A system for sorting products, including an efficient communication topology.

Abstract

A system for sorting products, comprising a system in which multiple combinations of elongated carrying bodies and pusher bodies are arranged in succession, the combinations being movable in the direction of movement along a path provided with numerous sorting positions, the carrying bodies extending parallel to each other and perpendicular to the direction of movement, the carrying bodies configured to carry products to be sorted, and the pusher bodies positioned to push the product carriers formed by the carrying bodies out of the carrying bodies, the system comprising an improved communication topology for communication between controllers related to the combinations.

Description

Technical Field

[0001] The present disclosure relates to a system for sorting products, comprising a number of successive combinations of an elongate carrier body and a pusher body, which are arranged adjacent to each other and are movable in a moving direction along a path provided with a number of sorting positions, the carrier bodies extending parallel to each other and substantially perpendicular to the moving direction, the carrier bodies being configured to carry the products to be sorted, a displacement device for moving the combinations in the moving direction along the path, each combination further comprising a displacement device including an electric motor for moving the pusher body in a sorting direction along the carrier body, the sorting direction extending perpendicular to the moving direction, the displacement device for pushing the products carried by the carrier body out of the carrier body with the pusher body, and a plurality of controllers, each of the plurality of controllers being provided on a combination of an elongate carrier body and a pusher body.

Background Art

[0002] In a PCT patent application having international patent publication number WO2020 / 022896A1, this type of system is described. This particular patent application focuses on the concept that the system is configured to determine a distance parameter related to, or at least related to, the distance seen in the sorting direction between the pusher body of the combination that conveys the product to be sorted by the carrier body and the sorted product conveyed by the carrier body, and is configured to transmit the distance parameter to an in-vehicle control system, and the in-vehicle control system is configured to control the in-vehicle drive device of the combination based on this distance data.

[0003] The above-described system has the drawback that the communication topology remains incomplete, especially the communication topology between different control devices related to the combination of the elongate carrier body and the corresponding pusher body remains incomplete.

[0004] The central server is supposed to provide data to the controllers involved in the combination, but an effective topology for achieving communication between the controllers is not described. [Overview of the project] [Problems that the invention aims to solve]

[0005] The present invention aims to provide a product sorting system having an effective communication topology for exchanging data between controllers. [Means for solving the problem]

[0006] In the first embodiment, a system for sorting products is provided. This system comprises multiple combinations of elongated carrying bodies and pusher bodies, Main displacement device and Multiple controllers, Bus-oriented communication network and Point-to-point oriented communication network, It is equipped with. The aforementioned combinations are arranged adjacent to each other, The combination is movable in the direction of movement along a path provided with multiple sorting positions, and the carrying body extends parallel to each other and perpendicular to the direction of movement. The carrying body is configured to transport the products to be sorted. The pusher body is configured to push out the product transported by the carrying body from the carrying body. The main displacement device moves the combination along the path in the direction of movement. Each of the above combinations further comprises a sub-displacement device for moving the pusher body along the carrying body in the sorting direction, The sorting direction extends substantially perpendicular to the direction of movement and is used to push the conveyed products. Each of the controllers is provided in the combination, Each of the controllers is configured to receive sorting destination data from a central control server, relating to the sorting location from which the products to be sorted should be pushed out of the carrying body, and to control the auxiliary displacement device to drive the auxiliary displacement device according to the received sorting destination data. The aforementioned plurality of controllers are divided into controller groups such that each of the plurality of controllers belongs to one controller group. The bus-oriented communication network connects the controllers of the controller group to each other using a dedicated communication bus for the controller group, such that the controllers of the controller group are connected to a dedicated communication bus for the controller group. The bus-oriented communication network is used by the controllers of the controller group to communicate latency-sensitive data. The point-to-point directional communication network connects the controllers of the controller group to each other. The point-to-point directional communication network has dedicated connections for adjacent controllers in the controller group to connect directly to each other. The point-to-point oriented communication network is used by the controllers of the controller group to communicate data that is not sensitive to latency.

[0007] Typically, the system length can range from tens to hundreds of meters. Each elongated carrying body is either coupled to one another to form a closed circuit or arranged adjacent to one another. As a result, given typical dimensions of elongated carrying bodies in the direction of movement, e.g., 50–200 mm, thousands of elongated carrying bodies can be provided. For example, the example described with respect to the figure envisions a system consisting of 3200 elongated carrying bodies. Other possibilities are also applicable, such as systems with 1600 or 2000 elongated carrying bodies.

