Distributing trolley, control method, cargo distributing device and controller

Abstract

Embodiments of the present disclosure disclose a distribution trolley, a control method, a goods distribution device and a controller. A specific embodiment of the distribution trolley comprises: a trolley body; a moving mechanism installed on the trolley body for driving the trolley body to move in a first direction, comprising a moving driving assembly and moving wheels installed on both sides of the trolley body; a distribution mechanism for realizing goods distribution in a second direction, comprising a distribution driving assembly and a belt, the belt being installed on the upper surface of the trolley body, and the belt being provided with raised retaining edges at both ends of the upper surface, wherein the trolley body is higher than the upper surface of the belt at both ends in the first direction. The embodiment is related to warehouse logistics technology, and the raised retaining edges and trolley body can form a fence on the upper surface of the belt, thereby avoiding or reducing the situation of goods rolling and falling when the distribution trolley is running. The stability of goods transportation of the distribution trolley is further improved.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of warehousing and logistics technology, and particularly to a distribution cart, a control method, a cargo distribution device, and a controller. Background Art

[0002] In related goods distribution technology, the goods are usually transported from the induction table to the distribution vehicle. The distribution vehicle then moves the goods to the corresponding slot, completing the distribution of the goods.

[0003] However, the inventors discovered that the belts used in existing seeding carts are generally flat belts. During the movement of the seeding cart, the goods on it are easily rolled off the belts, which not only affects the overall seeding efficiency but also causes damage to the goods.

[0004] The above information disclosed in this Background section is only for enhancement of understanding of the background of the inventive concept and therefore it may contain information that does not form the prior art that is already known in this country to a person of ordinary skill in the art. Summary of the Invention

[0005] The content of this disclosure is intended to briefly introduce concepts that will be described in detail in the detailed description section below. This content is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions. Some embodiments of this disclosure provide a distribution cart, a control method, a cargo distribution device, a controller, a computer-readable medium, and a computer program product to address one or more of the technical issues mentioned in the background section above.

[0006] In a first aspect, some embodiments of the present disclosure provide a distribution cart, comprising: a vehicle body; a moving mechanism, mounted on the vehicle body, for driving the vehicle body to move in a first direction, comprising a moving drive assembly and moving wheels, the moving wheels being mounted on both sides of the vehicle body; a distribution mechanism, for achieving cargo distribution in a second direction, comprising a distribution drive assembly and a belt, the belt being mounted on the upper surface of the vehicle body, and the belt being respectively provided with raised ribs at both ends of the upper surface, wherein the two ends of the vehicle body in the first direction are higher than the upper surface of the belt.

[0007] In some embodiments, a position detection component is also installed on the sowing cart to detect the position of the sidewall on the belt.

[0008] In some embodiments, the belt has a detection hole on its lower surface; and the position detection component includes a first detection component and a second detection component, the first detection component is located between the upper surface and the lower surface of the belt, and the lower surface of the belt is located between the first detection component and the second detection component.

[0009] In some embodiments, a set of position detection components is installed on the distribution cart; wherein, when the ribs are located at both ends of the upper surface of the belt, the detection through holes pass through the detection path of the position detection components.

[0010] In some embodiments, two sets of position detection components are installed on the sowing cart, including a first position detection component and a second position detection component, which are respectively located at the two ends of the belt; wherein, when the sidewalls are located at the two ends of the upper surface of the belt, the detection through hole passes through the detection path of the first position detection component; when the detection through hole passes through the detection path of the second position detection component, one sidewall is located on the upper surface of the belt and close to the entrance end of the sowing mechanism, and the other sidewall is located on the lower surface of the belt.

[0011] In some embodiments, the position detection assembly includes a mirror reflection sensor, the first detection component includes a signal transceiver, and the second detection component includes a reflective mirror.

[0012] In some embodiments, the distribution cart is further equipped with a cargo detection component, which is arranged at at least one of the two ends of the distribution mechanism.

[0013] In some embodiments, the moving mechanism includes two moving wheels connected by a connecting shaft, wherein the connecting shaft is connected to the moving drive assembly; and the moving mechanism also includes a plurality of guide wheel groups, respectively installed around the vehicle body, wherein the guide wheel group includes at least two guide wheels whose rotating shaft axes are perpendicular to each other.

