Logistics package sorting method

Abstract

The present invention relates to the field of logistics sorting technology, and specifically to a logistics package sorting method and a grasping method, comprising the following steps: an express package flows through a 3D vision system, triggering visual photography; the 3D vision system obtains the location information and product information of the package and sends it to a Delta parallel robot controller. The grasping process includes: the robot controller determines the distribution of the packages on the platform based on the location information of each package, and arranges the package grasping order from high to low according to the package height; the robot controller first determines the highest height of the packages around the grasped package or within the robot arm path range, and then vertically lifts the robot arm to at least the said highest height before moving horizontally; the robot controller determines the gate-shaped trajectory of the package running path and grasps the package according to the gate-shaped trajectory. The present invention can optimize the package running path trajectory, avoid collisions between adjacent packages, and ensure the rapid and safe transfer of packages from the conveyor line to the induction platform.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics sorting, and in particular to a logistics package sorting method and a grabbing method. Background Art

[0002] Express parcels are characterized by large volumes, a wide variety of specifications, and high-speed delivery. Smaller parcels (50*50*50 to 300*300*300mm, weighing less than 5kg) account for the largest proportion. At parcel transfer stations, parcels are unloaded directly from transport vehicles onto a conveyor line, where they are scanned at an induction station and flow into a circular sorting line for sorting based on the barcode information. Currently, there are two types of material transfer stations operating from the conveyor line to the induction station: a feeder system and direct parcel collection from the conveyor line. In the feeder system, parcels are stacked in the feeder's hopper. A human operator stands between the feeder and the induction station. The feeder delivers a batch of parcels to a manual control station at regular intervals, where they are then placed one by one on the induction station. In the second system, a human operator stands between the conveyor line and the induction station. The conveyor line operates continuously, and the operator directly collects parcels from the conveyor line and places them on the induction station until all parcels on the conveyor line have been collected. Both of these methods are labor-intensive and inefficient. Robots are widely used in industrial production and other fields, capable of completing various tasks, such as XYZ modular robots and six-axis robotic arms. However, XYZ modular robots have a limited range of motion and low speed. Six-axis robotic arms, while capable of a wider range of motion, suffer from lower speeds and high costs, making them difficult to effectively handle package placement from conveyor lines to induction stations. Summary of the Invention

[0003] The purpose of the present invention is to overcome the shortcomings of the existing technology and propose a logistics package sorting method that can further optimize the package running path trajectory, while avoiding collisions between adjacent packages and ensuring the rapid and safe transfer of packages from the conveyor line to the induction station.

[0004] The technical solution adopted by the present invention to solve the technical problem is:

[0005] A logistics package sorting method comprises the following steps:

[0006] L1: Express parcels flow through the 3D vision system, triggering visual photography;

[0007] The L2 and 3D vision systems acquire the package's location, length, width, and height information and send it to the Delta parallel robot controller. After calculation, the Delta parallel robot controls the gripper to grab the package and place it on the induction platform. The specific grabbing process includes:

[0008] The L21 and Delta parallel robot controllers determine the distribution of packages on the platform based on the location information of each package and arrange the package grabbing order from high to low according to the package height;

[0009] L22. When grabbing a package, the Delta parallel robot controller first determines the highest height of packages around the package being grabbed or within the robot's path, and then lifts the robot vertically to at least the maximum height before moving horizontally.

[0010] The L23, Delta parallel robot controller determines the gate-shaped trajectory of the package's path based on the package's starting point, lift height, and end point. The end point is the coordinate of the location where the grabbed package is placed on the induction platform.

[0011] The L24 and Delta parallel robots drive the grippers to grab packages along a gate-shaped trajectory, enabling the picking and placing of packages from the conveyor line to the induction platform.

[0012] Furthermore, the Delta parallel robot can grab packages from the feeder, which is a static grabbing method, that is, the packages are first delivered to the feeder in batches from the conveyor line, and the Delta parallel robot grabs the packages statically placed on the feeder to the induction platform; the Delta parallel robot can also grab packages directly from the conveyor line, which is a dynamic tracking grabbing method, that is, the packages are in a flowing state on the conveyor line, and the Delta parallel robot grabs the packages flowing on the conveyor line to the induction platform.

[0013] Furthermore, during the static grasping, the determination of the gate-shaped trajectory includes the following steps:

[0014] L231. Place the Delta parallel robot between the feeder and the induction platform, above them. The starting point of the package, i.e., the coordinates of the grasping point, is determined by the X, Y, and Z coordinates of the grasped package provided by the 3D vision system.

[0015] L232. Calibrate the 3D vision system and robot to determine their relative positional relationship. Select the corner point of the progressive machine platform as the coordinate origin O(0, 0, 0). Select the intersection of the centerline and bottom edge of the introduction platform as the reference point of the introduction platform. Then, move the robot calibration probe to the reference point to determine the coordinate value A(s, q, 0) of the reference point.

