Automatic bale collection system and method

Abstract

The application discloses an automatic package collecting system and method, and relates to the technical field of warehouse logistics. A specific embodiment of the automatic package collecting system comprises a scheduling system, a package container, a full-bin detection device and a carrying robot. The package container is arranged in a container placement area below a falling piece grid opening. The full-bin detection device is used to send a full-bin signal to the scheduling system when it is determined that the package container is full. The scheduling system is used to control the carrying robot to carry the full package container to a package collecting and processing area according to the full-bin signal. The embodiment uses the carrying robot to carry the full package container to the designated package collecting and processing area under the unified command of the scheduling system, so that the whole package operation is more efficient and energy-saving, and the working strength of the operator is reduced.

Description

Technical Field

[0001] This invention relates to the field of warehousing and logistics technology, and in particular to an automated package collection system and method. Background Technology

[0002] Currently, in mainstream parcel sorting technologies, parcels are manually assembled / built into packages after sorting, i.e., a "person-to-goods" manual assembly process. Taking the assembly of flexible bags as an example, a typical manual assembly / building process is as follows: Figure 1 As shown. The process of using other containers for bundling is largely the same. Bundling means packaging packages destined for the same destination into one bag.

[0003] In the process of realizing this invention, the inventors discovered at least the following problems in the prior art:

[0004] 1) To transport the collected bags to designated locations according to business logic, this method requires a large number of dedicated transport devices (such as belt conveyors). This increases both the initial investment in equipment and the significant electricity consumption during operation, resulting in high operating and maintenance costs. This waste due to the continued investment of resources becomes particularly noticeable when the number of bags to be transported is small. Furthermore, since the drop-off slots are distributed throughout the collection area, multiple printers are needed, ensuring that each drop-off slot has a printer nearby to print bag tags.

[0005] 2) Manual bagging requires operators to walk back and forth between the drop-off slots to collect bags, which increases the workload of the operators; at the same time, the operators spend about half of their time walking, which reduces the actual time used for bagging and reduces the actual efficiency of bagging.

[0006] 3) In the layout of transmission equipment, the operating space for personnel and ergonomics need to be considered, which reduces the flexibility of the layout and also wastes space. For example, in application scenarios where operations are carried out under a steel platform, the manual package collection mode requires a clearance of more than 2 meters under the steel platform. This is not a requirement for transmission equipment, but rather a requirement for personnel operation.

[0007] 4) In the manual package collection mode, there is often a rigid connection with the subsequent processes, so the entire setting of the package drop-off slots is also relatively rigid. This leads to the problem of unreasonable utilization of slot resources: the distribution of packages in the drop-off slots is different at different times. At some times, the quantity in a certain drop-off slot is particularly large, while at other times, the quantity in the same drop-off slot is very small. The rigid system is powerless to deal with such fluctuations.

[0008] 5) In the manual bag collection mode, operators need to constantly patrol and find full bags as soon as possible. Then, they need to seal the bags, affix destination labels, and pass them to the next step. The operators will then sort the bags into different routes according to the address labels on them. This requires two groups of operators to do this. Summary of the Invention

[0009] In view of this, embodiments of the present invention provide an automated package collection system and method, which uses a handling robot under the unified command of a scheduling system to flexibly transport full-capacity package containers to a designated centralized package processing area, making the entire package collection operation more efficient and energy-saving, and reducing the workload of operators.

[0010] To achieve the above objectives, according to one aspect of the present invention, an automated package collection system is provided, including a scheduling system, a package collection container, a full-fill detection device, and a handling robot; wherein, the package collection container is disposed in a container placement area below the drop-off slot; the full-fill detection device is used to send a full-fill signal to the scheduling system when it determines that the package collection container is full; the scheduling system is used to schedule the handling robot to transport the full-fill package collection container to the centralized package processing area according to the full-fill signal.

[0011] Optionally, the system further includes a transport channel, the width of which is at least twice the width of the transport robot's body, so that two transport robots can travel side by side.

[0012] Optionally, the automated packaging system further includes an empty box placement area and a full box placement area around the container placement area, so that after the handling robot temporarily places an empty packaging container in the empty box placement area, it temporarily places a full packaging container in the full box placement area, and then replenishes the empty packaging container temporarily placed in the empty box placement area.