[0008] The products to be sorted are either pressed onto or placed on top of an elongated carrying body. The dimensions of the elongated carrying body may be such that the products span across multiple elongated carrying bodies arranged in a sequence.

[0009] A pusher body is provided on the elongated carrying body. The pusher body is movable relative to the carrying body in the sorting direction. An electric motor, such as a DC motor, is provided for each combination of the elongated carrying body and its pusher body to move the pusher body along the carrying body in the sorting direction. During operation, the pusher body is pushed against the products to be sorted so that the products to be sorted are pushed away from their corresponding elongated carrying bodies.

[0010] As described above, the product may span multiple elongated carrying bodies that are positioned in a sequence to control together at least two pusher bodies to push the product out of the corresponding elongated carrying body.

[0011] The above paragraphs described the mechanical actions required to push the specific products to be sorted out from their corresponding elongated carrying bodies.

[0012] The inventors have found that even if each controller is housed in a combination of an elongated carrying body and a pusher body, it may be beneficial to obtain direct communication between controllers.

[0013] Therefore, the controller moves in the direction of travel along a path with numerous sorting points, at least during use. This complicates communication between controllers because the implementation of the communication topology, therefore, moves along the same path during use.

[0014] According to the inventors, an alternative solution is to arrange each controller to wirelessly transmit to a stationary access point located along the path. This would allow communication between controllers to occur via that specific fixed access point. However, this is undesirable because it involves risks, for example, regarding communication reliability and latency.

[0015] Furthermore, such alternative communication topologies are undesirable when there is a surge in data transmission between controllers. This can lead to congestion problems that negatively impact the latency requirements of data communicated between controllers.

[0016] Instead of the alternative solutions described above, the inventors have found a way to effectively implement the communication topology between controllers on a non-stationary, i.e., moving platform.

[0017] In other words, not only bus-oriented communication networks, but also point-to-point oriented communication networks are implemented so that controllers can communicate with each other without signals passing through stationary communication devices such as stationary access points.

[0018] As a result, the reliability of communication between controllers is improved, enabling low-latency data communication.

[0019] In addition to the above, the inventors have found an implementation of a communication topology between controllers tailored to the use case. This will be explained in detail below.

[0020] To understand the present disclosure clearly, the plurality of controllers shall be divided into adjacent controller groups such that each controller belongs to one controller group. For example, the system consists of 3,200 controllers. 32 controllers are divided into 100 controller groups. Each controller is associated with one controller group. That is, 32 adjacent (i.e., directly adjacent to each other) controllers form one controller group.

[0021] Communication between controllers within a group is made possible by using a bus-oriented communication network and a point-to-point-oriented communication network.

[0022] The inventors have found it beneficial to create two separate communication networks, one for communicating delay-sensitive data and the other for communicating delay-insensitive data. This is explained as follows.

[0023] First, by using a communication bus dedicated to a specific controller group, a bus-oriented communication network that connects the controllers of the controller group to each other is provided. Each controller within the controller group is thus connected to the communication bus.

[0024] The advantage of using such a bus-oriented communication network is that there is no delay between each controller because it is a multi-drop network where each controller receives the same message on the communication bus simultaneously. Thereby, low-latency traffic can be exchanged between the controllers of the controller group. Enabling low-latency communication is considered advantageous because it enables accurate synchronization between the controllers and enables the transmission of the previous decision within the time limit.

[0025] Furthermore, the inventors discovered that simply using a bus-oriented communication network is insufficient. A bus-oriented communication network may not be suitable for, for example, automatic topology detection. The controller cannot determine the relative placement order of components in the network / system.

[0026] Therefore, the inventors have found a second communication network, which is a point-to-point oriented communication network. In such a network, each controller in a controller group is connected to an adjacent controller in that controller group (except for the two controllers at both ends of the controller group). The controllers are connected to each other via intermediate controllers. In this way, the controllers are connected to each other in a linked manner. Point-to-point communication can be used to determine the order of controllers within a controller group. However, such a point-to-point communication network cannot support low-latency traffic between controllers, so using only a point-to-point communication network may not be sufficient in some cases.

[0027] In one embodiment, each controller group comprises a host controller. A bus-oriented communication network connects the controllers of the first controller group to the host controllers of the second controller group. The first controller group is distinct from the second controller group.

