Sorting path control method, control system, and control device of the balance wheel sorting system

Abstract

This invention discloses a sorting path control method, control system, control device, and computer-readable storage medium for a swing wheel sorting system. In the sorting path control method, each swing wheel sorting machine in the system has N swing wheel groups arranged sequentially from its input end to its output end. Each swing wheel group is driven to swing by a swing mechanism. During sorting, at least some of the swing wheel groups swing at different angles to flexibly sort packages entering the machine along a curve or zigzag line to the outside of the machine. This solution, by having multiple swing wheel groups swing at different angles during sorting, causes packages to move along a flexible curve or zigzag line during the sorting process, making them more gentle and less prone to tipping over. This effectively reduces the problem of packages tipping and rolling when existing swing wheel sorting machines have each swing wheel group swinging at a uniform 45° angle.

Description

Technical Field

[0001] This invention relates to the field of conveying and sorting, and in particular to a sorting path control method, control system, control device, and computer-readable storage medium for a swing wheel sorting system. Background Technology

[0002] In some applications, the swing wheel sorting system mainly uses a telescopic conveyor to supply packages, a DWS system to scan the barcodes of the packages, and a swing wheel sorter to sort the packages.

[0003] Customer operators have extremely high requirements for package damage rates during sorting operations, and reducing this damage rate is a very challenging problem for automated sorting equipment. Currently, the control methods for the swing wheel are based on all swing wheels on the swing wheel sorter performing sorting at the same angle (45°). Therefore, as shown in the attached... Figure 1 As shown, packages move along a straight line at an angle on the swing wheel sorter. However, due to the high center of gravity of the packages, when they enter the swing wheel, the excessive angle of the swing wheel can cause the packages to tip over, leading to sorting failures, package damage, and other issues. This further reduces the sorting efficiency of the swing wheel sorting system and significantly increases the cost of handling abnormalities in the sorting process.

[0004] Meanwhile, due to space constraints, the system lacks centering and edge-positioning devices in its design. Consequently, packages do not form neat queues along the X-axis of the conveyor line (the X-axis is perpendicular to the package transport direction, which is the Y-axis). Therefore, during the sorting operation of the swing wheel sorter, packages will have various movement paths, resulting in inconsistent package landing points. This may even cause packages to stagnate on the chute, leading to blockages and low sorting efficiency. Furthermore, excessive drop and speed of packages may cause them to tumble on the chute, increasing the damage rate during the transport and sorting process. Summary of the Invention

[0005] The purpose of this invention is to solve the above-mentioned problems existing in the prior art and to provide a sorting path control method, control system, control device and computer-readable storage medium for a balance wheel sorting system.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] A sorting path control method for a swing wheel sorting system, wherein each swing wheel sorting machine of the swing wheel sorting system has N swing wheel groups arranged sequentially from its input end to its output end, and each swing wheel group is driven to swing by a swing mechanism. When the swing wheel sorting machine is sorting, at least some of the swing wheel groups swing at different angles to flexibly sort the packages entering the swing wheel sorting machine along a curve or zigzag line to the outside of the swing wheel sorting machine.

[0008] Preferably, in the sorting path control method of the balance wheel sorting system, the last two balance wheel groups of the balance wheel sorting machine are controlled to keep a swing angle of 45°, and the swing angles of the other balance wheel groups are sequentially increased from the input end to the output end of the balance wheel sorting machine.

[0009] More preferably, the swing angles of the other balance wheel groups are increased by a fixed value or the swing angles of the other balance wheel groups meet the distance of the package moving along the X-axis direction on them to be increased by a fixed value.

[0010] Preferably, in the sorting path control method of the balance wheel sorting system, when the balance wheel sorting machine sorts the package to the chute, the center of the package is in the central region of the entrance end of the chute.

[0011] Preferably, in the sorting path control method of the balance wheel sorting system, when the balance wheel sorting machine sorts the package to the chute, the center of the package is on the centerline of the entrance end of the chute or coincides with the center of the entrance end of the chute.

[0012] Preferably, in the sorting path control method of the balance wheel sorting system, the end of the N-1th balance wheel group or the Y-axis centerline of the Nth balance wheel group of the balance wheel sorting machine is flush or adjacent to the centerline of the entrance end of the chute beside the balance wheel sorting machine, and when the front end of the package moves to the end of the N-1th balance wheel group or the Y-axis centerline of the Nth balance wheel group, the X-axis centerline of the package moves at least to the edge of the corresponding sorting side of the balance wheel sorting machine.