[0013] Optionally, the package container includes a container and a support base for supporting the container.

[0014] Optionally, the support base has a preset height, which is at least higher than the unloaded transport robot so that the unloaded transport robot can move around in the space below the support base.

[0015] Optionally, the full-cell detection device is positioned above the collection container.

[0016] Optionally, the full-grid detection device is a reflective sensor.

[0017] Optionally, the transport robot has a walking mechanism and a lifting mechanism, the lifting mechanism being used to lift the package container off the ground.

[0018] Optionally, the transport robot has a transfer mechanism for simultaneously removing full containers and replenishing empty containers.

[0019] Optionally, the transfer mechanism includes a connecting body, an elastic unit, and a lifting arm;

[0020] The connecting body includes a connecting shaft, one end of which is rigidly connected to the lifting mechanism, and the other end is connected to the lifting arm through the connecting shaft.

[0021] One end of the elastic unit is connected to the connecting body, and the other end is connected to the lifting arm;

[0022] The lifting arm is in a vertical position by default. When it encounters resistance opposite to the direction of movement of the handling robot, the lifting arm rotates around the connecting shaft to change from a vertical to a horizontal position under the drive of the resistance. When the lifting arm is in a horizontal position, it is used to load a collection container, and the upper surface of the lifting arm is lower than the upper surface of the lifting mechanism, so that when the lifting mechanism is raised to a first height, the collection container on the lifting mechanism is off the ground while the collection container on the lifting arm is not off the ground. When there is no collection container on the horizontal lifting arm, the lifting arm rotates around the connecting shaft to return from a horizontal to a vertical position under the drive of the elastic unit.

[0023] Optionally, the handling robot has a rotating mechanism connected to the lifting mechanism, which drives the lifting mechanism to rotate when both the lifting arm and the lifting mechanism are carrying collection containers and the lifting mechanism is raised to a second height, so as to exchange the positions of the collection containers on the lifting arm and the collection containers on the lifting mechanism, wherein the second height is greater than the first height.

[0024] To achieve the above objectives, according to another aspect of the present invention, an automatic package assembly method is provided. This method is based on the automatic package assembly system described above. The method includes: a scheduling system receiving a full-scale signal from a full-scale detection device; the scheduling system determining a starting address and a destination address based on the full-scale signal to plan a path; and the scheduling system sending the path to a transport robot so that the transport robot transports the full-scale package container from the starting address to the destination address.

[0025] Optionally, the method further includes:

[0026] Upon receiving a full signal, the scheduling system dispatches the first handling robot to move the full container at the starting address to the destination address, and dispatches the second handling robot to move the empty container to the starting address.

[0027] and / or

[0028] Upon receiving a full signal, the scheduling system dispatches a third transport robot carrying an empty container to the starting address. When the third transport robot arrives at the starting address, it places the empty container in the empty box placement area, then transports the full container to the full box placement area, and then transports the empty container placed in the empty box placement area to the starting address.

[0029] and / or

[0030] Upon receiving a full signal, the scheduling system dispatches a fourth transport robot carrying an empty container to the starting address. When the fourth transport robot arrives at the starting address, it moves from under the empty container to under the full container, so that the empty container is on the lifting arm and the full container is on the lifting mechanism. The lifting mechanism is then raised to a second height, so that the empty and full containers are off the ground. The rotating mechanism is then rotated to swap the positions of the empty and full containers. The fourth transport robot is then moved so that the empty container is above the starting address. Finally, the lifting mechanism is lowered to a first height, so that the empty container falls back to the starting address.

[0031] One embodiment of the above invention has the following advantages or beneficial effects: Because it adopts a "goods-to-person" mode for package handling, based on the received full-scale signal, the scheduling system uniformly schedules the handling robots to flexibly transport full-scale package containers to the designated centralized processing area. Therefore, in the automated package handling system of this invention, operators do not need to move around; they only need to wait in the centralized processing area. Furthermore, no transmission equipment is required, making the entire package handling operation more efficient and energy-saving, and reducing the workload of operators.

