CN111266319A - Piece supply equipment, control method, sorting system and device - Google Patents
Piece supply equipment, control method, sorting system and device Download PDFInfo
- Publication number
- CN111266319A CN111266319A CN201811482875.4A CN201811482875A CN111266319A CN 111266319 A CN111266319 A CN 111266319A CN 201811482875 A CN201811482875 A CN 201811482875A CN 111266319 A CN111266319 A CN 111266319A
- Authority
- CN
- China
- Prior art keywords
- section
- target mobile
- conveyor belt
- logistics
- mobile device
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
Landscapes
- Control Of Conveyors (AREA)
Abstract
The embodiment of the application discloses a piece supplying device, a control method, a sorting system and a device, wherein the piece supplying device specifically comprises: a transmission device; a sensor located below the transmission; and the processor judges whether the target mobile equipment in an idle state exists below the preset position of the transmission device according to the sensing data of the sensor, and controls the transmission device to transmit the logistics object to the target mobile equipment if the target mobile equipment exists below the preset position of the transmission device. The logistics field space can be shared by the target mobile equipment and the piece supplying equipment, so that the logistics field space can be saved.
Description
Technical Field
The application relates to the technical field of logistics, in particular to a piece supplying device, a control method, a sorting system and a sorting device.
Background
In the logistics industry, sorting techniques for logistics objects, such as parcels, are often involved. The cross-belt sorting machine is generally formed by connecting a piece supplying device and a transport vehicle; the supply equipment is used for automatically and synchronously guiding logistics objects with certain size and weight into a tray of the transport vehicle.
At present, a first belt conveyor is arranged on a piece supplying device, a second belt conveyor is arranged on a transport vehicle, and when the transport vehicle moves to a specified sorting position, the first belt conveyor and the second belt conveyor are driven to complete a task of sorting and sending out logistics objects. Typically, the first belt conveyor is cross-wise to the second belt conveyor, and is referred to as a cross-belt sorter.
In practical application, the first belt conveyor and the second belt conveyor in a cross shape need to occupy more space of a logistics site.
Disclosure of Invention
In view of the foregoing problems, an embodiment of the present application provides a supply device, a control method, and a device to solve the problems in the related art.
In order to solve the above problem, an embodiment of the present application discloses a piece supplying apparatus, including:
a transmission device;
a sensor located below the transmission; and
and the processor judges whether the target mobile equipment in an idle state exists below the preset position of the transmission device according to the sensing data of the sensor, and controls the transmission device to transmit the logistics object to the target mobile equipment if the target mobile equipment exists below the preset position of the transmission device.
In order to solve the above problem, an embodiment of the present application further discloses a control method for controlling a supply device, where the supply device includes: a transmission and a sensor disposed below the transmission, the method comprising:
judging whether a target mobile device in an idle state exists below a preset position of the transmission device or not according to sensing data of the sensor;
and controlling the transmission device to transmit the logistics object to the target mobile equipment under the condition that the target mobile equipment in an idle state exists below the preset position of the transmission device.
To solve the above problem, an embodiment of the present application further discloses a sorting system, including:
the aforementioned supply device; and
a mobile device;
and the processor of the piece supplying equipment judges whether the mobile equipment in an idle state exists below the preset position of the transmission device according to the sensing data of the sensor, and controls the transmission device to transmit the logistics object to the mobile equipment if the mobile equipment exists below the preset position of the transmission device.
In order to solve the above problem, an embodiment of the present application further discloses an apparatus, including:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the apparatus to perform one or more of the methods described above.
To address the above issues, one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause an apparatus to perform one or more of the methods described above.
As can be seen from the above, the piece supplying device, the control method, the sorting system and the apparatus provided in the embodiments of the present application have at least the following advantages:
according to the embodiment of the application, whether the target mobile equipment in an idle state exists below the preset position of the transmission device is judged according to the sensing data of the sensor, if yes, the transmission device is controlled to transmit the logistics object to the target mobile equipment, so that the target mobile equipment runs below the piece supply equipment, the target mobile equipment and the piece supply equipment can share the logistics field space, and the logistics field space can be saved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic illustration of docking of a supply item device and a mobile device according to an embodiment of the present application;
FIG. 2 is a schematic illustration of docking of a supply item device and a mobile device according to an embodiment of the present application;
FIG. 3 is a schematic illustration of docking of a supply item device and a mobile device according to an embodiment of the present application;
FIG. 4 is a schematic illustration of docking of a supply item device and a mobile device according to an embodiment of the present application;
FIG. 5 is a flow chart of the steps of one control method embodiment of the present application;
fig. 6 is a schematic structural diagram of an apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments that can be derived from the embodiments given herein by a person of ordinary skill in the art are intended to be within the scope of the present disclosure.
While the concepts of the embodiments of the present application are susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the description above is not intended to limit the application to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the application.
Reference in the specification to "one embodiment," "an embodiment," "a particular embodiment," or the like, means that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may or may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, where a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to affect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described. In addition, it should be understood that items in the list included in the form "at least one of a, B, and C" may include the following possible items: (A) (ii) a (B) (ii) a (C) (ii) a (A and B); (A and C); (B and C); or (A, B and C). Likewise, a listing of items in the form of "at least one of a, B, or C" may mean (a); (B) (ii) a (C) (ii) a (A and B); (A and C); (B and C); or (A, B and C).