[0013] Preferably, in the sorting path control method of the balance wheel sorting system, the last two balance wheel groups of the balance wheel sorting machine are controlled to keep a swing angle of 45°, and the swing angles of the other balance wheel groups are calculated according to the following formula:

[0014] α m组 = Arctan S m组 / L 组 ;

[0015] S m组 =m×d;

[0016] d=2×S 包X / [(N-1)×(N-2)];

[0017] S 包X = W 摆轮 / 2+Px-S N-1组 ;

[0018] Wherein, α m组 is the swing angle of the mth balance wheel group; S m组 is the distance of the X-axis centerline of the package moving along the X-axis direction on the mth balance wheel group; L组 is the width of each balance wheel group; m is the order number of the balance wheel group, m is an integer less than N-1; N is the number of balance wheel groups of the balance wheel sorter, N is an integer between 5-10; d is the incremental distance of the X-axis center line of the package moving along the X-axis direction on the adjacent two balance wheel groups; S 包X is the distance of the X-axis center line of the package moving along the X-axis direction in the process of the front end of the package moving from the input end of the balance wheel sorter to the end of the N-2th balance wheel group;

[0019] W 摆轮 is the width of the balance wheel sorter; Px is the distance from the center of the package or the X-axis center line of the package to the virtual line of the center of the width direction of the balance wheel sorter; S N-1组 is the distance of the X-axis center line of the package moving along the X-axis direction on the N-1th balance wheel group.

[0020] Preferably, in the sorting path control method of the balance wheel sorting system, before the package moves to each balance wheel sorter, the review photoelectric sensor in front of the balance wheel sorter confirms whether the balance wheel sorter is the balance wheel sorter corresponding to the route of the package.

[0021] Preferably, in the sorting path control method of the balance wheel sorting system, the route information of each package is obtained through the six-face code reading mechanism, and the six-face code reading mechanism simultaneously determines the position information of the center or the X-axis center line of the package on the DWS conveying line.

[0022] The sorting path control system of the balance wheel sorting system at least comprises

[0023] The data acquisition unit is configured to receive the route information of the package and the position information of the center or the X-axis center line of the package on the DWS conveying line.

[0024] The calculation unit is configured to determine the swing angle of each balance wheel group of the balance wheel sorter corresponding to the route of the package according to the position information of the center or the X-axis center line of the package on the DWS conveying line and a preset formula, and make the swing angle of at least part of the balance wheel groups different.

[0025] The execution unit is configured to control each balance wheel group of the balance wheel sorter to swing by a corresponding angle when the package moves to a sorting starting position, so as to flexibly sort the package entering the balance wheel sorter to the outside of the balance wheel sorter along a curve or a zigzag line.

[0026] The control device comprises

[0027] The memory is configured to store executable instructions.

[0028] The processor is configured to implement the sorting path control method of the balance wheel sorting system according to any one of the above when executing the executable instructions.

[0029] A computer readable storage medium having stored thereon a computer program which, when executed, implements the sorting path control method of the balance wheel sorting system of any of the above.

[0030] The advantages of the technical solution of the present application mainly lie in:

[0031] The present application makes the plurality of balance wheel groups of the balance wheel sorting machine swing different angles during sorting, and simultaneously makes the parcels move along a curved or zigzag path during sorting, which effectively reduces the swing angle of the first few balance wheel groups, so that the parcel movement is more gentle and not prone to dumping, and can effectively reduce the problem that the parcel is prone to dumping and rolling during sorting due to the height of its center of gravity.

[0032] The method makes the last two balance wheel groups maintain a 45° swing angle, makes the swing angle of other balance wheel groups increase by a fixed value, and calculates the swing angle of each balance wheel group according to the position information of the center or X-axis center line of the parcel on the DWS conveying line fed back by the DWS information system, so that the parcel enters the best entry point of the chute at the same speed and in the same direction, and smoothly slides into the chute, without the problems of congestion, parcel rolling and damage, effectively improving the sorting success rate, greatly reducing the parcel damage rate and abnormal processing cost, and improving the on-site operation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a moving route diagram of a parcel on the balance wheel sorting machine when the balance wheel groups of the existing balance wheel sorting machine described in the background art of the present application are uniformly swung at an angle of 45°;

[0034] Figure 2 is a schematic diagram of the balance wheel sorting system of the present application;

[0035] Figure 3 is a schematic diagram of the balance wheel sorting machine of the present application making the parcel sort along a zigzag line. DETAILED DESCRIPTION

[0036] The purpose, advantages and characteristics of the present application will be illustrated and explained by the following non-limiting description of preferred embodiments. These embodiments are only typical examples of the application of the technical solution of the present application, and any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of the present application.

