conveyor belt in the upward direction of the barcode.

In this embodiment, after receiving the first image, the control end may analyze the first image, so as to identify the position of the barcode on the courier, transmit the position information of the barcode on the courier to the first mechanical arm 110, and turn over the courier according to the position information of the barcode by the first mechanical arm 110. The first mechanical arm 110 may further include a mechanical arm for flexibly grabbing and turning the courier, so that any side of the courier can be placed on the endless conveyor belt upward.

In one embodiment, the control end calculates the turnover angle according to the position of the bar code on the express item, and controls the first mechanical arm to place the express item on the annular conveying belt according to the upward direction of the bar code according to the turnover angle.

After the control end receives the position of the bar code on the express item, the control end can calculate the overturning angle according to the position of the bar code on the express item. Specifically, when the position of the control end receiving the bar code on the express item is that the bar code is on four adjacent surfaces of the grabbing surface, the control end can calculate the turning angle to be 90 degrees; when the position of the control end for receiving the bar code on the express item is opposite to the grabbing surface of the bar code, the control end can calculate the overturning angle to be 45 degrees. After the control end calculates the turning angle, the first mechanical arm can be controlled to turn the express delivery piece according to the turning angle, so that the bar code of the express delivery piece is upward, and then the control end can control the first mechanical arm to place the express delivery piece on the annular conveying belt according to the upward direction of the bar code, so that the bar code of the express delivery piece is upward transmitted on the annular conveying belt.

As shown in fig. 5, in one embodiment, the first robot arm 110 is provided with a suction cup 114 and a guide plate 116; the first robot 110 grasps the courier through the suction cup 114, removes the suction cup 114 after turning over the courier according to the turning angle, and guides the courier to the endless conveyor through the guide plate 116. The first mechanical arm mainly comprises a mechanical arm body and a mechanical arm, the mechanical arm body comprises a joint motor, an arm body and the like, the first mechanical arm is the same as the mechanical arm body of the second mechanical arm, and the mechanical arms are slightly different according to functional requirements.

The suction cups 114 can be vacuum suction cups, the number of the suction cups 114 can be 16, the positions are reasonably arranged, the whole area of the suction cups is small, and the suction force is large. The first mechanical arm 110 and the first double-purpose camera are matched to find the side, with the bar code, of the express delivery piece, the first mechanical arm 110 can turn over the express delivery piece, the guide part guide plate 116 for blanking is designed on the first mechanical arm 110, the guide plate 116 is partially matched through rotation of the first mechanical arm 110, and any side of the express delivery piece can be reliably placed on the annular conveying belt upwards.

In this embodiment, when the turning angle is 90 °, the first mechanical arm 110 turns the whole express delivery piece by 90 ° after rotating, and at this time, the first mechanical arm 110 may remove the suction force, so that the suction cup 114 is separated from the express delivery piece, and the express delivery piece can accurately fall on the endless conveyor belt with the barcode facing upward; when the turning angle is 45 °, the first mechanical arm 110 may turn the courier by about 45 °, at this time, the first mechanical arm 110 may remove the suction force, and the courier may slide up and drop onto the endless conveyor belt with the barcode facing under the guidance of the guide plate 116, wherein the guide plate 116 may be replaced with a movable slide rail.

In one embodiment, a second binocular camera is arranged on the second mechanical arm; the second binocular camera is used for collecting a second image containing the bar code and transmitting the second image to the control end, and the control end identifies the bar code according to the second image to obtain an identification result.

The second binocular camera arranged on the second mechanical arm can be used for acquiring a second image, wherein the second image can contain a bar code. In this embodiment, because the setting of second arm is in the express delivery piece department that upwards placed according to the bar code on endless conveyor, the second camera of two purposes can directly gather the second image that includes the bar code on the express delivery piece, need not to overturn the express delivery piece through second arm.

After the second image is collected by the second binocular camera, the second image can be transmitted to the control end, and the control end identifies the bar code according to the second image, so that an identification result is obtained.

Wherein the second arm is substantially identical to the body portion of the first arm, and the first arm is more complex to perform than the second arm, such that the first arm has more degrees of freedom than the second arm.

In one embodiment, the recognition results include correct parcels, incorrect parcels; when the identification result is correct package, the second mechanical arm grabs the express delivery piece to a correct material frame; and when the identification result is wrong package, the second mechanical arm grabs the express delivery piece to the wrong material frame.