[0014] In a second aspect, some embodiments of the present disclosure provide a control method for a distribution cart described in any implementation method of the first aspect above, comprising: obtaining the rotational position of the belt in the distribution mechanism; in response to determining that the belt is not in a waiting state for receiving goods, sending an adjustment signal to the distribution drive assembly in the distribution mechanism to put the belt in a waiting state for receiving goods, wherein, in the waiting state for receiving goods, one side guard is located on the upper surface of the belt and close to the entrance end of the distribution mechanism, and the other side guard is located on the lower surface of the belt; in response to determining that the distribution cart is in a receiving position and the goods arrive at the entrance end of the distribution mechanism, sending a receiving instruction to the distribution drive assembly to make the two side guards respectively located at the two ends of the upper surface of the belt and the goods are located between the two side guards.

[0015] In some embodiments, the method further includes: in response to determining that the receiving of goods is completed, sending a moving instruction to the mobile drive component in the mobile mechanism to move the distribution cart to the position corresponding to the target grid; in response to determining that the distribution cart is in the distribution position, sending a delivery instruction to the distribution drive component to deliver the goods into the target grid; in response to determining that no goods are detected at the exit end of the distribution mechanism, determining that the distribution of goods is completed, and sending a moving instruction to the mobile drive component to execute the next distribution task.

[0016] In some embodiments, obtaining the rotational position of a belt in the distributing mechanism includes: determining that the belt in the distributing mechanism is in a zero-point reset state in response to detecting a change in a detection signal from a position detection component, wherein in the zero-point reset state, two side guards are respectively located at opposite ends of an upper surface of the belt; and determining that the goods have arrived at the entrance end in response to detecting a change in a detection signal from a goods detection component located at an entrance end of the distributing mechanism.

[0017] In some embodiments, in response to determining that the goods are received, a movement instruction is sent to the mobile drive component in the mobile mechanism, including: in response to detecting that the detection signal of the position detection component changes again, determining that the goods are received, and sending a movement instruction to the mobile drive component; and in response to detecting that the detection signal of the goods detection component located at the exit end of the distribution mechanism changes, determining that the goods distribution is completed.

[0018] In a third aspect, some embodiments of the present disclosure provide a cargo distribution device, comprising: a supply table for delivering cargo to a distribution cart; and at least one distribution cart, which adopts the distribution cart structure described in any implementation method in the first aspect above, and is used to transport the received cargo to the destination grid.

[0019] In some embodiments, the conveyor belt of the induction table is provided with at least two raised blocking bars, and the blocking bars extend along the moving direction of the conveyor belt.

[0020] In a fourth aspect, some embodiments of the present disclosure provide a controller comprising: one or more processors; a storage device on which one or more programs are stored, and when the one or more programs are executed by one or more processors, the one or more processors implement the control method described in any implementation method in the above-mentioned second aspect.

[0021] In a fifth aspect, some embodiments of the present disclosure provide a computer-readable medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the control method described in any one of the implementations in the second aspect above is implemented.

[0022] In a sixth aspect, some embodiments of the present disclosure provide a computer program product, including a computer program, which implements the control method described in any implementation manner in the second aspect when executed by a processor.

[0023] The above-mentioned various embodiments of the present disclosure have the following beneficial effects: the distribution carts of some embodiments of the present disclosure can improve the stability of cargo transportation, especially for cargo that is easy to roll. Specifically, existing distribution carts usually use flat belts to achieve the distribution function of cargo. However, for some cargo that is easy to roll, such as cylindrical, conical or other irregularly shaped cargo (or cargo packaging). During the operation of the distribution cart, the cargo is likely to roll and fall from both ends of the flat belt due to bumps and other reasons. This will not only affect the overall cargo distribution efficiency, but the falling may also cause damage to the cargo.

[0024] Based on this, in some embodiments of the distribution cart disclosed herein, the belt in the distribution mechanism is installed on the upper surface of the vehicle body. Furthermore, the vehicle body is higher than the upper surface of the belt at both ends in the first direction. At the same time, the belt is provided with raised ribs at both ends of the upper surface. In this way, the ribs and the raised vehicle body (i.e., the vehicle body at both ends in the first direction) form a barrier around the goods on the upper surface of the belt, thereby preventing or reducing the possibility of goods rolling and falling during the operation of the distribution cart. This, in turn, helps improve the overall distribution efficiency and reduces the probability of goods being damaged by falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and other features, advantages, and aspects of the various embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that components and elements are not necessarily drawn to scale.