In some cases, the disclosed embodiments may be implemented as hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried or stored on one or more transitory or non-transitory machine-readable (e.g., computer-readable) storage media, which may be executed by one or more processors. A machine-readable storage medium may be embodied as a storage device, apparatus, or other physical structure (e.g., volatile or non-volatile memory, media disk, or other media other physical structure device) for storing or transmitting information in a form readable by a machine.
In the drawings, some structural or methodical features may be shown in a particular arrangement and/or ordering. Preferably, however, such specific arrangement and/or ordering is not necessary. Rather, in some embodiments, such features may be arranged in different ways and/or orders than as shown in the figures. Moreover, the inclusion of structural or methodical features in particular figures is not meant to imply that such features are required in all embodiments and that, in some embodiments, such features may not be included or may be combined with other features.
The embodiment of the application provides a piece supplying device which can be used for conveying logistics objects to a mobile device. The supply device may include: supply table, etc., the logistics objects may include: packages or goods or merchandise, etc., the mobile device may include: AGVs (Automated Guided vehicles), RGVs (rail Guided vehicles), it is understood that the embodiments of the present application are not limited to specific supply equipment, logistics objects, and moving equipment.
The supply equipment of the embodiment of the application specifically comprises:
a conveying device;
a sensor located below the conveyor; and
and the processor judges whether the target mobile equipment in an idle state exists below the preset position of the conveying device or not according to the sensing data of the sensor, and controls the conveying device to convey the logistics object to the target mobile equipment if the target mobile equipment exists below the preset position of the conveying device.
In practical applications, the transmission device may comprise a conveyor belt or a roller. The conveyor belt, or the rollers, may form a chute for moving the logistic objects along the chute, and it is understood that the embodiment of the present application is not limited to a specific driving device.
The target mobile device of the embodiment of the present application may refer to a mobile device that is located below a preset position of the conveyor and is in an idle state. The target mobile device may be conditioned to receive the logistics object and thus may receive the logistics object from the supply device.
The empty state may refer to the mobile device not being loaded with a package. The load state may refer to loading of the parcel on a set position of the mobile device, or a weight of the parcel on the mobile device reaching a preset weight, and the like, and the set position may refer to a position corresponding to the middle area, and the like.
In the process of conveying the logistics object from the piece supply equipment to the target mobile equipment, the direction of at least one pair of walking wheels of the target mobile equipment is matched with the conveying direction of the conveying device of the piece supply equipment, so that the target mobile equipment runs below the piece supply equipment, the logistics field space can be shared by the target mobile equipment and the piece supply equipment, and the logistics field space can be saved.
The target mobile device may include: a plurality of pairs of road wheels, wherein the direction of different pairs of road wheels may be the same or different, for example, the direction of different pairs of road wheels may include: a first direction and a second direction perpendicular to each other, etc.
Optionally, the direction of at least one pair of road wheels of the target mobile device matches the conveying direction of the conveyor. This may provide conditions for the target mobile device to run under the supply item device.
Referring to fig. 1, a docking schematic of a supply device and a mobile device according to an embodiment of the present application is shown, where the mobile device runs on a platform, that is, the mobile device can move along the platform, and the platform may include: steel platforms or rail platforms, etc.; supply a equipment to set up on the ground G in commodity circulation place, can be provided with stand P between ground G and the conveyer, stand P is used for supporting other structures such as conveyer.
Referring to fig. 2, a docking schematic of a piece supplying device and a mobile device according to an embodiment of the present application is shown, where the mobile device shown in fig. 2 may run on the ground G as opposed to the mobile device shown in fig. 1 running on a platform.
In fig. 1 or 2, a first Z coordinate corresponding to the conveyor of the piece feeding apparatus is higher than a second Z coordinate of the top of the mobile apparatus. The distance H between the first Z coordinate and the second Z coordinate can be determined by those skilled in the art according to the actual application requirement, for example, H is 5mm, 10mm, etc. In this application embodiment, the height of the target mobile device is matched with the height of the bottom of the part supply device, generally speaking, the smaller the distance H between the target mobile device and the part supply device is, the better the distance H is, and of course, this application embodiment does not limit the specific value of H.
In the docking condition, the first part of the mobile device is below the piece supply device, the second part of the mobile device is not below the piece supply device, so that the logistics object conveyed by the conveying device can be received by the second part, and the logistics object can be prevented from sliding out of the mobile device to a certain extent by the first part.
It should be noted that the conveyor in the piece supplying equipment shown in fig. 1 or fig. 2 is parallel to the ground G and has the same distance with the ground G only as an illustration, and actually, the conveyor in the piece supplying equipment may be parallel to the ground G, and the distances between different parts of the conveyor and the ground G may be different.
According to the embodiment of the application, whether the target mobile equipment in an idle state exists below the preset position of the conveying device is judged according to the sensing data of the sensor.
Optionally, the sensor may comprise: and the distance measuring sensor is used for measuring distance data, and judging whether the mobile equipment is arranged under the transmission device or not or whether the mobile equipment is loaded or not according to the distance data.
In one embodiment of the present application, the ranging sensor may measure a distance D between it and an obstacle. For example, in the absence of a mobile device beneath the conveyor, the ranging sensor measures its distance to the ground; as another example, in the case where there is a moving device in an empty state below the conveyor, the distance measuring sensor measures the distance to the tray of the moving device; alternatively, in the case where there is a moving device in a loaded state below the conveyor, the distance measuring sensor measures its distance to the top of the physical distribution object on the tray.
According to the embodiment of the application, whether the mobile equipment is arranged under the conveying device or not, whether the mobile equipment is loaded or not can be judged according to the distance D between the ranging sensor and the obstacle.