[0032] The further effects of the aforementioned unconventional alternative methods will be explained below in conjunction with specific implementation methods. Attached Figure Description

[0033] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0034] Figure 1 This is a schematic diagram of the packet assembly process in the existing technology under the manual packet assembly mode;

[0035] Figure 2 This is a schematic diagram of the composition of the automatic package collection system according to an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the bag collection container and the handling robot of the automated bag collection system according to an embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram of the transfer mechanism of a handling robot according to another embodiment of the present invention;

[0038] Figures 5-A to 5-F This is a schematic diagram of a handling robot with a transfer mechanism performing a box replenishment operation according to an embodiment of the present invention;

[0039] Figure 6 This is a schematic diagram of the automatic package collection process of an automatic package collection system according to an embodiment of the present invention. Detailed Implementation

[0040] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of the present invention, including various details to aid understanding. These details should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0041] Figure 2 This is a schematic diagram of the composition of an automated package collection system 200 according to an embodiment of the present invention. Figure 2 As shown, the automated package collection system 200 includes a scheduling system 201, a package collection container 202, a full-fill detection device 203, and a handling robot 204. The package collection container 202 is located in a container placement area below the drop-off slot. The full-fill detection device 203 sends a full-fill signal to the scheduling system 201 when it determines that the package collection container 202 is full. The scheduling system 201, based on the full-fill signal, schedules the handling robot 204 to transport the full package collection container to the centralized package processing area.

[0042] For ease of explanation, the meanings and abbreviations of some terms used in the embodiments of this invention are described below.

[0043] 1) Full box: A package collection container that is full of parcels and has triggered the full-count detection device;

[0044] 2) Empty box: An empty container for collecting and packaging goods;

[0045] 3) Box retrieval operation: The handling robot removes the full collection container;

[0046] 4) Box replenishment: Replenish empty collection containers;

[0047] 5) Drop-off slot: Packages sorted by the sorting system fall into the collection container through the drop-off slot;

[0048] The scheduling system 201 may include a data storage unit, a data processing unit, a first communication unit, and a second communication unit. The data storage unit can store relevant information about each full-grid detection device and map information of the package handling area; the data processing unit can plan a path for the handling robot based on the map information and the full-grid signals fed back by the full-grid detection devices; the first communication unit can send handling commands and the planned path to the handling robot. The communication unit can be a wireless communication device, such as a Bluetooth or WiFi module; the second communication unit can be connected to the sorting system to send a stop-dispatch instruction to the sorting system after receiving a full-grid signal, and to send a start-dispatch instruction to the sorting system after a full-grid package container has been removed and an empty package container has been replenished.

[0049] The determination of whether a full container has been removed and whether an empty container has been replenished can be achieved by installing a weight sensor in the container placement area. This weight sensor can communicate with the scheduling system 201. For example, when there are no containers in the placement area, the weight obtained from the weight sensor may be 0 kg; when an empty container is placed, the weight obtained from the weight sensor may be N kg (N>0); and when the container is full, the weight obtained from the weight sensor may be M kg (M>N). Therefore, the scheduling system 201 can determine whether a full container has been removed and whether an empty container has been replenished based on the weight changes.

[0050] In an optional embodiment, the collection container 202 includes a container and a support base for supporting the container. The container can be a rigid container or a flexible bag. The container can be detached from the support base. The support base serves both as a support device for the container and as a medium for the handling robot to transport the collection container. That is, when the handling robot arrives at the collection container, it can cooperate with the support base to perform the handling operation.

[0051] In an optional embodiment, the support base has a preset height, which is at least higher than the empty handling robot, allowing the empty handling robot to move freely in the space beneath the support base. In this embodiment, when a handling robot moves a full container, other handling robots can quickly move beneath the container to fill the empty container.

[0052] As a specific example, such as Figure 3 As shown, the collection container includes a container 301 and a support base 302. The support base 302 has a certain height, which allows the handling robot 303 to move around in the space below it.