[0026] Figure 1 Schematic diagrams of the structures of some embodiments of the distribution cart disclosed herein;

[0027] Figure 2A It is a schematic structural diagram of some embodiments of the belt in the seeding trolley;

[0028] Figure 2B is a schematic structural diagram of some embodiments of a position detection assembly and a belt;

[0029] Figure 2C is a schematic structural diagram of other embodiments of a position detection assembly and a belt;

[0030] Figure 3A is a flow chart of some embodiments of the control method of the present disclosure;

[0031] Figure 3B It is a schematic diagram of the operation flow of some embodiments of the distribution vehicle;

[0032] Figure 4A It is a schematic structural diagram of some embodiments of the goods distribution device disclosed in the present invention;

[0033] Figure 4B Schematic diagram of the structure of some embodiments of the conveyor belt in the induction table;

[0034] Figure 5 is a schematic diagram of the structure of a controller suitable for implementing some embodiments of the present disclosure. DETAILED DESCRIPTION

[0035] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0036] It should also be noted that, for ease of description, only the parts related to the invention are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

[0037] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0038] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, they should be understood as "one or more".

[0039] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0040] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0041] Figure 1 Schematic diagrams of the structures of some embodiments of the distribution cart disclosed in the present invention are shown. Figure 1 As shown, the distribution vehicle may include a vehicle body 10 , a moving mechanism 20 and a distribution mechanism 30 .

[0042] from Figure 1 As can be seen from the figure, the vehicle body 10 can constitute the support frame of the seeding trolley. The moving mechanism 20 can be installed on the vehicle body 10 to drive the vehicle body 10 to move along the first direction. The first direction is generally the direction in which the seeding trolley moves, such as Figure 1As shown by the arrow in the middle. Here, the moving mechanism 20 may include a moving drive assembly (not shown) and moving wheels 21. The moving wheels 21 may be mounted on both sides of the vehicle body 10. Under the action of the moving drive assembly, the moving wheels 21 may rotate, thereby driving the distributing vehicle to move in the first direction.

[0043] Additionally, the distribution mechanism 30 can be used to distribute goods in a second direction. It's understood that distribution carts often shuttle across the distribution wall, transporting goods to corresponding slots. These slots are typically located on one or both sides of the distribution wall. Therefore, the second direction here is typically different from the first direction described above. Typically, the distribution direction is perpendicular to the movement direction.

[0044] like Figure 1 As shown, the broadcasting mechanism 30 may include a broadcasting drive assembly and a belt 32. The belt 32 may be mounted on the upper surface of the vehicle body 10. The upper surface is generally a surface facing away from the ground, opposite to the lower surface. As an example, the vehicle body 10 may be provided with fixed components 11 (such as fixed plates, brackets, etc.) at both ends in the first direction. The belt 32 may be mounted on the fixed component 11 via two rollers 311. One of the rollers 311 may be connected to the broadcasting drive motor. Here, the vehicle body 10 is higher than the upper surface of the belt 32 at both ends in the first direction. Figure 1 The height of the fixing member 11 shown in the figure is higher than the upper surface of the belt 32. At the same time, the belt 32 is provided with a raised rib 33 at both ends of the upper surface. Here, the rib 33 can be fused to the belt 32. Among them, the upper surface of the belt is generally used for carrying the working surface of the goods.

[0045] from Figure 1 As can be seen in the figure, the disclosed distribution cart, through its sidewalls and the body that rises above the upper surface of the belt, can form a barrier around the goods on the upper surface of the belt, thereby preventing or reducing the risk of goods rolling and falling during operation. This, in turn, helps improve overall distribution efficiency and reduces the probability of goods being damaged by falling.