It is understood that the above-mentioned distance measuring sensor is only an optional embodiment, and any sensor capable of determining whether a mobile device is under the transmission device, whether the mobile device is loaded, and the like is within the protection scope of the sensor of the embodiment of the present application.
The processor can play a role in controlling modules such as a conveying device and the like, and further can realize the motion control of the conveying device. In practical applications, the processor may include: the processor may directly or indirectly send an instruction to the driving device to implement control of the driving device, and it is understood that the embodiment of the present application is not limited to a specific processor. The driving means may include, but are not limited to: motors, motorized rollers, and the like.
In an optional embodiment of the present application, the above-mentioned conveying device may sequentially include, according to the conveying direction: a first stage conveyor (first stage for short), a second stage conveyor (second stage for short) and a third stage conveyor (third stage for short);
the second-stage conveying device receives the logistics objects from the first-stage conveying device, and conveys the logistics objects to the third-stage conveying device under the condition that the target mobile equipment in an idle state exists below the preset position of the conveying device, so that the logistics objects reach the target mobile equipment from the third-stage conveying device.
Referring to fig. 3 and fig. 4, respectively, a docking schematic of a piece feeding device and a mobile device according to an embodiment of the present application is shown, where the above-mentioned conveying device of the piece feeding device may include: the first section, the second section and the third section, the conveying direction may specifically include: first section → second section → third section.
In the embodiment of the present application, the motions of the first segment, the second segment, and the third segment may be independent of each other, and specifically, the motion states of the first segment, the second segment, and the third segment may be different. The motion state may include: whether moving, and speed, etc.
In an optional embodiment of the present application, the first section of the conveyor may be provided with a weighing module, a scanning module and a volume measuring module;
wherein the weighing module determines the weight of the logistics objects on the first section of the conveying device;
the scanning module is used for performing surface single scanning on the logistics objects on the first section of conveying device;
the volume measuring module is used for determining the volume of the logistics object on the first section of conveying device;
and the processor judges whether the weight, the surface single scanning result and the volume of the logistics object on the first section of conveying device meet second conditions.
The receipt is a receipt used for recording relevant information such as a sending end, a receiving end, product weight, price and the like in the process of transporting the logistics object in the logistics industry. At present, the multi-purpose bar code express bill in the logistics industry is used for guaranteeing continuous data output of the logistics industry and facilitating management. With the continuous development of the electronic commerce technology, the electronic bill is rapidly popularized and used in the logistics field due to the advantages of rapid printing, accurate information and the like, in this way, a sender places the bill on the internet and fills in the mail sending information, and when a courier gets the mail, the electronic bill containing the mail sending information is printed on site by using a printer. Of course, the surface sheet in the embodiment of the present application may also be a non-electronic surface sheet, and the embodiment of the present application does not limit the specific form of the surface sheet.
In practical application, the package can be placed to the first section by an operator or a piece supplying device, and the weighing module, the scanning module and the volume measuring module respectively carry out weighing, surface single scanning and volume measurement on the package.
The mode of the single-sided scan may include:
automatic scanning mode: the scanning module automatically scans the sheets continuously across the first section.
Manual scan mode: an operator holds the scanning device to scan a sheet passing through the first section without interruption.
The second condition may be used to constrain parameters of the logistics object, which may include: weight, surface area, volume, etc. And under the condition that all the parameters are met, the second condition can be considered to be met, and the packages meeting the second condition are conveyed from the first section to the second section for caching. The second condition may be used to improve logistics specifications. For packages that do not meet the second condition, warning information may be given and packages that do not meet the second condition may be removed by a human or culling device. The second condition may include: weight does not exceed a weight threshold, volume does not exceed a volume threshold, or waybill information meets requirements, etc., it is to be understood that the embodiment of the present application is not limited to the specific second condition.
In an alternative embodiment of the present application, a sensing module may be disposed on the second segment transfer device; the sensing module is used for detecting whether a logistics object exists on the second section of conveying device;
the processor controls the first section of the conveying device to convey the logistics objects meeting the second condition to the second section of the conveying device under the condition that the logistics objects do not exist on the second section of the conveying device, so that confusion among different logistics objects can be avoided.
The sensing module may include: sensors such as photoelectric sensors and travel switches may be provided to receive the physical distribution object when the sensor module in the second stage does not detect the physical distribution object.
According to one embodiment, the target mobile device may be in a stationary state, and a portion of the target mobile device is located below a preset position of the conveyor. In this case, the target mobile device may wait to receive the logistics object.
It should be noted that the tray of the target mobile device may be provided with a horizontal transfer device. The horizontal transfer device may include: the belt comprises a belt, a roller and a bracket, wherein the roller is rotatably arranged on at least one side of the bracket, and the belt is sleeved on the outer sides of the roller and the bracket and can horizontally move under the driving of the roller; the roller is driven to rotate, and then the belt is driven to move along the horizontal direction. In the embodiment of the application, the horizontal conveying device can move horizontally in the direction matched with the conveying direction so as to receive the logistics objects.
According to another embodiment, the target mobile device may be in a moving state, and a moving direction of the target mobile device matches a transferring direction of the transferring apparatus. The target mobile equipment runs below the piece supply equipment and is in butt joint with the top of the piece supply equipment to form the logistics object, the target mobile equipment is in butt joint with the piece supply equipment in the dynamic running process, dynamic seamless butt joint is achieved in the whole process, and the conveying efficiency of the logistics object can be improved.
For example, the transport direction may specifically include: first segment → second segment → third segment, the moving direction of the target mobile device may be: first section → second section → third section.