The control end can identify the identification result obtained by identifying the bar code according to the second image, and the identification result can comprise correct packages and wrong packages. The second mechanical arm can also be provided with two material frames which are a correct material frame and an incorrect material frame respectively; the correct material frame can be used for placing express items with information meeting requirements and orderly stacking according to preset rules; the wrong material frame can be used for placing the problem express delivery pieces with wrong bar code information, damaged bar codes and incapability of scanning, and is convenient for subsequent processing. The express delivery area can be divided into areas 1, 2, 3, 4 and the like according to preset classification rules, and each area can be further divided into categories A, B, C, D, E, F and the like.

In one embodiment, the second mechanical arm scans bar codes through the second binocular camera to obtain description information of the express delivery piece; the second mechanical arm transmits the description information to the control end.

The description information of the express delivery can include express owner information of the express delivery, ex-warehouse information of the express delivery and the like. The second mechanical arm can scan the bar code on the express delivery piece through the second binocular camera, so that the description information of the express delivery piece is obtained, the description information is transmitted to the control end, and the description information is stored by the control end.

In one embodiment, as shown in fig. 6, there is provided a method for sorting express items, including the steps of:

step 602, grabbing the express delivery piece from the stacking frame through a first mechanical arm, identifying the position of a bar code on the express delivery piece, and placing the express delivery piece on an annular conveying belt according to the upward direction of the bar code;

step 604, transmitting the couriers upwards placed according to the bar codes through an annular conveyor belt, and transmitting the couriers to a second mechanical arm;

and 606, identifying the bar code on the express item through the second mechanical arm, and grabbing the express item to a target area according to the identification result.

In the express sorting method provided by the embodiment, firstly, a material frame containing express to be sorted is conveyed to an express feeding area through an AGV trolley, a first mechanical arm automatically picks the express from the material frame, the first mechanical arm overturns the express, one side with a bar code is found through a first binocular camera, and the express is correctly stacked on an annular conveying belt. The express delivery piece is conveyed to the next station through the annular conveying belt, the second mechanical arm utilizes the second binocular camera to scan the bar code passing through the express delivery piece, the express delivery piece with information meeting requirements is grabbed, the express delivery piece is orderly stacked according to preset rules, the express delivery piece is put into the corresponding material frame, sorting of certain express delivery piece is completed, the second mechanical arm collects and processes the information of the express delivery piece through the second binocular camera, and the read information is recorded into the system. And repeating the processes to complete the sorting of all to-be-sorted expressages, sorting out the problem expressages with wrong bar code information, damaged bar codes and incapability of scanning by the second mechanical arm in the problem expressage item processing area, putting the problem expressage items into the material frames in the corresponding area, and waiting for subsequent processing.

In one embodiment, the provided express sorting method may further include a process of identifying a position of a barcode on the express, and the specific process includes: the method comprises the following steps that a first camera, a second camera and a third camera are distributed around an annular conveyor belt and are all used for collecting a first image containing a express delivery piece and transmitting the first image to a control end, and the control end identifies the position of a bar code on the express delivery piece according to the first image; a first binocular camera is arranged on the first mechanical arm; when the bar code on the express delivery piece is on the top of the express delivery piece, the first double-purpose camera identifies the bar code on the top of the express delivery piece and sends an identification result to the control end, and the control end controls the first mechanical arm to place the express delivery piece on the annular conveying belt in the upward direction of the bar code.

In one embodiment, the express sorting method may further include a process of placing the express items on the endless conveyor belt in a direction in which the barcode faces upward, and the specific process includes: sending the position of the bar code on the identified express item to a control end through a first mechanical arm; the control end calculates the turning angle according to the position of the bar code on the express item, and controls the first mechanical arm to place the express item on the annular conveyor belt according to the upward direction of the bar code according to the turning angle.

In another embodiment, the first mechanical arm is provided with a sucker and a guide plate; the provided express sorting method can further comprise the step of placing the express on the annular conveyor belt according to the upward direction of the bar code, and the specific steps comprise: the first mechanical arm grabs the express delivery piece through the sucking disc, turns over the express delivery piece according to the turning angle, then removes the sucking disc, and guides the express delivery piece to the annular conveying belt through the guide plate.

In one embodiment, a second binocular camera is arranged on the second mechanical arm; the provided express sorting method can further comprise a bar code identification process, and the specific process comprises the following steps: and acquiring a second image containing the bar code through a second binocular camera, transmitting the second image to the control end, and identifying the bar code by the control end according to the second image to obtain an identification result.

In one embodiment, the recognition results include correct parcels, incorrect parcels; the provided express sorting method can further comprise a process of storing the express respectively, and the specific process comprises the following steps: when the identification result is correct package, the second mechanical arm grabs the express delivery piece to a correct material frame; and when the identification result is wrong package, the second mechanical arm grabs the express delivery piece to the wrong material frame.