[0028] The inventors have found that it may be beneficial to introduce different types of redundancy to ensure that communication between controllers is possible even if the communication bus fails for any reason.

[0029] It was found that a separate communication bus, or a physically different communication bus, could be introduced. That is, the controllers are connected to each other via a communication bus dedicated to that particular group of controllers, but the controllers are connected to each other via yet another communication bus.

[0030] To further improve the redundancy of the communication topology, the inventors discovered that it is beneficial to connect this additional communication bus to a host controller of another controller group. This allows a host controller of another controller group to control communication between controllers of the first controller group via its additional communication bus if the host controller of the first controller group malfunctions for any reason.

[0031] Thus, the aforementioned forms of redundancy cover situations such as a disconnection of the communication bus, i.e., a disconnection of the communication bus cable, and situations where the host controller of the first controller group malfunctions for some reason.

[0032] In one embodiment, each controller group comprises a host controller. A bus-oriented communication network connects the controllers of the first controller group to each other such that the controllers of the first controller group are connected in parallel to the communication bus. The bus-oriented communication network connects the host controller of the second controller group to the communication bus in a switchable manner so that the host controller of the second controller group can take over the coordination of the communication bus. The first controller group is different from the second controller group.

[0033] To improve the redundancy of the communication topology, the inventors have found that it may be beneficial to switchably connect a dedicated communication bus to the host controller of a second controller group. That is, the host controller of the second controller group is not connected to, or actively not connected to, the dedicated communication bus of the first controller group, but can step in whenever necessary. For example, whenever the host controller of the first controller group fails, the host controller of the second controller group can decide to take over the functions of the host controller of the first controller group.

[0034] The host controller of the second controller group may decide to take over the host function when it receives information that the host controller of the first controller group is malfunctioning.

[0035] In further embodiments, each controller group comprises a host controller. The point-to-point oriented communication network connects the controllers of the first controller group to the host controller of the second controller group. The first controller group is distinct from the second controller group. The last controller of the first controller group may, for example, be directly connected to the first controller of the second controller group, and the first controller of the second controller group is the host controller of that particular controller group.

[0036] The advantage of this is that it provides redundancy to point-to-point oriented communication networks. The host controllers of the first controller group may malfunction in a way that makes it impossible to communicate with and to the central server, particularly for topology discovery or other types of overhead signals. This problem is solved when the host controllers of the second controller group take over this responsibility, and the host controllers of the second controller group become responsible for the controllers of the first controller group.

[0037] In yet another embodiment, each host controller in the controller group is equipped with a wireless transceiver for communicating with a central control server.

[0038] In further embodiments, each of the host controllers is configured for topology discovery using a point-to-point communication network.

[0039] Point-to-point communication networks can be used for a variety of purposes, one of which is topology discovery. Topology discovery means that the network can determine the physical arrangement order of controllers within the system, and therefore the order of combinations of elongated carrying bodies and pusher bodies within the system. This allows the system to be initialized.

[0040] Point-to-point communication networks can be used for various types of traffic that are not sensitive to latency, such as overhead signals. This reduces the load on bus communication networks, allowing them to be used as much as possible for latency-sensitive communications.

[0041] In a further embodiment, each controller in the first controller group includes a first bus driver for connecting the controller to a communication bus, and a second bus driver for connecting the controller to a communication bus different from the communication bus to which the first bus driver is connected.

[0042] To further improve the redundancy of bus-oriented communication networks, the inventors have found it beneficial to create two physically separated bus drivers for a particular controller. The first driver connects the controller to a communication bus, and the second driver can connect the controller to another communication bus.

[0043] This improves system redundancy because even if one of the two bus drivers starts to malfunction, there is always a backup bus driver connecting each controller to the communication bus. This allows the controllers to participate in the communication regime of a bus-oriented communication network.

[0044] In yet another embodiment, each controller in the first controller group includes a first point-to-point driver for directly connecting the controller to a first adjacent controller, and a second point-to-point driver for directly connecting the controller to a second adjacent controller.

[0045] To further improve the redundancy of point-to-point communication networks, the inventors have found it beneficial to create two physically separated point-to-point drivers for a particular controller. The first point-to-point driver connects the controller to an adjacent controller on the first (left) side, and the second point-to-point driver can connect the controller to an even more adjacent controller on the second (right) side.

[0046] In yet another embodiment, the bus-oriented communication network is a controller area network (CAN) based communication network.

[0047] In another embodiment, the point-to-point communication network is an RS485 communication network.