In an alternative embodiment of the present application, the moving direction is: in the case of the first section → the second section → the third section, a sensor may be provided below the first section or the second section, and in the case where it is determined that there is a target mobile device in an empty state below the conveyor based on sensing data of the sensor, the speed of the target mobile device may be controlled based on the communication so that the speed of the target mobile device meets a condition. In this case, the speed of the target mobile device may be controlled before the preset position, providing a condition for acceleration or deceleration of the target mobile device.
Of course, the moving direction of the target mobile device may also be: third section → second section → first section, in which case a sensor may be provided in a direction subsequent to the first section → second section → third section to determine the arrival of the target mobile device in advance to provide a condition for acceleration or deceleration of the target mobile device.
In the embodiment of the present application, it is optional that the first speed V1 of the conveyor, the second speed V2 of the target mobile device, the conveying distance S1, and the distance S2 meet the first condition.
The transfer distance S1 may refer to a distance required for the transfer means to transfer the logistics object to the target mobile device. As shown in fig. 3 and 4, the transfer distance S1 may include: the distance of the physical distribution object from the second section to the third section and from the starting point to the end point of the third section.
The distance S2 may refer to a distance generated from the target moving apparatus being located at the preset position P1 to the target position P2 at which the target moving apparatus moves to be able to receive the logistic object. The target position P2 may refer to a position where the target moving apparatus is adapted to receive the logistics object. As shown in fig. 3, schematic representations of P1 and P2.
In this embodiment of the application, optionally, when the target mobile device reaches below the preset position, S1/V1 is equal to S2/V2, that is, an absolute value of an error between time T1 taken by the logistics object to reach an end point of the third segment and time T2 taken by the target mobile device to be able to receive the logistics object is smaller than an error threshold, and the error threshold may be 0.1S (second), 0.01S, and the like.
It should be noted that the target mobile device reaching below the preset position may refer to the target mobile device reaching below the preset position from the first position, and the target position P2 may be determined according to the first position. The first position may refer to a position at which the target mobile device is not located at two ends, such as a middle position, and a position having a certain distance from the two ends, so that the first position of the target mobile device may be matched with the end point of the third section when the target mobile device reaches the end point of the third section, and the docking accuracy may be improved. In this case, the target position P2 may be the end point of the third segment, and the distance S2 may be a distance D1 between the preset position and the end point of the third segment.
It should be noted that the first position may refer to two end positions of the target mobile device, in this case, S2 may be obtained according to D1, for example, in the case that the first position is the front end position of the target mobile device, S3 is D1+ a, and for example, in the case that the first position is the rear end position of the target mobile device, S3 is D1-b, and a and b may be determined by those skilled in the art according to the actual application requirements.
In the embodiment of the present application, optionally, the processor determines the first speed V1 according to a second speed V2 of the target mobile device, a transmission distance S1, and a distance S2 between the preset position and the transmission device. It is understood that the first speed is the same as or different from the second speed.
Wherein the second speed may be obtained based on communication, for example, the target mobile device communicates with the middleware device to obtain required parameters, such as the middleware device obtaining the second speed V2 of the target mobile device, the transmission distance S2, and the like.
The communication network between the middleware device and the target mobile device may include: a WIFI (wireless fidelity) network, a bluetooth network, a ZigBee network, or a wired network, etc.
In an alternative embodiment of the present application, the first speed is the same as the second speed. In this case, synchronous docking between the piece supply device and the target mobile device can be achieved. In this case, the transmission distance S1 is the same as the distance S2, and the predetermined position may be determined in advance according to S1, and then S2 may be determined.
In an alternative embodiment of the present application, the processor determines and transmits the second speed V2 according to the transfer distance S1, the distance between the preset position and the target position S2, and the first speed V1. In this case, the second speed V2 may be transmitted to the target mobile device so that the target mobile device docks according to V2.
Optionally, the second speed may be a constant speed, so that the target mobile device may maintain a constant speed state before being docked with the workpiece supply device, and further may improve the docking stability, for example, the constant speed index is set in the interval of 1-3 m/s.
Optionally, a docking detection module may be disposed on the piece supplying device, and the docking detection module may detect a docking completion condition, such as a docking completion or a docking failure, through a sensor, and provide corresponding prompt information.
In the embodiment of the application, for example, the moving device such as AGV or RGV may operate below the component supplying device, a sensor for detecting the moving device is installed below the component supplying device, when the target moving device in an idle state is detected, the second speed of the target moving device is automatically acquired, the conveying device is controlled to start and match the corresponding first speed, and the package is transferred to the tray above the target moving device by the conveying device. In the whole process of receiving the packages, the target mobile equipment does not stop running, so that the sorting efficiency of the packages can be improved.
To sum up, the supply equipment of this application embodiment has following advantage:
first, according to the sensing data of the sensor, the embodiment of the application determines whether the target mobile device in an idle state exists below the preset position of the transmission device, and if so, controls the transmission device to transmit the logistics object to the target mobile device, so that the target mobile device runs below the piece supplying device, and therefore the target mobile device and the piece supplying device can share a logistics field space, and the logistics field space can be saved.
Secondly, the target mobile equipment to be docked runs below the piece supplying equipment and is docked with the logistics object at the top of the piece supplying equipment, and the target mobile equipment is docked with the piece supplying equipment in the dynamic running process. The whole system is in dynamic seamless connection.
Furthermore, a moving device such as an AGV or an RGV may be operated under the component supply device, and when the processor of the component supply device detects that an unloaded target moving device approaches the first segment, the package is transported from the second segment to the third segment and finally onto the target moving device.