[0037] In the description of the scheme, it needs to be explained that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. And in the description of the scheme, the operator is taken as the reference, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

[0038] The sorting path control method of the balance wheel sorting system disclosed in the present application will be described below in conjunction with the drawings, such as Figure 2 , and Figure 3 As shown in the drawings, the balance wheel sorting system includes a plurality of balance wheel sorters 10 and belt conveyors 20 arranged alternately, and each side of each balance wheel sorter 10 is connected with a chute 70. Each balance wheel sorter 10 and the chute 70 connected therewith can be connected without gap or can maintain a certain distance, and a pad 90 is arranged at the distance.

[0039] The input end of the belt conveyor 20 connected with the input end of the first balance wheel sorter 10 is provided with a DWS conveying line 30, which uses a six-surface code reading mechanism to obtain the route. The six-surface code reading mechanism is also used to determine the position information of the center of the package (the center point of the projection of the package on the supporting surface) or the X-axis center line (a line passing through the center of the package and perpendicular to the X-axis direction) on the DWS conveying line. The input end of the DWS conveying line is connected with a stretch conveying machine 40, and a tracking photoelectric sensor 50 is arranged at the stretch conveying machine 40. The input end of the stretch conveying machine 40 is connected with a telescopic conveying machine 80.

[0040] The specific structure of the balance wheel sorter 10, the belt conveyor 20, the DWS conveying line 30, the stretch conveying machine 40 and the telescopic conveying machine 80 is a known technology, which will not be described here. In addition, a review photoelectric sensor 60 is arranged at the belt conveyor 20 connected with the input end of each balance wheel sorter, which can be used to determine the stall state in the conveying process of the package, so as to facilitate more accurate control of the start time of the balance wheel sorter, and facilitate determination of the balance wheel sorter corresponding to the route of the package.

[0041] As shown in the drawings, Figure 3As shown, each pendulum sorting machine 10 has N pendulum groups arranged in sequence from the input end 101 to the output end 102, the sequence numbers of the pendulum groups are 1, 2, 3, …, N in sequence, and N is an integer between 5 and 10. Each pendulum group generally includes two rows of pendulums, and of course can be one row or more rows of pendulums; each pendulum group is driven to swing left and right by a swinging mechanism, which generally includes a motor and a transmission mechanism connected between the pendulum sorting unit and the motor. The specific structure of the swinging mechanism and its connection structure with each pendulum sorting unit of the pendulum sorting machine are known technologies, and will not be described here.

[0042] When the pendulum sorting machine 10 sorts, by controlling the swing angle of the pendulum group, the swing of at least part of the pendulum group is different, so that the package entering the pendulum sorting machine 10 is flexibly sorted along a curve or a zigzag line to the outside of the pendulum sorting machine 10. Such an arrangement can effectively reduce the swing angle of part of the pendulum group, thereby avoiding the problem that when the existing each pendulum group uniformly adopts a 45° swing angle for sorting, it is easy to cause the package to tilt and roll when entering the chute 70.

[0043] As shown in the accompanying drawings, Figure 3 When the pendulum sorting machine 10 sorts the package into the chute 70, the ideal landing point is in the center area of the entrance end of the chute 70, and the more optimal landing point is the center point 01 of the entrance end of the chute 70. At the same time, when the package is input into the chute 70, it is more optimal to make the center of the package in the center area of the entrance end of the chute 70, thereby effectively reducing the probability of collision between the package and the side wall of the chute 70 when the package enters the chute 70. It is more optimal to make the center of the package coincide with the center point 01 of the entrance end of the chute 70 or the center of the package on the center line (a line passing through the center point 01 of the entrance end of the chute and perpendicular to the entrance end of the chute) of the entrance end of the chute when the package is input into the chute 70.