[0048] In yet another embodiment, each controller group comprises a host controller. The system further comprises stationary access points (APs) that communicate wirelessly with the host controllers.

[0049] At least one AP is stationary, meaning that the AP does not move during operation, as in multiple controllers or in bus-oriented or point-to-point communication networks. The inventors have found that communication between a stationary AP and multiple moving host controllers from different controller groups can be handled effectively in several ways.

[0050] Accordingly, a system including 3200 combinations and up to 1600 controllers may also include four access points, etc.

[0051] In yet another embodiment, the system further includes a stationary leaky coaxial cable extending along the path in the direction of travel. This leaky coaxial cable is connected to a stationary access point.

[0052] The communication topology is physically divided into a stationary part and a moving part during operation. Stationary leaky coaxial cables enable communication from the stationary environment to the moving environment. The moving environment includes controllers, communication topology between controllers, i.e., bus-oriented communication networks and point-to-point communication networks, while the static stationary environment includes at least one AP and a central control server.

[0053] In yet another embodiment, each of the controller groups comprises a host controller. The control server transmits sorting destination data, related to the sorting location from which the products to be sorted should be pushed out of the carrying body, to one or more of the controllers via a stationary access point.

[0054] A second aspect of this disclosure provides a method for sorting products to be sorted using the system described in any of the preceding descriptions. This method is One of the controllers in the controller group communicates latency-sensitive data using a bus-oriented communication network. One of the controllers in the controller group communicates overhead data using a point-to-point oriented communication network. Includes.

[0055] The advantages and definitions disclosed in relation to the first embodiment of this disclosure also apply to the second embodiment of this disclosure, which is a method for sorting products to be sorted.

[0056] In one instance, this method, The steps include determining whether the host controller of the second controller group needs to take over the coordination of the bus-oriented communication network for the controllers of the first controller group, The host controller of the second controller group coordinates the bus-oriented communication network for the controllers of the first controller group, It also includes.

[0057] In further implementations, this method is used The steps include determining whether the host controller of the second controller group needs to take over the coordination of the point-to-point communication network for the controllers of the first controller group, The host controller of the second controller group coordinates the point-to-point communication network for the controllers of the first controller group, It also includes.

[0058] In a second aspect of the present disclosure, a computer program product is provided which includes a computer-readable medium storing instructions causing the controller to perform any of the methods described above. [Brief explanation of the drawing]

[0059] The present invention will be described in more detail below with reference to the following figures, based on a description of numerous possible embodiments of the present invention. [Figure 1] The diagram shows an example of a combination of a long, slender carrying body and a pusher body. [Figure 2] This figure shows an example of the system described in this disclosure. [Figure 3] This figure shows a system including a communication topology in accordance with this disclosure. [Figure 4] This figure shows a host controller in accordance with this disclosure. [Figure 5] This figure shows a controller in accordance with this disclosure. [Modes for carrying out the invention]

[0060] Figure 1 shows the end of combination 1, which consists of an elongated carrying body 2 (hereinafter referred to as a slat) and a pusher body 3 (hereinafter referred to as a pusher shoe). The pusher shoe 3 is movable along the slat 2 in two opposite sorting directions according to a double-headed arrow 4 that extends parallel to the longitudinal direction of the slat 2, in a manner that will be described in more detail with reference to Figures 2 and 3. Combination 1 is one of many identical combinations that together form a closed circuit and form part of a system for sorting products.

[0061] The slats 2 extend parallel to each other, as shown in Figure 3, for example. The closed circuit consists of an upper and lower section located directly below it. The upper and lower sections typically extend as horizontal planes several tens of meters long. The upper and lower sections are joined at their ends via a semicircular section of the closed circuit. This type of sorting device is well known in the art.

[0062] The slats 2 are coupled at their longitudinal ends to a chain that runs along the closed circuit. The gears mesh with the chain at least in the arc-shaped portion of the closed circuit. At least some of these gears are driven by one or more electric motors so that a series of combinations 1 can be moved in a movement direction 5 that extends perpendicular to the sorting direction 4, along an endless conveyor path having the same shape as the closed circuit of combination 1.

[0063] Slat 2 may be an extruded aluminum profile.

[0064] Figure 1 shows a combination 1 for products to be conveyed, comprising a conveying surface 6 having four equally spaced conveying ribs 7 extending in the longitudinal direction of the slats 2.