The embodiment of the present application further provides a sorting system, which may include:
the aforementioned supply device; and
a mobile device;
and the processor of the piece supplying equipment judges whether mobile equipment in an idle state exists below the preset position of the conveying device or not according to the sensing data of the sensor of the piece supplying equipment, and controls the conveying device to convey the logistics object to the mobile equipment if the mobile equipment is in the idle state.
According to the sorting system provided by the embodiment of the application, whether the target mobile equipment in an idle state exists below the preset position of the transmission device is judged according to the sensing data of the sensor, if yes, the transmission device is controlled to transmit the logistics object to the target mobile equipment, so that the mobile equipment runs below the piece supplying equipment, the target mobile equipment and the piece supplying equipment can share the logistics field space, and the logistics field space can be saved.
The embodiment of the application also provides a control method, and the control method can be used for controlling the motion of modules such as a conveying device in piece supplying equipment.
Referring to fig. 5, a flowchart illustrating steps of an embodiment of a control method of the present application is shown, where the step is used to control a supply device, where the supply device specifically may include: the conveying device and the sensor arranged below the conveying device specifically comprise the following steps:
Optionally, the transmission may specifically include: a conveyor belt, or a drum.
Optionally, the direction of the at least one pair of road wheels of the target mobile device may match the conveying direction of the conveying device.
At least one step of the method shown in fig. 5 may be performed by a processor. The processor may be affiliated to the parts supply device, or may be affiliated to a control device, such as a server side or a logistics site side control device. In the case where the processor is affiliated with the control device, the communication network between the control device and the supply device may include: a WIFI network, a Bluetooth network, a ZigBee network, a wired network, or the like.
In this embodiment of the application, optionally, the target mobile device may be in a moving state, and a moving direction of the target mobile device may be matched with a transmission direction of the transmission apparatus.
In this embodiment, optionally, the first speed of the conveying device, the second speed of the target mobile device, the conveying distance, and the distance between the preset position and the target position may meet a first condition.
In this embodiment of the application, optionally, the method may further include:
determining the first speed according to a second speed of the target mobile equipment, a transmission distance and a distance between the preset position and a target position; or
And determining and sending the second speed according to the transmission distance, the distance between the preset position and the target position and the first speed.
In this embodiment of the application, optionally, the target mobile device may be in a stationary state, and a part of the target mobile device may be located below the preset position of the conveying apparatus. In the docking condition, the first part of the mobile device is below the piece supply device, the second part of the mobile device is not below the piece supply device, so that the logistics device conveyed by the conveying device can be received by the second part, and the logistics object can be prevented from sliding out of the mobile device to a certain extent by the first part.
In this embodiment of the application, optionally, the conveying device may include, in order according to the conveying direction: a first section of conveyor, a second section of conveyor and a third section of conveyor;
the above method may further comprise:
controlling the first section of the conveyor belt to convey the logistics objects to the second section of the conveyor belt;
and under the condition that a target mobile device in an idle state exists below the preset position of the conveying device, controlling the second section of the conveying belt to convey the logistics object to the third section of the conveying device, so that the logistics object reaches the target mobile device from the third section of the conveying device.
In the embodiment of the present application, optionally, a weighing module, a scanning module and a volume measuring module are arranged on the first-stage conveying device;
wherein the weighing module determines the weight of the logistics objects on the first section of the conveying device;
the scanning module is used for performing surface single scanning on the logistics objects on the first section of conveying device;
the volume measuring module is used for determining the volume of the logistics object on the first section of conveying device;
the above method may further comprise: and judging whether the weight, the surface single scanning result and the volume of the logistics object on the first section of conveying device meet second conditions or not.
In this embodiment of the application, optionally, a sensing module is disposed on the second segment conveying device;
the sensing module is used for detecting whether a logistics object exists on the second section of conveying device;
the above method may further comprise: and under the condition that the logistics objects do not exist on the second section of conveying device, controlling the first section of conveying device to convey the logistics objects meeting the second condition to the second section of conveying device, so that confusion among different logistics objects can be avoided.
In the embodiment of the application, for example, the moving device such as AGV or RGV may operate below the component supplying device, a sensor for detecting the moving device is installed below the component supplying device, when the target moving device in an idle state is detected, the second speed of the target moving device is automatically acquired, the conveying device is controlled to start and match the corresponding first speed, and the package is transferred to the tray above the target moving device by the conveying device. In the whole process of receiving the packages, the target mobile equipment does not stop running, so that the sorting efficiency of the packages can be improved.
To sum up, the supply equipment of this application embodiment has following advantage:
firstly, in the process of transferring the logistics object from the piece supply equipment to the target mobile equipment, the direction of at least one pair of walking wheels of the target mobile equipment is matched with the transfer direction of the transfer device of the piece supply equipment, so that the target mobile equipment runs below the piece supply equipment, the target mobile equipment and the piece supply equipment can share the logistics field space, and the logistics field space can be saved.
Secondly, the target mobile equipment to be docked runs below the piece supplying equipment and is docked with the logistics object at the top of the piece supplying equipment, and the target mobile equipment is docked with the piece supplying equipment in the dynamic running process. The whole system is in dynamic seamless connection.
Furthermore, a moving device such as an AGV or an RGV may be operated under the component supply device, and when the processor of the component supply device detects that an unloaded target moving device approaches the first segment, the package is transported from the second segment to the third segment and finally onto the target moving device.