[0053] In an optional embodiment, the full-cell detection device 203 is disposed above the container. This full-cell detection device 203 can be a reflective sensor, such as an infrared diffuse reflective sensor. The infrared diffuse reflective sensor can be set to a detection distance, and when the object being detected reaches that distance, it returns a full-cell signal to the scheduling system. Generally, the sensor is installed above the container, and a detection distance is set at which it is detected when the container is full, thereby achieving full-cell detection.

[0054] In an optional embodiment, the handling robot 204 has a walking mechanism and a lifting mechanism for lifting the packaged container off the ground. As a specific example, the handling robot can be various types of AGVs (Automated Guided Vehicles).

[0055] Handling robots can also have autonomous navigation units that can automatically plan paths based on the addresses of full collection containers and destination addresses from the scheduling system.

[0056] In an optional embodiment, the automated package collection system further includes a transport channel, the width of which is at least twice the width of the transport robot's body, to allow two transport robots to travel side-by-side. As a specific example, the transport channel is twice the width of the transport robot's body, meaning it has two lanes, accommodating the parallel movement of two transport robots. Therefore, a transport robot can transport a full package in one lane and an empty package in the other, meaning that package retrieval and replenishment operations can be performed simultaneously without interference. Simultaneously, it also ensures that if one lane malfunctions, the other lane can continue to be used as a backup lane.

[0057] As a concrete example, the package handling area can be divided into a sorting and packaging area, a centralized package processing area, and a transport channel.

[0058] The sorting and packaging area refers to the area where packages are actually unloaded and packaged. Multiple packaging containers are placed in this area, located below the drop-off slots. Sorted packages are placed into the packaging containers directly or by sliding in. The layout of the packaging containers can be flexibly configured according to the layout of the drop-off slots in the upper-level sorting system; this invention does not impose any limitations on this.

[0059] The centralized package handling area refers to the area where handling robots process full boxes transported from the sorting and package handling area. Operators do not need to move around the site; they only need to handle the transported full boxes at a fixed location within this centralized handling area. The centralized handling area can be positioned close to the next step of the process to reduce conveyor line length. One centralized handling area can be set up, or multiple areas can be set up as needed. The scheduling system can divert handling robots to different centralized handling areas based on factors such as destination direction or parcel quantity, increasing the flexibility of the automated package handling system.

[0060] When the scheduling system receives a full-battery signal, it dispatches the nearest idle transport robot to the full container (target container) to move under the support base, taking the optimal route to reach the target container. Then, the robot's lifting mechanism is activated to lift the container off the ground, and it proceeds to the designated centralized processing area according to the path planned by the scheduling system, simultaneously performing repackaging. The optimal path is a globally optimal path, comprehensively considering factors such as distance, time, zone heat, and the transport robot's own status (e.g., whether its battery can support the entire transport). Existing path planning strategies can be used for planning, and this invention does not impose any limitations. As a specific example, the optimal path can be the shortest path to the target container or the fastest path to reach the target container. When choosing the shortest path, multiple avoidance maneuvers with other paths are required; in this case, the fastest path can be chosen.

[0061] In other alternative embodiments, the automated baggage handling system also includes a waiting area. This waiting area is used to store transport robots that are not currently assigned tasks. Charging devices can be installed in the waiting area to recharge the transport robots.

[0062] In an optional embodiment, the automated packaging system further includes an empty box placement area and a full box placement area set around the container placement area, so that after the handling robot temporarily places an empty packaging container in the empty box placement area, it temporarily places a full packaging container in the full box placement area, and then replenishes the empty packaging container temporarily placed in the empty box placement area.

[0063] When the scheduling system receives a full-capacity signal, it dispatches a transport robot A carrying an empty container to retrieve the container. When transport robot A arrives, it first places the empty container in the empty box placement area, then moves the full container to the full box placement area, then moves the empty container to the container placement area, and finally moves the full container to the centralized processing area.

[0064] In an optional embodiment, the support base has a preset height, which is at least higher than the empty handling robot, allowing the empty handling robot to move freely in the space beneath the support base. In this embodiment, when a handling robot moves a full container, other handling robots can quickly move beneath the container to fill the empty container.