[0065] During use, products to be sorted, such as parcels, are fed into a combined transport surface at the upstream end of the sorting path, formed by a number of successive transport surfaces 6 arranged in sequence. This combined transport surface supports the products as each combination 1 moves in the direction of movement 5. Each product is pushed out from the combined transport surface by a pusher shoe 3 that constitutes part of the associated combination 1 at a sorting location, usually where a chute or roller table is provided along the path of the combination 1. Logically, the products to be sorted are located on the side of the corresponding pusher body 3 facing each sorting location. The central control system of the sorting system possesses data regarding the aforementioned sorting position for each product to be sorted.

[0066] Figure 2 shows a high-level design of the product sorting system 31 according to this disclosure, in a top view.

[0067] The product sorting system 31 consists of a number of consecutive combinations 36 of elongated carrying bodies and pusher bodies arranged in succession. Such combinations will be described in more detail with reference to Figure 1.

[0068] The combination is movable in the direction of movement 5 along a path provided with numerous sorting positions, and the carrying bodies extend parallel to each other and substantially perpendicular to the direction of movement 5. The carrying bodies are configured to transport the products to be sorted.

[0069] Here, the sorting position is connected to the outlet feed, as indicated by reference numeral 32.

[0070] The sorting system 31 further includes a displacement device 47 for moving the combinations in the direction of movement 5 along the path.

[0071] Each combination further comprises, for example, an additional displacement device consisting of an electric motor 33 for moving the pusher body along the carrying body in a sorting direction 4, the sorting direction 4 extending perpendicular to the direction of movement 5, for pushing products carried by the carrying body out of the carrying body with the pusher body.

[0072] Figure 2 discloses that products are sorted in one direction, as indicated by reference numeral 4. Note that this disclosure also relates to systems that can sort products in both directions, as indicated by reference numeral 4, so that products are sorted not only on a first side but also on a second side opposite to the first side. The second side is the exact opposite of the first side.

[0073] Multiple controllers are provided. Each controller is housed in a combination of an elongated carrying body and a pusher body. The communication topology between these controllers is described in detail with respect to Figure 3.

[0074] The system 31 may further include at least one stationary access point (AP) 37, the at least one AP 37 being configured to communicate with a particular group of host controllers and a central control server 38.

[0075] The central control server 38 may be configured to transmit sorting destination data, related to the sorting location from which the products to be sorted should be pushed out of the carrying body, to one or more host controllers via at least one stationary AP 37.

[0076] Hereinafter, specific embodiments of System 31 are shown. This disclosure is not limited to these specific embodiments.

[0077] The leaky coaxial antenna 46 may be mounted on the side frame of the system 31. Alternatively, the leaky coaxial antenna 46 may be mounted somewhere in the middle section below the combination of the pusher body and the elongated carrying body. The leaky coaxial antenna 46 enables communication between the moving parts of the system 31 and the stationary parts of the system. Thus, the antenna may be provided on each host controller, and this antenna also moves in the direction of movement 5 when in operation. The antenna can transfer messages between the host controller and the leaky coaxial antenna 46.

[0078] Preferably, to ensure a stable connection, there is a fixed, clear line of sight between the host controller antenna and the leaky coaxial antenna 46.

[0079] Figure 3 shows a system 51 that constitutes the communication topology according to this disclosure.

[0080] First, several combinations of elongated carrying bodies and pusher bodies are shown. One such combination is shown as reference numeral 54. For clarity, the combinations are depicted with free space between them. In practice, these combinations may be oriented quite close to each other to form a solid support area for the products being transported and sorted.

[0081] In this way, the combinations 54 are arranged one after another. The combinations can move in the direction of movement along a path provided with numerous sorting positions. This is not shown in Figure 3, but it is shown in Figure 2.

[0082] A displacement device can be provided to move the combination along the path in the direction of movement. This displacement device is, for example, an electric motor.

[0083] In accordance with this disclosure, each combination further comprises a displacement device, such as an electric motor, for moving the pusher body along the carrying body in the sorting direction.

[0084] Multiple controllers 55, 56a, 56b, 56c, and 61 are provided. Each controller is provided for a combination of an elongated carrying body and a corresponding pusher body. There may be a one-to-one correspondence, such that there are as many controllers as there are carrying bodies. It is also possible for several controllers to control multiple pusher bodies, that is, for a controller to be responsible for operating and deactivating multiple pusher bodies of multiple carrying bodies.