It is noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the embodiments are not limited by the described order of acts, as some blocks may occur in other orders or concurrently depending on the embodiments. Further, those skilled in the art will also appreciate that the embodiments described in the specification are presently preferred and that no particular act is required of the embodiments of the application.
Embodiments of the application can be implemented as a system or apparatus employing any suitable hardware and/or software for the desired configuration. Fig. 6 schematically illustrates an example apparatus 1300 that can be used to implement various embodiments described herein.
For one embodiment, fig. 6 illustrates an example apparatus 1300, which apparatus 1300 may comprise: one or more processors 1302, a system control module (chipset) 1304 coupled to at least one of the processors 1302, system memory 1306 coupled to the system control module 1304, non-volatile memory (NVM)/storage 1308 coupled to the system control module 1304, one or more input/output devices 1130 coupled to the system control module 1304, and a network interface 1312 coupled to the system control module 1306. The system memory 1306 may include: instruction 1362, the instruction 1362 executable by the one or more processors 1302.
In some embodiments, apparatus 1300 may include one or more machine-readable media (e.g., system memory 1306 or NVM/storage 1308) having instructions thereon and one or more processors 1302, which in combination with the one or more machine-readable media, are configured to execute the instructions to implement the modules included in the foregoing apparatus to perform the actions described in embodiments of the present application.
System memory 1306 for one embodiment may be used to load and store data and/or instructions 1362. For one embodiment, system memory 1306 may include any suitable volatile memory, such as suitable DRAM (dynamic random access memory). In some embodiments, system memory 1306 may include: double data rate type four synchronous dynamic random access memory (DDR4 SDRAM).
NVM/storage 1308 for one embodiment may be used to store data and/or instructions 1382. NVM/storage 1308 may include any suitable non-volatile memory (e.g., flash memory, etc.) and/or may include any suitable non-volatile storage device(s), e.g., one or more Hard Disk Drives (HDDs), one or more Compact Disc (CD) drives, and/or one or more Digital Versatile Disc (DVD) drives, etc.
The NVM/storage 1308 may include storage resources that are physically part of the device on which the device 1300 is installed or may be accessible by the device and not necessarily part of the device. For example, the NVM/storage 1308 may be accessed over a network via the network interface 1312 and/or through the input/output devices 1310.
Input/output device(s) 1310 for one embodiment may provide an interface for apparatus 1300 to communicate with any other suitable device, and input/output devices 1310 may include communication components, audio components, sensor components, and so forth.
For one embodiment, at least one of the processors 1302 may be packaged together with logic for one or more controllers (e.g., memory controllers) of the system control module 1304. For one embodiment, at least one of the processors 1302 may be packaged together with logic for one or more controllers of the system control module 1304 to form a System In Package (SiP). For one embodiment, at least one of the processors 1302 may be integrated on the same novelty as the logic of one or more controllers of the system control module 1304. For one embodiment, at least one of processors 1302 may be integrated on the same chip with logic for one or more controllers of system control module 1304 to form a system on a chip (SoC).
In various embodiments, apparatus 1300 may include, but is not limited to: a computing device such as a desktop computing device or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet, a netbook, etc.). In various embodiments, apparatus 1300 may have more or fewer components and/or different architectures. For example, in some embodiments, device 1300 may include one or more cameras, keyboards, Liquid Crystal Display (LCD) screens (including touch screen displays), non-volatile memory ports, multiple antennas, graphics chips, Application Specific Integrated Circuits (ASICs), and speakers.
Wherein, if the display includes a touch panel, the display screen may be implemented as a touch screen display to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.
The present application also provides a non-transitory readable storage medium, where one or more modules (programs) are stored in the storage medium, and when the one or more modules are applied to an apparatus, the apparatus may be caused to execute instructions (instructions) of methods in the present application.
Provided in one example is an apparatus comprising: one or more processors; and, instructions in one or more machine-readable media stored thereon, which when executed by the one or more processors, cause the apparatus to perform a method as in embodiments of the present application, which may include: the method shown in fig. 5.
One or more machine-readable media are also provided in one example, having instructions stored thereon, which when executed by one or more processors, cause an apparatus to perform a method as in embodiments of the application, which may include: the method shown in fig. 5.
The present application provides a parts feeding device, a control method and a sorting system, which are described in detail above, and the principles and embodiments of the present application are explained herein by using specific examples, and the descriptions of the above examples are only used to help understand the method and the core ideas of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (25)
1. A parts supply apparatus, comprising:
a transmission device;
a sensor located below the transmission; and
and the processor judges whether the target mobile equipment in an idle state exists below the preset position of the transmission device according to the sensing data of the sensor, and controls the transmission device to transmit the logistics object to the target mobile equipment if the target mobile equipment exists below the preset position of the transmission device.
2. The device of claim 1, wherein the transmission comprises: a conveyor belt, or a drum.
3. The apparatus of claim 2, wherein the direction of the at least one pair of road wheels of the target mobile device matches the conveying direction of the conveyor belt.
4. The apparatus of claim 3, wherein the target mobile device is in motion, and a direction of motion of the target mobile device matches a direction of conveyance of the conveyor belt.
5. The apparatus of claim 4, wherein the first speed of the conveyor belt, the second speed of the target mobile device, the transfer distance, and the distance between the preset position and the target position meet a first condition; the delivery distance is a distance required by the delivery device to deliver the logistics object to the target mobile equipment, and the target position is a position where the logistics object is received by the target mobile equipment.