[0044] As shown in the accompanying drawings, Figure 3As shown, when the swing angle of the balance wheel is 45°, the X-axis velocity component and the Y-axis velocity component of the package reach the maximum at the same time, so that the maximum velocity components in two directions are beneficial to ensure that the package does not stay anywhere in the chute 70 when the package slides down without driving force. Therefore, when the swing wheel sorter 10 is sorting, the swing angle of the last two swing wheel groups (the N-1th swing wheel group and the Nth swing wheel group) is always fixed at 45°. At the same time, the swing angle of the other swing wheel groups (the 1st swing wheel group to the N-2th swing wheel group) is increased from the input end 101 to the output end 102 of the swing wheel sorter 10, so that the X-axis moving distance of the package in the other swing wheel groups is gradually increased. Preferably, the swing angle of the other swing wheel groups is increased by a fixed value, or the swing angle of the other swing wheel groups satisfies that the X-axis moving distance of the package on the other swing wheel groups is increased by a fixed value, that is, when passing through each swing wheel group, the X-axis moving distance of the package on the swing wheel group is increased by a fixed value compared with the X-axis moving distance of the package on the previous swing wheel group.

[0045] As shown in the accompanying drawings, Figure 3 In order to facilitate the control of the moving path of the package, in the embodiment, the end 103 of the N-1th swing wheel group of the swing wheel sorter 10 is flush or close to the center line of the entrance end of the chute 70. Of course, the Y-axis center line of the Nth swing wheel group (which is perpendicular to the virtual line 104 of the width direction center of the swing wheel sorter, and the distance from the Y-axis center line to the two long sides of the Nth swing wheel group is equal) can also be flush or close to the center line of the entrance end of the chute 70. Since the swing angle of the N-1th swing wheel group is fixed at 45°, the X-axis moving distance S of the package on the N-1th swing wheel group is fixed and equal to the width L of the swing wheel group. N-1组 The X-axis moving distance S of the package on the N-1th swing wheel group is fixed and equal to the width L of the swing wheel group. 组 When the front end (one end towards the conveying direction) of the package moves to the end 103 of the N-1th swing wheel group (one end of the N-1th swing wheel group connected with the Nth swing wheel group) or moves to the Y-axis center line of the Nth swing wheel group (the last swing wheel group), the center or the X-axis center line 02 of the package moves to the edge of the corresponding sorting side of the swing wheel sorter, and of course, the X-axis center line 02 of the package can also move to the outside of the swing wheel sorter. Therefore, when the front end of the package moves out of the N-2th swing wheel group, the X-axis center line 02 of the package should be at the P1 position, and then the swing angles of the 1st swing wheel group to the N-2th swing wheel group need to be calculated according to the optimal path.

[0046] As shown in the accompanying drawings, Figure 3As shown, considering that too large swing angle will cause abnormal phenomena such as package tipping and rolling, a curved flexible path planning is selected, that is, when the package passes through the first to the N-2th pendulum wheel set, the X-axis center line of the package moves gradually in the X-axis direction on each pendulum wheel set, and the incremental amount is d, and the X-axis center line of the package moves in the X-axis direction on the first pendulum wheel set by a distance of d; the X-axis center line of the package moves in the X-axis direction on the mth (m is between 1 and N-2, N is not less than 5, and not more than 10, and m is an integer between 1 and 4) pendulum wheel set The distance defined as S Figure 3 m组 ; the X-axis center line of the package needs to move in the X-axis direction during the process of moving the front end of the package from the input end of the pendulum sorting machine to the end of the N-2th pendulum wheel set (the end connected with the N-1th pendulum wheel set) The distance defined as S 包X , the swing angle of the mth pendulum wheel set can be calculated as α m组 .

[0047] Specifically, the swing angle of other pendulum wheel sets is calculated according to the following formula:

[0048] α m组 = Arctan S m组 / L 组 ;

[0049] S m组 =m×d;

[0050] d=2×S 包X / [(N-1)×(N-2)];

[0051] S 包X = W 摆轮 / 2+Px-S N-1组 ;

[0052] Wherein, α m组 is the swing angle of the mth pendulum wheel set; S m组 is the distance of the X-axis center line of the package moving in the X-axis direction on the mth pendulum wheel set; L 组 is the width of each pendulum wheel set; m is the serial number of the pendulum wheel set, m is an integer less than N-1; N is the number of pendulum wheel sets of the pendulum sorting machine, N is an integer between 5 and 10; d is the incremental amount of the X-axis center line of the package moving in the X-axis direction on two adjacent pendulum wheel sets; S 包X is the distance of the X-axis center line of the package moving in the X-axis direction during the process of moving the front end of the package from the input end of the pendulum sorting machine to the end of the N-2th pendulum wheel set;

[0053] W 摆轮 ​is the width of the cam wheel sorter; Px is the distance from the X-axis center line of the package or the center of the package to the virtual line in the width direction of the cam wheel sorter; S N-1组 is the distance of the X-axis center line of the package moving along the X-axis direction on the N-1th cam wheel group.