[0065] In this embodiment of the automated baggage handling system, there are two types of walking channels: a transport channel and a shuttle channel beneath the baggage containers. For the first type of walking channel, both empty transport robots and robots transporting full or empty baggage containers can move along it; for the second type of walking channel, only empty transport robots can move along it. In a preferred embodiment, the empty transport robots can be configured to only move along the second type of walking channel, enabling them to quickly reach full or empty baggage containers.

[0066] In other alternative embodiments, the handling robot 204 may also have a transfer mechanism for retrieving full containers while replenishing empty containers.

[0067] Specifically, such as Figure 4 As shown, the transfer mechanism includes a connecting body 401, an elastic unit (not shown in the figure), and a lifting arm 402;

[0068] The connecting body 401 includes a connecting shaft (not shown in the figure). One end of the connecting body 401 is rigidly connected to the lifting mechanism 3031, and the other end is connected to the lifting arm 402 through the connecting shaft.

[0069] One end of the elastic unit is connected to the connecting body 401, and the other end is connected to the lifting arm 402. As a specific example, the elastic unit can be a spring.

[0070] The default state of the lifting arm is vertical (position "①" in the figure). When it is subjected to resistance opposite to the direction of movement of the handling robot, the lifting arm rotates around the connecting shaft as the center under the drive of the resistance, changing from the vertical state to the horizontal state (position "②" in the figure). When the lifting arm is in the horizontal state, it is used to load the package container, and the upper surface of the lifting arm is lower than the upper surface of the lifting mechanism, so that when the lifting mechanism is raised to the first height, the package container on the lifting mechanism is off the ground while the package container on the lifting arm is not off the ground. When there is no package container on the horizontal lifting arm, the lifting arm rotates around the connecting shaft as the center under the drive of the elastic unit, returning from the horizontal state to the vertical state.

[0071] More specifically, the handling robot has a rotating mechanism connected to the lifting mechanism, which drives the lifting mechanism to rotate when both the lifting arm and the lifting mechanism are carrying collection containers and the lifting mechanism is raised to a second height, so as to exchange the positions of the collection containers on the lifting arm and the collection containers on the lifting mechanism, wherein the second height is greater than the first height.

[0072] In this embodiment, the lifting mechanism can have three states: an initial state, a first height state, and a second height state. The initial state is the default state of the lifting mechanism, in which the height of the handling robot is lower than the height of the support base. In the first height state, the lifting mechanism of the handling robot can lift the container off the ground, while the container on the lifting arm remains grounded (not off the ground). In the second height state, both the lifting mechanism and the container on the lifting arm are off the ground. The transfer mechanism is rigidly connected to the lifting mechanism and can rise and fall with the lifting mechanism, and rotate with the lifting mechanism. The transfer mechanism consists of a lifting arm (default state is vertical), a connecting body rigidly connected to the lifting mechanism, and an elastic unit located between the connecting body and the lifting arm. The lifting arm is in a vertical state by default; when obstructed by external force, it will lower, changing from a vertical to a horizontal state. At this time, the upper surface of the lifting arm is lower than the upper surface of the lifting mechanism. The horizontal lifting arm can load the container. When there is no container on the boom in the horizontal position, the boom returns to the vertical position under the drive of the elastic unit, with the connecting shaft of the connecting body as the center.

[0073] Figures 5-A to 5-F The diagram shows a refilling operation of a handling robot with a transfer mechanism.

[0074] (1) As Figure 5-A As shown, the transport robot moves an empty container to the starting address where a full container is located. At this time, the empty container is lifted off the ground by the lifting mechanism, and the lifting arm is in a vertical position.

[0075] (2) Figure 5-B As shown, the handling robot lowers the lifting mechanism to its initial state, moving from under an empty container to under a full container. At this point, the lifting arm changes from a vertical to a horizontal state under the action of external force.

[0076] (3) Figure 5-C As shown, the lifting mechanism rises to the second height, at which point both the full and empty container are lifted off the ground. Then, the transport robot moves backward a certain distance. The starting address in the figure refers to the original location of the full container.

[0077] (4) Figure 5-D As shown, the rotating mechanism drives the lifting mechanism to rotate, so that the positions of the full container and the empty container are swapped.