6. The apparatus of claim 5, wherein the processor determines the first velocity based on a second velocity of the target mobile device, a transmission distance, and a distance between the preset location and a target location; or
And the processor determines and sends the second speed according to the transmission distance, the distance between the preset position and the target position and the first speed.
7. The apparatus of claim 3, wherein the target mobile device is in a stationary state with a portion of the target mobile device below a preset position of the conveyor belt.
8. The device according to any one of claims 2 to 7, characterized in that the conveyor belt comprises, in succession according to the conveying direction: the conveying device comprises a first section of conveying belt, a second section of conveying belt and a third section of conveying belt;
the second section of conveyor belt receives the logistics objects from the first section of conveyor belt, and under the condition that the target mobile equipment in an idle state exists below the preset position of the conveyor belt, the logistics objects are conveyed to the third section of conveyor belt, so that the logistics objects reach the target mobile equipment from the third section of conveyor belt.
9. The apparatus of claim 8, wherein a weighing module, a scanning module and a volume measuring module are disposed on the first section of conveyor belt;
wherein the weighing module determines the weight of the logistics objects on the first section of the conveyor belt;
the scanning module is used for performing surface single scanning on the logistics objects on the first section of the conveying belt;
the volume measuring module is used for determining the volume of the logistics object on the first section of the conveying belt;
and the processor judges whether the weight, the surface single scanning result and the volume of the logistics object on the first section of the conveying belt meet second conditions.
10. The apparatus of claim 8, wherein a sensing module is disposed on the second length of conveyor belt;
the sensing module is used for detecting whether a logistics object exists on the second section of the conveying belt;
and the processor controls the first section of the conveying belt to convey the logistics objects meeting the second condition to the second section of the conveying belt under the condition that the logistics objects do not exist on the second section of the conveying belt.
11. A control method for controlling a supply apparatus, the supply apparatus comprising: a transmission and a sensor disposed below the transmission, the method comprising:
judging whether a target mobile device in an idle state exists below a preset position of the transmission device or not according to sensing data of the sensor;
and controlling the transmission device to transmit the logistics object to the target mobile equipment under the condition that the target mobile equipment in an idle state exists below the preset position of the transmission device.
12. The method of claim 11, wherein the transmission comprises: a conveyor belt, or a drum.
13. The method of claim 12, wherein the direction of at least one pair of road wheels of the target mobile device matches the conveying direction of the conveyor belt.
14. The method of claim 13, wherein the target mobile device is in motion, the direction of motion of the target mobile device matching the direction of conveyance of the conveyor belt.
15. The method of claim 14, wherein the first speed of the conveyor belt, the second speed of the target mobile device, the transfer distance, and the distance between the preset position and the target position meet a first condition; the delivery distance is a distance required by the delivery device to deliver the logistics object to the target mobile equipment, and the target position is a position where the logistics object is received by the target mobile equipment.
16. The method of claim 15, further comprising:
determining the first speed according to a second speed of the target mobile equipment, a transmission distance and a distance between the preset position and a target position; or
And determining and sending the second speed according to the transmission distance, the distance between the preset position and the target position and the first speed.
17. The method of claim 13, wherein the target mobile device is in a stationary state with a portion of the target mobile device below a preset position of the conveyor belt.
18. Method according to any of claims 13 to 17, characterized in that the conveyor belt comprises, in succession according to the conveying direction: the conveying device comprises a first section of conveying belt, a second section of conveying belt and a third section of conveying belt;
the method further comprises the following steps:
controlling the first section of the conveying belt to convey logistics objects to the second section of the conveying belt;
and under the condition that a target mobile device in an idle state exists below the preset position of the conveyor belt, controlling the second section of conveyor belt to convey the logistics object to the third section of conveyor belt, so that the logistics object reaches the target mobile device from the third section of conveyor belt.
19. The method of claim 18, wherein a weighing module, a scanning module and a volume measuring module are disposed on the first length of conveyor belt;
wherein the weighing module determines the weight of the logistics objects on the first section of the conveyor belt;
the scanning module is used for performing surface single scanning on the logistics objects on the first section of the conveying belt;
the volume measuring module is used for determining the volume of the logistics object on the first section of the conveying belt;
the method further comprises the following steps:
and judging whether the weight, the surface single scanning result and the volume of the logistics object on the first section of the conveying belt meet second conditions or not.
20. The method of claim 19, wherein a sensing module is disposed on the second length of conveyor belt;
the sensing module is used for detecting whether a logistics object exists on the second section of the conveying belt;
the method further comprises the following steps:
and controlling the first section of the conveying belt to convey the logistics objects meeting a second condition to the second section of the conveying belt under the condition that the logistics objects do not exist on the second section of the conveying belt.
21. A sorting system, comprising:
the supply apparatus of any one of claims 1 to 10; and
a mobile device;
and the processor of the piece supplying equipment judges whether the mobile equipment in an idle state exists below the preset position of the transmission device according to the sensing data of the sensor, and controls the transmission device to transmit the logistics object to the mobile equipment if the mobile equipment exists below the preset position of the transmission device.
22. The system of claim 21, wherein the transmission comprises: a conveyor belt, or a drum.
23. The apparatus of claim 22, wherein the direction of the at least one pair of road wheels of the moving device matches the conveying direction of the conveyor belt.
24. An apparatus, comprising:
one or more processors; and
one or more machine-readable media having instructions stored thereon that, when executed by the one or more processors, cause the apparatus to perform the method of one or more of claims 11-20.