[0046] In some embodiments, in order to facilitate the determination of the position of the rib 33 and to achieve the control of the distribution trolley, a position detection component 40 may be installed on the distribution trolley. The position detection component 40 may be used to detect the position of the rib 33 on the belt 32. It should be noted that the detection method and installation position of the position detection component 40 are not limited here and can be set according to actual conditions. As an example, the position detection component may be installed on a fixed component and located at the other end opposite to the inlet end of the distribution mechanism, for example Figure 1 Like this, when the rib 33 is positioned at the two ends of the belt upper surface, the position detection assembly can detect the rib 33 on the right side, thereby generating a detection signal.

[0047] In some embodiments, as Figure 2A As shown, the belt 32 may have a detection hole K on its lower surface. The lower surface is usually the surface facing the ground. The position detection assembly 40 may include a first detection component 41 and a second detection component (not shown in the figure). The first detection component 41 may be located between the upper surface and the lower surface of the belt 32, as shown in FIG. Figure 2B The lower surface of the belt 32 may be located between the first detection component and the second detection component.

[0048] from Figure 2B As can be seen, the distributing cart can be equipped with a position detection assembly 40. When the detection hole K passes through the detection path of the position detection assembly 40, it is located directly below the first detection component 41, and the two ribs 33 are positioned at both ends of the upper surface of the belt 32. This is equivalent to the zero-point reset state of the distributing mechanism. The detection path is generally the signal transmission path between the first and second detection components.

[0049] Optionally, from Figure 2C As can be seen, the distribution cart can also be equipped with two sets of position detection assemblies 40. These two sets of position detection assemblies can be a first position detection assembly 401 and a second position detection assembly 402, respectively, located at either end of the belt 32. When the detection hole K passes through the detection path of the first position detection assembly 401, i.e., is located at the first position detection assembly 401, the two sidewalls 33 are exactly located at either end of the belt's upper surface. This corresponds to the zero-point reset state of the distribution mechanism. When the detection hole K passes through the detection path of the second position detection assembly 402, i.e., is located at the second position detection assembly 402, one sidewall 33 can be located on the upper surface of the belt 32, near the distribution mechanism's inlet (as shown on the left side in the figure); the other sidewall 33 can be located on the lower surface of the belt 32. This corresponds to the distribution mechanism's receiving and waiting state. This ensures that when goods are moved onto the distribution cart, they are located between the two sidewalls 33.

[0050] In some embodiments, the position detection component 40 may be an infrared sensor. The first detection component and the second detection component may be an infrared transmitter and an infrared receiver, respectively. Alternatively, the position detection component 40 may be a mirror reflection sensor. In this case, the first detection component may be a signal transceiver, and the second detection component may be a reflector.

[0051] It is understandable that, because the belt is provided with a rib, the belt cannot rotate continuously when the distribution cart receives the goods, as in the case of a traditional distribution cart. In some embodiments, the distribution cart may also be equipped with a goods detection assembly 50, which is provided at at least one end of the distribution mechanism. Figure 1 As shown, the cargo detection assembly 50 can be mounted on the fixed component 11, near the inlet end of the distribution mechanism, such as on the left side of the fixed component 11 in the figure. Thus, when the cargo detection assembly 50 detects cargo, the belt 32 can begin rotating, thereby conveying the cargo to the distribution cart. The inlet and outlet ends of the distribution mechanism can be configured as needed. For example, the inlet and outlet ends can be the same end. In this case, the cargo detection assembly can be installed only at the inlet end.

[0052] It should be noted that the mobile mechanism in the distribution vehicle disclosed herein can adopt various commonly used vehicle driving structures. As an example, Figure 1 As shown, the mobile mechanism 20 may include two mobile wheels 21. The two mobile wheels 21 may be connected by a connecting shaft and located in the middle of the vehicle body 10. The connecting shaft may be connected to a mobile drive assembly (such as a drive motor). Here, the mobile wheel 21 may adopt a gear structure. That is, the mobile wheel 21 is a mobile gear. At this time, a rack structure that matches it may be formed on the track. This can ensure the effective movement of the sowing trolley and avoid or reduce the slippage of the mobile wheel 21 due to reasons such as heavy cargo. In addition, the mobile mechanism 20 may further include a plurality of guide wheel groups, which are respectively installed on the four sides of the vehicle body 10. Each guide wheel group may include at least two guide wheels 22, and the axes of the rotating shafts of the guide wheels are perpendicular to each other. In this way, through the mutual cooperation of a plurality of guide wheel groups, the smooth movement of the sowing trolley in the first direction can be ensured.