[0078] (5) Figure 5-E As shown, the transport robot moves forward, positioning the empty container above the starting point. The lifting mechanism descends from the second height to the first height, at which point the empty container on the lifting arm falls to the ground, while the full container on the lifting mechanism remains off the ground.

[0079] (6) Figure 5-F As shown, the handling robot moves backward to clear the space beneath the empty container. Once the lifting arm is clear, it returns to a vertical position under the drive of the elastic unit. The handling robot then moves the full container to its destination according to commands from the scheduling system.

[0080] Based on the above, the automatic packet collection system of this embodiment can have the following three packet replenishment strategies:

[0081] 1) When the scheduling system receives a full-capacity signal, it dispatches an empty robot B to retrieve a full container, while simultaneously directing a transport robot C carrying an empty container to replenish it. After transport robot B removes the full container, transport robot C places the empty container down. Transport robot C, having completed replenishment, becomes an empty robot and can perform another task under the scheduling system's control. Transport robot C can be the empty robot closest to the full container.

[0082] 2) When the scheduling system receives a full-grid signal, it dispatches the transport robot D carrying an empty container to retrieve the container. When the transport robot D arrives, it first places the empty container in the empty box placement area, then moves the full container to the full box placement area, then moves the empty container to the starting address, and finally moves the full container to the centralized processing area.

[0083] 3) When the scheduling system receives a full-scale signal, it dispatches a transport robot E carrying an empty container to the starting address. When the transport robot E arrives at the starting address, it moves from under the empty container to under the full container, so that the empty container is on the lifting arm and the full container is on the lifting mechanism. The lifting mechanism is raised to a second height so that the empty and full containers are off the ground. The rotating mechanism is rotated to swap the positions of the empty and full containers. The transport robot E is moved so that the empty container is above the starting address. The lifting mechanism is lowered to a first height so that the empty container falls back to the starting address. Then, the transport robot transports the full container to the centralized processing area.

[0084] The three box replenishment strategies described above can be flexibly selected based on factors such as site size, parcel quantity, or budget. For example, replenishment strategy 2) is used in small-scale applications where the number of parcels sorted is relatively small, resulting in less material handling. In this case, a single transport robot can perform both full box retrieval and empty box replenishment, although it requires more time. Replenishment strategy 1) is used in medium-scale applications where two transport robots work together to complete both retrieval and replenishment. This strategy is simpler to implement but uses more transport robots, resulting in higher overall efficiency than strategy 2), but also higher cost. Replenishment strategy 3) uses a more complex transport robot to achieve a simpler function, suitable for large-scale applications. In this scenario, the large volume of material handling leads to numerous transport robots already operating busily in the aisles. Replenishment strategy 3) allows a single transport robot to maintain box replacement speed while saving on transport robots and aisle space. While replenishment strategy 1) could also achieve this, too many transport robots would congest the aisles, reducing overall efficiency.

[0085] The automated package collection system provided in this invention uses multiple lifting trolleys to achieve flexible and automated package collection. When the scheduling system receives a full-scale signal, it dispatches the empty handling robot closest to the full container (target container) to shuttle under the support base, travels along the optimal route to the target container, and then activates the lifting mechanism of the handling robot to lift the package container off the ground. The container then proceeds to the designated centralized processing area according to the path planned by the scheduling system, while simultaneously performing box replenishment. Therefore, the entire package collection operation is more efficient and energy-saving, reducing the workload of operators.

[0086] This automated baggage collection system is applicable not only to baggage collection operations in the flip-type sorting AGV mode, but also to baggage collection operations under sorting technologies such as traditional cross-belt sorters.

[0087] Figure 6 This is a flowchart illustrating the automatic packet assembly method of the automatic packet assembly system based on an embodiment of the present invention. The automatic packet assembly method includes the following steps:

[0088] Step S601: The scheduling system receives a full-scale signal from the full-scale detection device;

[0089] Step S602: The scheduling system determines the starting address and destination address based on the full signal to plan the path;

[0090] Step S603: The scheduling system sends the path to the transport robot so that the transport robot can transport the full container at the starting address to the destination address.

[0091] Specifically, the scheduling system pre-stores map information of the container yard, the location of each full-fill detection device, and the destination information corresponding to the full-fill detection device. This destination information can be used to determine which centralized processing area a container at that location will be transported to after it is full.