25. One or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause an apparatus to perform the method recited by one or more of claims 11-20.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811482875.4A CN111266319A (en) | 2018-12-05 | 2018-12-05 | Piece supply equipment, control method, sorting system and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811482875.4A CN111266319A (en) | 2018-12-05 | 2018-12-05 | Piece supply equipment, control method, sorting system and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111266319A true CN111266319A (en) | 2020-06-12 |
Family
ID=70990930
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811482875.4A Pending CN111266319A (en) | 2018-12-05 | 2018-12-05 | Piece supply equipment, control method, sorting system and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111266319A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113562401A (en) * | 2021-07-23 | 2021-10-29 | 杭州海康机器人技术有限公司 | Control target object transmission method, device, system, terminal and storage medium |
| CN114887936A (en) * | 2022-04-15 | 2022-08-12 | 北京兆维智能装备有限公司 | Control method based on product flow direction, computer equipment and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9364865B2 (en) * | 2014-02-05 | 2016-06-14 | Electronics And Telecommunications Research Instit | System and method for sorting parcel |
| CN206187877U (en) * | 2016-08-29 | 2017-05-24 | 广东嘉腾机器人自动化有限公司 | A full -automatic transport butting device for PCB transport |
| CN206375381U (en) * | 2017-01-11 | 2017-08-04 | 江门市鸿力机械有限公司 | A kind of sludge lifting movement system |
| CN107082255A (en) * | 2017-04-24 | 2017-08-22 | 常州工学院 | A kind of logistics halved belt sorter supplies packet system and its method automatically |
| CN207288090U (en) * | 2017-08-25 | 2018-05-01 | 标杩自动化设备（东莞）有限公司 | A kind of upper bag apparatus of halved belt sorter |
| CN207361279U (en) * | 2017-10-30 | 2018-05-15 | 杭州海康机器人技术有限公司 | The piece uploading device and piece uploading control system of automatic steering carrying cart |
-
2018
- 2018-12-05 CN CN201811482875.4A patent/CN111266319A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9364865B2 (en) * | 2014-02-05 | 2016-06-14 | Electronics And Telecommunications Research Instit | System and method for sorting parcel |
| CN206187877U (en) * | 2016-08-29 | 2017-05-24 | 广东嘉腾机器人自动化有限公司 | A full -automatic transport butting device for PCB transport |
| CN206375381U (en) * | 2017-01-11 | 2017-08-04 | 江门市鸿力机械有限公司 | A kind of sludge lifting movement system |
| CN107082255A (en) * | 2017-04-24 | 2017-08-22 | 常州工学院 | A kind of logistics halved belt sorter supplies packet system and its method automatically |
| CN207288090U (en) * | 2017-08-25 | 2018-05-01 | 标杩自动化设备（东莞）有限公司 | A kind of upper bag apparatus of halved belt sorter |
| CN207361279U (en) * | 2017-10-30 | 2018-05-15 | 杭州海康机器人技术有限公司 | The piece uploading device and piece uploading control system of automatic steering carrying cart |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113562401A (en) * | 2021-07-23 | 2021-10-29 | 杭州海康机器人技术有限公司 | Control target object transmission method, device, system, terminal and storage medium |
| CN113562401B (en) * | 2021-07-23 | 2023-07-18 | 杭州海康机器人股份有限公司 | Control target object transmission method, device, system, terminal and storage medium |
| CN114887936A (en) * | 2022-04-15 | 2022-08-12 | 北京兆维智能装备有限公司 | Control method based on product flow direction, computer equipment and storage medium |
| CN114887936B (en) * | 2022-04-15 | 2024-02-27 | 北京兆维智能装备有限公司 | Control method based on product flow direction, computer equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111085448B (en) | Logistics object processing system and method and sorting equipment | |
| US11396428B2 (en) | Flexible automated sorting and transport arrangement | |
| US5770864A (en) | Apparatus and method for dimensional weighing utilizing a laser scanner or sensor | |
| WO2019085632A1 (en) | Loading device for automated guided vehicle, and control method, device, and system for same | |
| KR101324275B1 (en) | Cargo volume checker | |
| US10569976B2 (en) | Systems, devices, and methods for automated pallet and receptacle relocation | |
| US11059185B2 (en) | Apparatus and method for transferring a pattern from a universal surface to an ultimate package | |
| JP5425663B2 (en) | Weight sorter | |
| CN212221594U (en) | Conveyor belt butt joint system for transport robot and intelligent transport robot system | |
| CN111266319A (en) | Piece supply equipment, control method, sorting system and device | |
| CN215709064U (en) | Transfer device and warehousing system | |
| EP3736233A1 (en) | Load assist system | |
| JP5332778B2 (en) | Dimension measuring device | |
| CN209550002U (en) | Logistics object processing system and sorting equipment | |
| JP7360768B2 (en) | Placement support system, placement support method, and program | |
| CN113306938A (en) | Cargo transportation method and device, transfer device, storage system and storage medium | |
| CN112139039A (en) | Method and apparatus for sorting articles, machine readable medium and system | |
| JP3879554B2 (en) | Article transfer method and apparatus | |
| CN114951009B (en) | Parcel delivery method, four-section delivery system, equipment and storage medium | |
| JP5212386B2 (en) | Transport system | |
| JP3815544B2 (en) | Gravity inspection storage system | |
| CN112441379B (en) | Transmission device and control method of transmission device | |
| CN116550616A (en) | Logistics object conveying method, device, sorting system and workpiece supply table | |
| CN111282830B (en) | Conveying equipment, control method and device | |
| CN210753835U (en) | Conveying equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200612 |
|
| RJ01 | Rejection of invention patent application after publication |