[0085] Multiple controllers 55, 56a, 56b, 56c, and 61 are divided into adjacent, non-overlapping controller groups 52 and 60. Note that Figure 3 shows only the first portion of the group having reference numeral 60.

[0086] In this particular case, the first controller group 52 of the controller consists of a host controller 55 and several controllers indicated by reference numerals 56a, 56b, and 56c. Typically, about 31 to 32 controllers are connected to one host controller 55. The host controller 55 functions as the master device, and the remaining controllers in the controller group function as slave controllers.

[0087] The host controllers of the controller groups, for example, the host controller 55 of the first controller group and the host controller 61 of the second controller group, are responsible for communication with the outside world. For example, they communicate with the central control server.

[0088] The central control server may communicate data to the host controllers 55 and 61 via wireless antennas 53 and 62. This data may include, for example, sorting destination data relating to the sorting location from which the products to be sorted should be pushed out of their corresponding carrying bodies.

[0089] The system further comprises two communication networks.

[0090] Bus-oriented communication networks 58 and 57 are provided to connect the controllers 55, 56a, 56b, and 56c of controller group 52 to each other using the dedicated communication bus 58 for controller group 52, so that the controllers 55, 56a, 56b, and 56c of controller group 52 are connected to the dedicated communication bus 58 for controller group 52. The controllers 55, 56a, 56b, and 56c of controller group 52 are arranged to use the communication bus-oriented network to communicate delay-sensitive data.

[0091] The aforementioned delay-sensitive data may include, for example, destination data related to where products are sorted. Delay-sensitive data may also be directed towards the operational phase of the system, i.e., data that needs to be exchanged in order for the system to function correctly.

[0092] Other examples include time synchronization between the fixed and moving worlds, exchange of deck speed and position, positions where selection is permitted, the state of each deck, errors and warnings per deck and per segment, and permission to select from the fixed world.

[0093] Furthermore, point-to-point oriented communication networks 59a, 59b, and 59c are provided to connect to one another such that adjacent controllers in the controller group have direct and dedicated connections to each other. The controllers 55, 56a, 56b, and 56c of the controller group 52 are arranged to use the point-to-point oriented communication networks 59a and 59b to communicate data that is less susceptible to latency.

[0094] The data less susceptible to the aforementioned delay may include, for example, topology information. Point-to-point oriented communication networks 59a, 59b may be used by the controller to determine a specific order in which they are located within the system 51.

[0095] In this particular scenario, to improve redundancy, the controllers of the first controller group 52 are connected to the host controller 61 of the second controller group using a different communication bus 57 of the bus-oriented communication network, and the first controller group is distinct from the second controller group.

[0096] The bus-oriented communication network may include some redundancy. For example, if communication via the communication bus 58 fails for any reason, the host controller 61 of the second controller group 60 can intervene and adjust the data exchanged via the bus-oriented communication network of the first controller group 52 by utilizing a different communication bus 57.

[0097] A point-to-point oriented communication network may also include some redundancy. For example, if communication between different controllers via dedicated connections 59a, 59b between controllers fails for any reason, the host controller 61 of the second controller group 60 can intervene. That is, the controllers 55, 56a, 56b, and 56c of the first controller group 52 are connected to the host controller 61 of the second controller group via the same dedicated connections. The host controller 61 of the second controller group 60 typically does not use that particular connection to communicate with the controllers of the first controller group 52 only if some malfunction occurs that prevents the host controller 55 of the first controller group 52 from using the point-to-point communication network to communicate with the controllers of the first controller group 52.

[0098] A bus-oriented communication network may consist of a Controller Area Network (CAN) bus. The CAN bus may have a multi-drop single-pair network topology, where multiple controllers are connected in parallel on the same signal line, i.e., cable. The CAN communication protocol may be a carrier-sense multiple access protocol with collision detection and message priority arbitration, i.e., CSMA / CD+AMP. CSMA means that each controller connected to the bus must wait a predetermined inactive period before attempting to send a message.

[0099] Using a CAN bus can be advantageous, for example, when using an Ethernet solution, as it can save on purchase costs and energy consumption. Energy consumption is particularly important because the controllers move during use, and therefore, the energy supply to these controllers should be limited as much as possible. Electrical energy can be supplied to the controllers using, for example, sliding contacts or wireless charging. Reducing energy consumption in the control unit is beneficial in that it eases the demands on these energy delivery methods.