[0053] The embodiments of the present disclosure also provide a control method for controlling the distribution vehicle described in any of the above embodiments. Figure 3A , which shows a process 300 of some embodiments of the control method of the present disclosure. The control method may include the following steps:

[0054] Step 301: Obtain the rotation position of the belt in the broadcasting mechanism.

[0055] In some embodiments, the controller executing the control method (e.g., a vehicle controller) can obtain the rotational position of a belt in a distribution mechanism on a distribution vehicle. For example, the controller can determine the current position of the belt based on historical belt rotations. For example, the rotational position of the belt can be determined based on the counts of an encoder in a distribution drive assembly.

[0056] Optionally, in response to detecting a change in a detection signal from a position detection assembly, the belt in the distributing mechanism is determined to be in a zero-reset state. In this zero-reset state, the two ribs are located at opposite ends of the belt's upper surface. That is, when the detection through-hole is within the detection path of the position detection assembly, the detection signal from the position detection assembly will change. At this point, the executing entity can determine that the belt is in the zero-reset state.

[0057] Step 302: In response to determining that the belt is not in a receiving waiting state, an adjustment signal is sent to a distribution drive component in the distribution mechanism to put the belt in a receiving waiting state.

[0058] In some embodiments, if it is determined that the belt is not in the receiving state, the execution entity may send an adjustment signal to the distribution drive assembly in the distribution mechanism to place the belt in the receiving state. In the receiving state, one sidewall is located on the upper surface of the belt, near the inlet end of the distribution mechanism, and the other sidewall is located on the lower surface of the belt.

[0059] As an example, if the belt is in a zero-reset state, the executive body may send an adjustment signal to the distribution drive assembly, so that the distribution drive assembly can drive the belt to rotate toward the inlet end.

[0060] Step 303: In response to determining that the distribution trolley is in the receiving position and the goods arrive at the entrance end of the distribution mechanism, a receiving instruction is sent to the distribution drive component so that the two sidewalls are respectively located at the two ends of the upper surface of the belt and the goods are located between the two sidewalls.

[0061] In some embodiments, if the execution entity determines that the distribution cart is in the receiving position and the goods have arrived at the entrance of the distribution mechanism, it can send a receiving instruction to the distribution drive assembly to position the two sidewalls at the ends of the belt's upper surface, with the goods positioned between the two sidewalls. The receiving position here is generally the position where the distribution cart receives the goods, usually at the exit of the induction table.

[0062] Here, determining whether the goods have arrived at the entrance of the distribution mechanism can be done in a variety of ways. For example, in response to detecting a change in the detection signal of a goods detection component located at the entrance of the distribution mechanism, this indicates that the goods are obstructing the goods detection component. The execution entity can then determine that the goods have arrived at the entrance. For another example, the goods detection component can be installed at the exit of the induction table. In this way, when the goods arrive at the exit of the induction table and obstruct the goods detection component, the induction table can send a signal to the execution entity. Upon receiving this signal, the execution entity can determine that the goods have arrived at the entrance of the distribution mechanism.

[0063] In addition, when the distribution drive component receives the receiving instruction, it can drive the belt to rotate in the direction away from the entrance end, thereby transporting the goods to the distribution cart.

[0064] Furthermore, upon determining that the goods have been received, the executing entity can send a movement instruction to the mobile drive assembly in the mobile mechanism to move the distribution cart to the position corresponding to the target slot. For example, the executing entity can determine the rotation distance of the belt based on the count of the encoder in the distribution drive assembly. This ensures that the goods and both sidewalls are located on the upper surface of the belt, and that the goods are located between the two sidewalls. Optionally, in response to detecting that the detection signal of the position detection assembly has changed again, that is, the detection hole is again in the detection path of the position detection assembly, the completion of the goods reception can be determined.

[0065] In some embodiments, in response to determining that the distribution cart is in the distribution position, the execution entity may send a delivery instruction to the distribution drive assembly to deliver the goods into the target opening. In other words, when the distribution cart moves to the position corresponding to the target opening, the distribution drive assembly may drive the belt to rotate toward the outlet end of the distribution mechanism, thereby delivering the goods on the distribution cart into the target opening.