[0054] According to the above formula, the swing angle of the first cam wheel group to the N-2th cam wheel group is calculated and the swing angle control of the corresponding cam wheel group is performed during sorting.

[0055] Further, when the entire cam wheel sorting system is working, the following steps are performed:

[0056] After the system is started and runs normally.

[0057] The packages are introduced one by one to the telescopic conveyor, the telescopic conveyor supplies the packages one by one to the stretch conveyor, the stretch conveyor stretches the longitudinal distance between the packages and transports the packages to the DWS conveying line, when the packages pass through the tracking photoelectric sensor, the package position tracking is started and the six-surface code reading mechanism of the DWS conveying line is triggered to collect the barcode data of the package and collect the position information of the X-axis center line of the package or the center of the package on the DWS conveying line, according to the position information, the Px can be calculated.

[0058] The six-surface code reading mechanism sends the barcode data to the WCS system, the WCS system obtains the package routing information through the WMS system and sends it to the PLC, the PLC obtains the routing information and the position information of the X-axis center line of the package or the center of the package on the DWS conveying line at the same time, and updates the sorting tracking data of the package, and calculates the swing angle of the cam wheel group of the cam wheel sorter corresponding to the route according to the above formula.

[0059] Before sorting the package, the package is moved to each review photoelectric sensor to confirm whether the cam wheel sorter behind the review photoelectric sensor is the cam wheel sorter corresponding to the route of the package, if yes, the corresponding cam wheel sorter is controlled according to the above path control method to sort; if not, the PLC system controls the cam wheel sorting system to continue moving the package to the next review photoelectric sensor, and when the package triggers the next review photoelectric sensor, it is judged again whether the cam wheel sorter behind it is the cam wheel sorter corresponding to its route, and the process is repeated until the package is sorted.

[0060] Embodiment 2

[0061] The embodiment discloses a sorting path control system of a cam wheel sorting system, at least comprising

[0062] A data acquisition unit for receiving the routing information of the package and the position information of the center or the X-axis center line of the package on the DWS conveying line.

[0063] The computing unit is configured to determine the swing angle of each balance wheel group of the balance wheel sorter corresponding to the routing of the package according to the position information of the center or X-axis center line of the package on the DWS conveying line and a preset formula, and make the swing angle of at least part of the balance wheel groups different.

[0064] The executing unit is configured to control each balance wheel group of the balance wheel sorter to swing by a corresponding angle when the package moves to a sorting start position, so as to flexibly sort the package entering the balance wheel sorter along a curve or a zigzag line to the outside of the balance wheel sorter.

[0065] Embodiment 3

[0066] The embodiment discloses a control device, comprising

[0067] A memory is configured to store executable instructions.

[0068] A processor is configured to implement the sorting path control method of the balance wheel sorting system in Embodiment 1 when executing the executable instructions.

[0069] Embodiment 4

[0070] The embodiment discloses a computer readable storage medium, which stores a computer program, and the computer program is executed to implement the sorting path control method of the balance wheel sorting system in Embodiment 1.

[0071] The present application has various embodiments, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present application.

Claims

1. A method for controlling a sorting path of a balance wheel sorting system, each balance wheel sorting machine of the balance wheel sorting system having N balance wheel groups arranged in sequence from an input end to an output end, each balance wheel group being driven to swing by a swing mechanism, characterized in that: At least part of the swing angle of the swing wheel groups of the swing wheel sorter is different to flexibly sort the package entering the swing wheel sorter along a curve or a zigzag line to the outside of the swing wheel sorter; The Y-axis center line of the last N-1 swing wheel group or the N swing wheel group of the swing wheel sorter is flush with or adjacent to the center line of the entrance end of the chute beside the swing wheel sorter, and when the front end of the package moves to the Y-axis center line of the last N-1 swing wheel group or the N swing wheel group, the X-axis center line of the package at least moves to the edge of the corresponding sorting side of the swing wheel sorter; The last two swing wheel groups of the swing wheel sorter are controlled to keep a swing angle of 45°, and the swing angle of the other swing wheel groups is calculated according to the following formula: α m组 = Arctan S m组 / L 组 ; S m组 = m x d; d = 2 x S 包X [(N - 1) x (N - 2)]; S 包X = W 摆轮 / 2+Px-S N-1组 ; wherein, α m组 is the swing angle of the mth balance wheel group; S m组 is the distance that the X-axis center line of the package moves in the X-axis direction on the mth balance wheel group; L 组 is the width of each balance wheel group; m is the serial number of the balance wheel group, m is an integer less than N-1; N is the number of balance wheel groups of the balance wheel sorter, N is an integer between 5 and 10; d is the incremental distance that the X-axis center line of the package moves in the X-axis direction on adjacent two balance wheel groups, d is a fixed value; S 包X is the distance that the X-axis center line of the package needs to move in the X-axis direction in the process of moving from the input end of the balance wheel sorter to the end of the N-2th balance wheel group. W 摆轮 is the width of the rotor sorting machine; Px is the distance from the center of the package or the X-axis center line of the package to the virtual line in the width direction of the rotor sorting machine; S N-1组 is the distance of the X-axis center line of the package moving in the X-axis direction on the N-1 rotor group.