[0100] The inventors discovered that such CAN buses cannot be used for automatic topology detection. Controllers cannot use such CAN buses to determine their relative positions in the network. To know the order in which controllers are connected to each other in series, a point-to-point communication network is used between different controllers. RS485 proved advantageous because typical microcontrollers have a universal asynchronous receiver / transmitter port that supports RS485.

[0101] To combine the CAN bus and RS485, for example, an Ethernet cable of CAT5 or higher is used. Such an Ethernet cable contains eight wire pairs. These wire pairs can be used for two CAN buses and two full-duplex RS485 signaling buses. As described above, redundancy is achieved by using two CAN buses and two full-duplex RS485 signaling buses. As a result, each controller can receive and transmit arbitrary data through two sides, namely the host controller of the first controller group and the host controller of the second controller group.

[0102] The CAN bus can be used for hard real-time, low-latency process data, while RS485 can be used for configuration data consisting of automatic topology detection, heartbeats, and log data.

[0103] For power transmission, a power rail can be attached to one of the sorter's side frames. The current collector is mounted on the mobile carrier and connected to a power pickup unit fixed to the carrier.

[0104] Figure 4 shows the host controller according to this disclosure.

[0105] The host controller 84 can be considered a coordinator for a particular group of controllers. The host controller 84 may be responsible for external communication, for example, using a transceiver 84. The transceiver 84 can use an antenna to wirelessly transmit data to and from the central control server.

[0106] Using wireless communication is preferable because all controllers are actually moved and used. The controllers follow their movement paths.

[0107] The host controller includes two physically separated RS485 transceivers, as indicated by reference numerals 82 and 83. The first RS485 transceiver is positioned to provide dual point-to-point communication with a controller directly adjacent to the host controller on the left side. The second RS485 transceiver is positioned to provide dual point-to-point communication with a controller directly adjacent to the host controller on the right side.

[0108] The host controller includes a main control unit 85 for controlling the operation of RS485 transceivers 82 and 83 and two CAN bus drivers 86 and 87. The first CAN bus driver 87 is operational during use and may be connected to a dedicated CAN bus 88. This dedicated CAN bus 88 is used for communication between controllers in the controller group to which the host controller 81 belongs.

[0109] Furthermore, the second bus driver 86 can be used as a backup bus driver in case of a failure in communication via the dedicated bus for the left-hand controller of the host controller. In that case, the host controller 81 can take over and coordinate the communication on that bus, i.e., within its different controller group.

[0110] Figure 5 shows the controller 101 according to the present disclosure. This controller consists of a main control unit (MCU) 104 arranged to control a motor 105, which is arranged to drive a corresponding shoe for sorting a specific product.

[0111] The MCU104 is connected to two RS485 transceivers 102 and 103, and two CAN bus drivers 106 and 107.

[0112] To reduce the number of claims, certain aspects of the Technology are described below in the form of certain claims, although the applicant intends to express various aspects of the Technology in the form of any number of claims. For example, one aspect of the Technology may be described as a claim for a computer-readable medium, while other aspects may be expressed in other forms, such as a claim for a computer-readable medium or a means-plus-function claim.

[0113] In the above description, numerous specific details have been provided to allow for a thorough understanding of the embodiments of the disclosed technology. However, it will be apparent to those skilled in the art that embodiments of the disclosed technology can be carried out without some of these specific details.

[0114] Other variations of the disclosed embodiments can be understood and effectively implemented by those skilled in the art in carrying out the claimed invention by reading the drawings, disclosures, and appended claims. In the claims, the word "consisting of" does not preclude other elements or steps, and the indefinite article "a" or "an" does not preclude plural. The mere fact that certain means are described in different dependent claims does not imply that combinations of these means cannot be used advantageously. No reference numeral in the claims should be construed as limiting its scope.