[0066] Afterwards, in response to determining that no goods are detected at the outlet of the distribution mechanism, the distribution of goods is determined to be complete, and a movement instruction is sent to the mobile drive component to execute the next distribution task. For example, if a change in the detection signal of the goods detection component located at the outlet of the distribution mechanism is detected, the execution entity may determine that the distribution of goods is complete. It is understood that when the goods are at the outlet of the distribution mechanism, they will block the goods detection component. Once the goods leave the outlet and fall into the target grid, the goods no longer block the goods detection component. At this point, the goods are no longer detected.

[0067] As an example, Figure 3B The following is a schematic diagram showing the operation flow of some embodiments of the distribution vehicle. Figure 3B It can be seen that, first, in response to receiving the detection signal of the position detection component, that is, the belt is in Figure 3B The state shown in a indicates that the sowing mechanism of the sowing trolley is in the zero-point reset state. In this case, the vehicle controller can send an adjustment instruction to the sowing drive component to rotate the belt toward the inlet end of the sowing mechanism by a fixed length. As a result, one rib is located on the upper surface of the belt and close to the inlet end of the sowing mechanism; while the other rib is located on the lower surface of the belt. The fixed length here can be determined according to the setting position of the rib. Figure 3B As shown in b, the belt can rotate counterclockwise over a fixed length. The length can be measured by the drive motor encoder.

[0068] Then, in response to determining that the adjustment signal is complete, the belt is in a Figure 3B In the state shown in b, the distribution cart moves to the receiving position. At this time, it can be determined that the distribution cart enters the receiving waiting state. In this case, the induction table can deliver goods to the distribution cart.

[0069] Afterwards, in response to detecting a change in the detection signal of the cargo detection component, such as Figure 3B As shown in Figure c, the goods have arrived at the entrance of the distribution mechanism. At this time, the vehicle controller can send a receiving instruction to the distribution drive component to rotate the belt away from the entrance. Figure 3B As shown in d, the belt can rotate clockwise until it receives a detection signal from the position detection component again.

[0070] Here, in response to receiving the detection signal of the position detection component again, it means that the goods are already on the distribution trolley and between the two side walls. Figure 3B At this point, the vehicle controller can send a stop instruction to the distribution drive component and a move instruction to the mobile drive component to move the distribution vehicle to the target slot.

[0071] Then, in response to determining that the target grid has been reached, the vehicle controller can send a delivery instruction to the distribution drive component to rotate the belt toward the exit end, thereby delivering the goods into the target grid, such as Figure 3B The exit shown in FIG. 5 is on the same side as the entrance. It should be noted that during the delivery process, the cargo will pass through the cargo detection component, obstructing it.

[0072] Afterwards, in response to determining that the delivery of the goods is complete, that is, detecting a change in the detection signal of the goods detection component, it indicates that the goods distribution is complete. At this time, the vehicle controller can send a movement instruction to the mobile drive component, so that the distribution trolley returns to the receiving position to perform the next distribution task. It is understandable that during the movement of the distribution trolley, the belt can continue to rotate until it receives the detection signal from the position detection component. Figure 3B As shown in Figure g, the distribution mechanism of the distribution cart has returned to its zero-point reset state. This means that after distributing the previous item and on its way to the induction table, the distribution cart can be fully adjusted before reaching the induction table to receive the next item. This helps improve overall distribution efficiency.

[0073] It should be noted that if the induction station detects an anomaly in the goods, such as a failure or error in scanning the goods' identification, it can send an abnormality signal to the distribution vehicle. Upon receiving the abnormality signal, the execution body can control the belt to continue rotating, thereby ejecting the goods from the distribution mechanism's exit (e.g., the end opposite the entry).

[0074] The embodiment of the present disclosure also provides a goods distribution device. Figure 4A As shown, the goods distribution device may include an induction table 100 and at least one distribution cart 200. Here, the induction table 100 can be used to deliver goods to the distribution cart 200. The distribution cart 200 can adopt the distribution cart structure described in any of the above embodiments. The distribution cart 200 can be used to transport received goods to the destination compartment.