2. The sorting path control method of a balance wheel sorting system according to claim 1, characterized by: When the swing wheel sorter sorts the package to the chute, the center of the package is in the central area of the entrance end of the chute.

3. The sorting path control method of a balance wheel sorting system according to claim 2, characterized in that: When the swing wheel sorter sorts the package to the chute, the center of the package is on the center line of the entrance end of the chute or coincides with the center of the entrance end of the chute.

4. The sorting path control method of a balance wheel sorting system according to claim 1, characterized by: Before the package moves to each swing wheel sorter, whether the swing wheel sorter is the swing wheel sorter corresponding to the route of the package is confirmed by a review photoelectric sensor in front of the swing wheel sorter.

5. The sorting path control method of a balance wheel sorting system according to claim 4, characterized in that: The route information of each package is obtained by a six-face code reading mechanism, and the six-face code reading mechanism simultaneously determines the position information of the center or the X-axis center line of the package on the DWS conveying line.

6. A sorting path control system for a balance wheel sorting system, characterized by: At least comprising a data acquisition unit configured to receive the route information of the package and the position information of the center or the X-axis center line of the package on the DWS conveying line; a calculation unit configured to determine the swing angle of each swing wheel group of the swing wheel sorter corresponding to the route of the package according to the position information of the center or the X-axis center line of the package on the DWS conveying line and a preset formula, and make the swing angle of at least part of the swing wheel groups different; the Y-axis center line of the last N-1 swing wheel group or the N swing wheel group of the swing wheel sorter is flush with or adjacent to the center line of the entrance end of the chute beside the swing wheel sorter, and when the front end of the package moves to the Y-axis center line of the last N-1 swing wheel group or the N swing wheel group, the X-axis center line of the package at least moves to the edge of the corresponding sorting side of the swing wheel sorter; The last two swing wheel groups of the swing wheel sorter are controlled to keep a swing angle of 45°, and the swing angle of the other swing wheel groups is calculated according to the following formula: a m组 = Arctan S m组 / L 组 ; S m组 = m x d; d = 2 x S 包X [(N - 1) x (N - 2)]; S 包X = W 摆轮 / 2+Px-S N-1组 ; wherein, α m组 is the swing angle of the mth pendulum set; S m组 is the distance that the X-axis center line of the package moves in the X-axis direction on the mth pendulum set; L 组 is the width of each pendulum set; m is the serial number of the pendulum set, m is an integer less than N-1; N is the number of pendulum sets of the pendulum sorter, N is an integer between 5 and 10; d is the incremental distance that the X-axis center line of the package moves in the X-axis direction on adjacent two pendulum sets, d is a fixed value; S 包X is the distance that the X-axis center line of the package needs to move in the X-axis direction in the process that the front end of the package moves from the input end of the pendulum sorter to the end of the N-2th pendulum set; W 摆轮 is the width of the rotor sorting machine; Px is the distance from the center of the package or the X-axis center line of the package to the virtual line in the width direction of the rotor sorting machine; S N-1组 is the distance of the X-axis center line of the package moving in the X-axis direction on the N-1 rotor group; an execution unit configured to control each swing wheel group of the swing wheel sorter to swing at a corresponding angle when the package moves to a sorting starting position, so as to flexibly sort the package entering the swing wheel sorter along a curve or a zigzag line to the outside of the swing wheel sorter.

7. Control device, characterized in that: Comprising a memory configured to store executable instructions; a processor configured to execute the executable instructions to implement the sorting path control method of the swing wheel sorting system according to any one of claims 1-5.

8. A computer readable storage medium having stored thereon a computer program, characterized in that: The computer program is executed to implement the sorting path control method of the swing wheel sorting system according to any one of claims 1-5.

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