Claims

1. A system for sorting products, Multiple combinations of a long, slender carrying body and a pusher body, Main displacement device and Multiple controllers, Bus-oriented communication network and Point-to-point oriented communication network, Equipped with, The aforementioned combinations are arranged adjacent to each other, The combination is movable in the direction of movement along a path provided with multiple sorting positions, and the carrying body extends parallel to each other and perpendicular to the direction of movement. The carrying body is configured to transport the products to be sorted. The pusher body is configured to push out the product transported by the carrying body from the carrying body. The main displacement device moves the combination along the path in the direction of movement. Each of the above combinations further comprises a sub-displacement device for moving the pusher body along the carrying body in the sorting direction, The sorting direction extends substantially perpendicular to the direction of movement and is used to push the conveyed products. Each of the controllers is provided in the combination, Each of the controllers is configured to receive sorting destination data from a central control server, relating to the sorting location from which the products to be sorted should be pushed out of the carrying body, and to control the auxiliary displacement device to drive the auxiliary displacement device according to the received sorting destination data. The aforementioned plurality of controllers are divided into controller groups such that each of the plurality of controllers belongs to one controller group. The bus-oriented communication network connects the controllers of the controller group to each other using a dedicated communication bus for the controller group, such that the controllers of the controller group are connected to a dedicated communication bus for the controller group. The bus-oriented communication network is used by the controllers of the controller group to communicate latency-sensitive data. The point-to-point directional communication network connects the controllers of the controller group to each other. The point-to-point directional communication network has dedicated connections for adjacent controllers in the controller group to connect directly to each other. The point-to-point oriented communication network is a system characterized in that the controllers of the controller group are used to communicate data that is not sensitive to delay.

2. Each of the controller groups comprises a host controller, The bus-oriented communication network connects the controller of the first controller group to the host controller of the second controller group. The system according to claim 1, characterized in that the first controller group is different from the second controller group.

3. Each of the controller groups comprises a host controller, The bus-oriented communication network connects the controllers of the first controller group to each other such that the controllers of the first controller group are connected in parallel to the communication bus. The bus-oriented communication network is configured such that the host controller of the second controller group can take over the coordination of the communication bus, by connecting the host controller of the second controller group to the communication bus in a switchable manner. The system according to claim 1 or 2, characterized in that the first controller group is different from the second controller group.

4. Each of the controller groups comprises a host controller, The point-to-point directional communication network connects the controller of the first controller group to the host controller of the second controller group. The system according to any one of claims 1 to 3, characterized in that the first controller group is different from the second controller group.

5. The system according to any one of claims 2 to 4, characterized in that each of the host controllers in the controller group is provided with a wireless transceiver for communicating with the central control server.

6. The system according to any one of claims 2 to 5, characterized in that each of the host controllers is configured for topology detection using the point-to-point communication network.

7. Each controller in the aforementioned first controller group is: The controller is connected to the communication bus by a first bus driver, A second bus driver for connecting the controller to a communication bus different from the communication bus to which the first bus driver is connected, The system according to any one of claims 1 to 6, characterized by comprising:

8. Each controller in the aforementioned first controller group is: A first point-to-point driver for directly connecting the controller to a first adjacent controller, A second point-to-point driver for directly connecting the controller to a second adjacent controller, The system according to any one of claims 1 to 7, characterized by comprising:

9. The system according to any one of claims 1 to 8, characterized in that the bus-oriented communication network is a controller area network (CAN) based communication network.

10. The system according to any one of claims 1 to 9, characterized in that the point-to-point communication network is an RS485 communication network.

11. Each of the controller groups comprises a host controller, The system according to any one of claims 1 to 10, further comprising a stationary access point (AP) that communicates wirelessly with the host controller.

12. The system further comprises a stationary leaky coaxial cable extending along the aforementioned path and in the aforementioned direction of movement, The system according to claim 11, characterized in that the leaky coaxial cable is connected to the stationary access point.

13. Each of the controller groups comprises a host controller, The system according to any one of claims 1 to 12, characterized in that the control server transmits sorting destination data related to the sorting position from which the products to be sorted should be pushed out of the carrying body to one or more of the plurality of controllers via the stationary access point.

14. A method for sorting products to be sorted using the system described in any of the claims, One of the controllers in the controller group communicates delay-sensitive data using the bus-oriented communication network; One of the controllers in the controller group communicates overhead data using the point-to-point oriented communication network. A method characterized by including the following.

15. The steps include determining whether the host controller of the second controller group needs to take over the coordination of the bus-oriented communication network for the controllers of the first controller group, The host controller of the second controller group adjusts the bus-oriented communication network for the controllers of the first controller group, The method according to 14, characterized by including the following:

16. The steps include determining whether the host controller of the second controller group needs to take over the coordination of the point-to-point communication network for the controllers of the first controller group, The steps include: the host controller of the second controller group coordinating the point-to-point communication network for the controllers of the first controller group; The method according to 14 or 15, characterized by including the following:

17. A computer program product comprising a computer-readable medium storing instructions causing the controller to perform the method according to any one of claims 14 to 16.

Images