[0092] Therefore, when the scheduling system receives a full signal, it can determine the starting address (the location of the full packet container) and the destination address (the location of the centralized packet processing area), and then plan the optimal path based on the starting address and the destination address.

[0093] The scheduling system determines the replenishment strategy and the handling robot based on the planned optimal path and the current handling volume. The handling robot then performs the box retrieval and replenishment operations according to the replenishment strategy.

[0094] In the automatic packet assembly method of this embodiment, there are three box-filling strategies:

[0095] The first method: When a full signal is received, the scheduling system schedules the first handling robot to move the full container at the starting address to the destination address, and schedules the second handling robot to move the empty container to the starting address.

[0096] The second method: When a full signal is received, the scheduling system dispatches a third transport robot carrying an empty container to the starting address. When the third transport robot arrives at the starting address, it places the empty container in the empty box placement area, then transports the full container to the full box placement area, and then transports the empty container placed in the empty box placement area to the starting address.

[0097] The third method: Upon receiving a full-scale signal, the scheduling system dispatches a fourth transport robot carrying an empty container to the starting address. When the fourth transport robot arrives at the starting address, it moves from below the empty container to below the full container, so that the empty container is on the lifting arm and the full container is on the lifting mechanism. The lifting mechanism is then raised to a second height, so that the empty and full containers are off the ground. The rotating mechanism is then rotated to swap the positions of the empty and full containers. The fourth transport robot is then moved so that the empty container is above the starting address. Finally, the lifting mechanism is lowered to a first height, so that the empty container falls back to the starting address.

[0098] The above three box replenishment strategies can be flexibly selected according to factors such as venue size, number of packages, or budget, and this invention does not impose any restrictions on them.

[0099] The automated package collection method implemented in this paper, when the scheduling system receives a full-scale signal, dispatches the nearest unloaded handling robot to the target container. The robot navigates under the support base along an optimal route to the target container, then activates its lifting mechanism to lift the package off the ground. Following the path planned by the scheduling system, the robot proceeds to the designated centralized processing area, simultaneously performing package replenishment. This makes the entire package collection operation more efficient and energy-saving, while reducing the workload of operators.

[0100] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0101] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An automatic bagging system characterized by, The system comprises a scheduling system, a set container, a full-bin detection device, and a carrying robot. The set container is arranged in a container placement area below a falling bin grid opening. The full-bin detection device is configured to send a full-bin signal to the scheduling system when it is determined that the set container is full. The scheduling system is configured to schedule the carrying robot to carry the full set container to a set container centralized processing area according to the full-bin signal. The carrying robot has a walking mechanism, a lifting mechanism, a moving mechanism, and a rotating mechanism. The moving mechanism is configured to take out the full set container and supplement an empty set container at the same time.

2. The system of claim 1, wherein, The moving mechanism comprises a connecting body, an elastic unit, and a lifting arm.

3. The system of claim 1, wherein, The default state of the lifting arm is vertical.

4. The system of claim 1, wherein, When the lifting arm is subjected to resistance opposite to the moving direction of the carrying robot, the lifting arm rotates from the vertical state to the horizontal state through the connecting body under the drive of the resistance.

5. The system of claim 4, wherein, When the lifting arm is in the horizontal state, the lifting arm is configured to load the set container.

6. The system of claim 1, wherein, The upper surface of the lifting arm is lower than the upper surface of the lifting mechanism.

7. The system of claim 6, wherein, When the lifting mechanism is lifted to a first height, the set container on the lifting mechanism is off the ground, and the set container on the lifting arm is not off the ground.

8. The system of claim 1, wherein, When there is no set container on the lifting arm in the horizontal state, the lifting arm rotates from the horizontal state to the vertical state through the connecting body under the drive of the elastic unit.