[0075] In some embodiments, as Figure 4B As shown, the conveyor belt of the induction table 100 can also be equipped with at least two raised bars T. The bars T can extend along the direction of movement of the conveyor belt. This allows goods to be placed between the at least two bars T during transport, allowing them to move along the direction of movement of the induction table's conveyor belt. This not only prevents or reduces the risk of goods rolling or falling during transport, but also ensures accurate and directional delivery of goods, ensuring their correct transport direction. This structural improvement is simple and effective, with low cost and minimal impact on the existing equipment structure.

[0076] Reference below Figure 5 , which shows a structural schematic diagram of a controller (such as a vehicle controller of a distribution vehicle) 500 suitable for implementing some embodiments of the present disclosure. Figure 5 The controller shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0077] like Figure 5 As shown, the controller 500 may include a processing device 501 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage device 508 into a random access memory (RAM) 503. Various programs and data required for the operation of the controller 500 are also stored in the RAM 503. The processing device 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0078] Typically, the following devices may be connected to the I / O interface 505: input devices 506 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, physical buttons, etc.; output devices 507 including, for example, a speaker, a vibrator, a motor, etc.; storage devices 508 including, for example, a hard disk, a magnetic disk, etc.; and communication devices 509. The communication devices 509 may allow the controller 500 to communicate with other devices wirelessly or by wire to exchange data. Figure 5The controller 500 is shown with various devices, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have instead. Figure 5 Each block shown in the figure may represent one device, or may represent multiple devices as needed.

[0079] In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In some such embodiments, the computer program can be downloaded and installed from a network via the communication device 509, or installed from the storage device 508, or installed from the ROM 502. When the computer program is executed by the processing device 501, the above-mentioned functions defined in the method of some embodiments of the present disclosure are performed.

[0080] It should be noted that the computer-readable medium described in some embodiments of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In some embodiments of the present disclosure, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or device. In some embodiments of the present disclosure, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0081] In some embodiments, the client and server can communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol), and can be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0082] The computer-readable medium may be included in the controller, or may exist independently and not be incorporated into the controller. The computer-readable medium carries one or more programs, which, when executed by the controller, cause the controller to: obtain the rotational position of the belt in the distribution mechanism; in response to determining that the belt is not in a receiving waiting state, send an adjustment signal to the distribution drive assembly in the distribution mechanism to place the belt in a receiving waiting state, wherein, in the receiving waiting state, one sidewall is located on the upper surface of the belt and close to the entrance end of the distribution mechanism, and the other sidewall is located on the lower surface of the belt; in response to determining that the distribution trolley is in a receiving position and the goods arrive at the entrance end of the distribution mechanism, send a receiving instruction to the distribution drive assembly to place the two sidewalls at the two ends of the upper surface of the belt, with the goods located between the two sidewalls.

[0083] In addition, computer program code for performing the operations of some embodiments of the present disclosure may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0084] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0085] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0086] Some embodiments of the present disclosure further provide a computer program product, including a computer program, which implements any of the above-mentioned control methods when executed by a processor.

[0087] The above description is only an illustration of some preferred embodiments of the present disclosure and the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure.

Claims

1. A seeding trolley comprising: body; a moving mechanism, mounted on the vehicle body, for driving the vehicle body to move in a first direction, comprising a moving drive assembly and moving wheels, wherein the moving wheels are mounted on both sides of the vehicle body; a distribution mechanism for distributing goods in the second direction, comprising a distribution drive assembly and a belt, wherein the belt is mounted on the upper surface of the vehicle body, and the belt is provided with raised ribs at both ends of the upper surface, wherein both ends of the vehicle body in the first direction are higher than the upper surface of the belt; A cargo detection component is provided at at least one of the two ends of the distribution mechanism. When the cargo detection component detects cargo, the belt starts to rotate, thereby transporting the cargo to the distribution trolley. Two sets of position detection components are installed on the sowing trolley, respectively located at the two ends of the belt, for detecting the position of the rib on the belt, the position detection components comprising a first detection component and a second detection component of fixed position, the first detection component being located between the upper surface and the lower surface of the belt, the lower surface of the belt being located between the first detection component and the second detection component, and the belt having a detection through hole on its lower surface, wherein the lower surface of the belt is the surface facing the ground; When the detection through hole passes through the detection path of the position detection component, the detection signal of the position detection component changes, and when the rib is located at both ends of the upper surface of the belt, the detection through hole passes through the detection path of the position detection component.