In one embodiment, the provided express sorting method may further include a process of transmitting the scanning information to the control end, where the specific process includes: the second mechanical arm scans the bar code through a second binocular camera to obtain description information of the express item; the second mechanical arm transmits the description information to the control end.

It should be understood that, although the steps in the above-described flowcharts are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in the above-described flowcharts may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or the stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least a portion of the sub-steps or stages of other steps.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A courier sortation system, the system comprising: the device comprises a mechanical arm, an annular conveying belt and a control end; the control end is respectively connected with the mechanical arm and the annular conveyor belt and is used for controlling the mechanical arm and the annular conveyor belt to work; the mechanical arm comprises a first mechanical arm and a second mechanical arm;

the first mechanical arm is arranged on one side of the annular conveyor belt; the first mechanical arm is used for grabbing the express delivery piece from the stacking frame, identifying the position of a bar code on the express delivery piece and placing the express delivery piece on the annular conveying belt according to the upward direction of the bar code;

the second mechanical arm is arranged on the other side of the annular conveying belt and used for identifying the bar codes of the express items on the annular conveying belt and grabbing the express items to a target area according to an identification result.

2. The courier sorting system of claim 1, wherein the system further comprises a first camera, a second camera, a third camera; the first camera, the second camera and the third camera are all connected with the control end and distributed around the annular conveyor belt, and are used for acquiring a first image containing the express delivery piece, transmitting the first image to the control end, and identifying the position of a bar code on the express delivery piece by the control end according to the first image;

a first binocular camera is arranged on the first mechanical arm; when the bar code on the express delivery piece is on the top of the express delivery piece, the first binocular camera recognizes the bar code on the top of the express delivery piece and sends a recognition result to the control end, and the control end controls the first mechanical arm to place the express delivery piece on the annular conveying belt in the upward direction of the bar code.

3. The express sorting system of claim 2, wherein the control end calculates a turning angle according to a position of a barcode on the express item, and controls the first mechanical arm to place the express item on the endless conveyor belt in an upward direction of the barcode according to the turning angle.

4. The express sorting system of claim 3, wherein the first mechanical arm is provided with a suction cup and a guide plate; the first mechanical arm grabs the express delivery piece through the sucker, turns over the express delivery piece according to the turning angle, then removes the sucker, and guides the express delivery piece to the annular conveying belt through the guide plate.

5. The courier sorting system of claim 1, wherein the second robotic arm has a second bi-directional camera disposed thereon; the second binocular camera is used for collecting a second image containing the bar code and transmitting the second image to the control end, and the control end identifies the bar code according to the second image to obtain an identification result.

6. The courier sorting system of claim 5, wherein the identification includes a correct parcel, an incorrect parcel; when the identification result is correct package, the second mechanical arm grabs the express delivery piece to a correct material frame; and when the identification result is an error package, the second mechanical arm grabs the express delivery piece to an error material frame.

7. The courier sorting system of claim 5, wherein the second robotic arm scans the barcode through the second binocular camera to obtain descriptive information of the courier; the second mechanical arm transmits the description information to the control end.

8. A method of sorting parcels, the method comprising:

grabbing a courier from a stacking frame through a first mechanical arm, identifying the position of a bar code on the courier, and placing the courier on an annular conveying belt according to the upward direction of the bar code;

the express delivery pieces placed upwards according to the bar codes are transmitted through the annular conveying belt, and the express delivery pieces are transmitted to a second mechanical arm;

and identifying the bar code on the express delivery piece through a second mechanical arm, and grabbing the express delivery piece to a target area according to an identification result.

9. The method of claim 8, wherein said grasping a courier from a stack frame and identifying a location of a barcode on the courier by a first robotic arm comprises:

the method comprises the following steps that a first camera, a second camera and a third camera are distributed around the annular conveyor belt and are all used for collecting a first image containing the express delivery piece and transmitting the first image to a control end, and the control end identifies the position of a bar code on the express delivery piece according to the first image;

a first binocular camera is arranged on the first mechanical arm; when the bar code on the express delivery piece is on the top of the express delivery piece, the first binocular camera recognizes the bar code on the top of the express delivery piece and sends a recognition result to the control end, and the control end controls the first mechanical arm to place the express delivery piece on the annular conveying belt in the upward direction of the bar code.

10. The method of claim 9, wherein said placing said courier on an endless conveyor in an upward direction from said bar code comprises:

sending the identified position of the bar code on the express item to a control end through the first mechanical arm;

and the control end calculates a turning angle according to the position of the bar code on the express item, and controls the first mechanical arm to place the express item on the annular conveyor belt according to the upward direction of the bar code according to the turning angle.

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