9. The system of claim 1, wherein, The rotating mechanism drives the lifting mechanism to rotate, so that the set container on the lifting arm and the set container on the lifting mechanism are exchanged. The system further comprises a carrying channel. The width of the carrying channel is at least twice the width of the carrying robot. The automatic set container system further comprises an empty box placement area and a full box placement area arranged around the container placement area. The carrying robot temporarily places the empty set container in the empty box placement area and the full set container in the full box placement area. The set container comprises a container and a bearing base for supporting the container. The bearing base has a preset height, which is at least higher than the empty carrying robot. The full-bin detection device is arranged above the set container. The full-bin detection device is a reflective sensor. The lifting mechanism is configured to lift the set container off the ground. The connecting body comprises a connecting shaft. One end of the connecting body is rigidly connected with the lifting mechanism, and the other end is connected with the lifting arm through the connecting shaft. One end of the elastic unit is connected with the connecting body, and the other end is connected with the lifting arm. When subjected to resistance opposite to the moving direction of the carrying robot, the lifting arm rotates from the vertical state to the horizontal state with the connecting shaft as the center under the drive of the resistance. When there is no set container on the lifting arm in the horizontal state, the lifting arm rotates from the horizontal state to the vertical state with the connecting shaft as the center under the drive of the elastic unit.

10. The system of claim 1 or 9, wherein, The rotating mechanism is connected with the lifting mechanism, and is used for driving the lifting mechanism to rotate when the set of containers on the lifting arm and the set of containers on the lifting mechanism are both loaded and the lifting mechanism is lifted to a second height, so that the set of containers on the lifting arm and the set of containers on the lifting mechanism are exchanged in position, wherein the second height is greater than the first height.

11. An automatic bagging method, characterized by The method is based on the automatic set of containers system according to any one of claims 1-10, and the method comprises: The dispatching system receives a full-bin signal from the full-bin detection device; The dispatching system determines a start address and a destination address based on the full-bin signal to plan a path; The dispatching system sends the path to the transfer robot to make the transfer robot transfer the full-bin set of containers at the start address to the destination address; wherein the transfer robot has a walking mechanism, a lifting mechanism, a transfer mechanism, and a rotating mechanism, and the transfer mechanism is used for the transfer robot to take out the full-bin set of containers while supplementing an empty set of containers; The transfer mechanism comprises a connecting body, an elastic unit, and a lifting arm; the default state of the lifting arm is a vertical state, and when subjected to a resistance opposite to the moving direction of the transfer robot, the lifting arm is driven by the resistance to change from the vertical state to a horizontal state through the connecting body; when the lifting arm is in the horizontal state, the lifting arm is used for loading a set of containers, and the upper surface of the lifting arm is lower than the upper surface of the lifting mechanism, so that when the lifting mechanism is lifted to a first height, the set of containers on the lifting mechanism is off the ground and the set of containers on the lifting arm is not off the ground; when there is no set of containers on the lifting arm in the horizontal state, the lifting arm is driven by the elastic unit to change from the horizontal state back to the vertical state through the connecting body; The rotating mechanism drives the lifting mechanism to rotate, so that the set of containers on the lifting arm and the set of containers on the lifting mechanism are exchanged in position.

12. The method of claim 11, wherein, The method further comprises: Upon receiving the full-bin signal, the dispatching system dispatches a first transfer robot to transfer the full-bin set of containers at the start address to the destination address, and dispatches a second transfer robot to transfer an empty set of containers to the start address; And / or Upon receiving the full-bin signal, the dispatching system dispatches a third transfer robot loaded with an empty set of containers to the start address, and when the third transfer robot arrives at the start address, places the empty set of containers in an empty-box placement area, then transfers the full-bin set of containers to a full-box placement area, and then transfers the empty set of containers placed in the empty-box placement area to the start address; And / or Upon receiving the full bin signal, the dispatching system dispatches a fourth handling robot carrying an empty totes container to the start address, when the fourth handling robot reaches the start address, the fourth handling robot moves from under the empty totes container to under the full totes container, so that the empty totes container is on the lifting arm and the full totes container is on the lifting mechanism; the lifting mechanism is raised to the second height, so that the empty totes container and the full totes container are off the ground; the rotating mechanism is rotated, so that the empty totes container and the full totes container are exchanged in position; the fourth handling robot is moved, so that the empty totes container is above the start address; the lifting mechanism is lowered to the first height, so that the empty totes container falls on the start address.

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