2. The distribution trolley according to claim 1, wherein: The distribution cart is equipped with two sets of position detection components, including a first position detection component and a second position detection component; Wherein, when the ribs are located at both ends of the upper surface of the belt, the detection through hole passes through the detection path of the first position detection component; When the detection through hole passes through the detection path of the second position detection assembly, one rib is located on the upper surface of the belt and close to the inlet end of the broadcasting mechanism, and the other rib is located on the lower surface of the belt.

3. The distribution trolley according to claim 1, wherein: The position detection component includes a mirror reflection sensor, the first detection component includes a signal transceiver, and the second detection component includes a reflector.

4. The seeding trolley according to any one of claims 1 to 3, wherein: The moving mechanism includes two moving wheels connected by a connecting shaft, wherein the connecting shaft is connected to the moving drive assembly; and The moving mechanism further comprises a plurality of guide wheel groups respectively mounted on the four sides of the vehicle body, wherein the guide wheel groups comprise at least two guide wheels whose rotating shaft axes are perpendicular to each other.

5. A control method for controlling the distribution vehicle according to any one of claims 1 to 4, comprising: Obtaining the rotational position of the belt in the seeding mechanism; In response to determining that the belt is not in a receiving waiting state, an adjustment signal is sent to a distribution drive assembly in the distribution mechanism to place the belt in a receiving waiting state, wherein in the receiving waiting state, one rib is located on an upper surface of the belt and close to an inlet end of the distribution mechanism, and the other rib is located on a lower surface of the belt; In response to determining that the distribution trolley is in the receiving position and the goods arrive at the entrance end of the distribution mechanism, sending a receiving instruction to the distribution drive assembly so that the two sidewalls are respectively located at the two ends of the upper surface of the belt and the goods are located between the two sidewalls; Wherein, obtaining the rotational position of the belt in the spreading mechanism includes: in response to detecting a change in the detection signal of the position detection component, determining that the belt in the spreading mechanism is in a zero-point reset state, wherein in the zero-point reset state, the two ribs are respectively located at both ends of the upper surface of the belt.

6. The control method according to claim 5, wherein: The method further comprises: In response to determining that the receiving of the goods is completed, sending a movement instruction to the movement drive component in the movement mechanism to move the distribution vehicle to a position corresponding to the target slot; In response to determining that the distribution trolley is in the distribution position, sending a delivery instruction to the distribution drive component to deliver the goods into the target grid; In response to determining that no goods are detected at the outlet end of the distribution mechanism, it is determined that the distribution of goods is completed, and a movement instruction is sent to the movement drive component to perform the next distribution task.

7. The control method according to claim 6, wherein: The step of obtaining the rotational position of the belt in the seeding mechanism further includes: In response to detecting a change in a detection signal of a product detection component located at an entrance end of the distribution mechanism, it is determined that the product has arrived at the entrance end.

8. The control method according to claim 7, wherein: In response to determining that the receiving of the goods is completed, sending a movement instruction to the movement drive component in the movement mechanism includes: In response to detecting that the detection signal of the position detection component changes again, determining that the receiving of the goods is completed, and sending a movement instruction to the movement drive component; and In response to detecting a change in a detection signal of a goods detection component located at an exit end of the distribution mechanism, it is determined that the distribution of goods is completed.

9. A goods distribution device, comprising: Induction table, used to deliver goods to the distribution cart; At least one distribution trolley adopts the distribution trolley structure as described in any one of claims 1 to 4, and is used to transport the received goods to the destination grid.

10. The goods distributing device according to claim 9, wherein: At least two raised blocking bars are provided on the conveying belt of the induction table, and the blocking bars extend along the moving direction of the conveying belt.

11. A controller comprising: one or more processors; a storage device having one or more programs stored thereon, When the one or more programs are executed by the one or more processors, the one or more processors implement the control method according to any one of claims 5 to 8.

12. A computer-readable medium having a computer program stored thereon, wherein: When the computer program is executed by a processor, the control method according to any one of claims 5 to 8 is implemented.

13. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the control method according to any one of claims 5 to 8.

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