[0016] L233. When calculating the placement point coordinates, the diagonal length of the package is used. The visually obtained package length is b, the width is a, and the angle between the induction platform and the feeder platform is α. The placement point coordinates (r, u) of the package are (s+m, q+n), that is, At the same time, a safety threshold H is considered, that is, the coordinates of the placement point are

[0017] L234. Determine whether there is a collision risk between the captured package and adjacent packages:

[0018] If there is a risk, the package lifting height should be greater than the height of the collision package (Z value) + the radius of the arc transition trajectory + the safety threshold H;

[0019] If there is no risk, the package can be lifted higher than the robot's required height. Usually, the default height is 50mm.

[0020] L235, the robot plans three straight line paths, namely the lifting height path, the translation path, and the placement height path. Arc transition interpolation is performed between the lifting height path and the translation path, and between the translation path and the placement height path to obtain the required door-shaped trajectory.

[0021] Furthermore, determining whether there is a collision risk between the captured package and adjacent packages includes:

[0022] L2341. Obtain the coordinates (x, y, z) of the package on the feeder platform, the length and width of the package, and the rotation angle θ;

[0023] L2342. Calculate the y-coordinate values ​​of the four vertices of each package and determine the maximum and minimum values ​​in the Y direction;

[0024] L2343. Connect the coordinates of the package to be grabbed and the placement point into a straight line and calculate the slope of the line With the slope value k as the slope, four straight lines can be drawn through the four vertices of the grasped package, among which there must be a straight line above the center point of the package and a straight line below the center point to form a channel, which is the moving path of the grasped package. No other packages can collide on this path; when the package coordinate point x is smaller than the width of the feeder, the Y coordinate values ​​of the two straight lines above the grasped package are compared with the Y-direction minimum value + safety threshold of the adjacent package. If the Y-direction minimum value + safety threshold of the adjacent package is less than or equal to the Y value on the straight line, there is a collision; if it is greater than the Y value on the straight line, there is no collision; the same principle is used to compare the two straight lines below the grasped package with the Y-direction maximum value + safety threshold of another adjacent package. If the Y-direction maximum value + safety threshold of the other adjacent package is greater than or equal to the Y value on the straight line, there is a collision; if it is less than the Y value on the straight line, there is no collision.

[0025] Furthermore, the 3D vision system provides the package coordinates as the center point coordinates of the package.

[0026] Furthermore, the safety threshold H is 5 to 8 mm.

[0027] Furthermore, during the dynamic tracking grasping, the steps for determining the gate-shaped trajectory are basically the same as those for static grasping, with the difference being that the Delta parallel robot is set up above the conveyor line and the induction table, and the 3D vision system is installed above the conveyor line at the front end of the robot; the lifting height path needs to be superimposed on the movement path of the conveyor line in the movement direction of the conveyor line. Assuming the speed of the conveyor line is υ, the robot's lifting height path needs to be superimposed with a following trajectory υ·t in the direction of the conveyor line until the robot's lifting height exceeds the height of the adjacent packages.

[0028] Furthermore, during the dynamic tracking and grasping, the Delta parallel robot performs a lifting action each time it grasps a package, and the lifting height is the maximum Z value of adjacent packages + a safety threshold.

[0029] Furthermore, the suction device is a combined suction device assembled from a plurality of silicone suction cups, and the size of the suction device covers the maximum package grabbing area.

[0030] Furthermore, each silicone suction cup corresponds to a vacuum generator. The Delta parallel robot controller controls the solenoid valve group of the combined gripper according to the length and width information of the package. The solenoid valve controls the vacuum adsorption force of the silicone suction cup so that the vacuum area covers the package, ensuring that the package is firmly grasped.

[0031] Compared with the prior art, the present invention has the following advantages:

[0032] The present invention uses a 3D vision system to identify and locate incoming items. A Delta parallel robot then grabs the located items and places them on the induction platform. The Delta parallel robot is fast, has a large working range, and is efficient and accurate, making the parcel transfer station more efficient and automated. The parcel grabbing method of the present invention can further optimize the parcel running path trajectory, while avoiding collisions between adjacent parcels, ensuring the rapid and safe transfer of parcels from the conveyor line to the induction platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of the robot layout of the progressive machine method of the present invention;

[0034] Figure 2 This is a flowchart of the robot grabbing a package in the present invention;

[0035] Figure 3 This is a schematic diagram of the package grabbing sequence and path planning of the present invention;

[0036] Figure 4 A schematic diagram of the robot grasping trajectory of the progressive machine method of the present invention;

[0037] Figure 5 This is a schematic diagram of the coordinates of the package placement point and the package movement path analysis of the present invention;

[0038] Figure 6 It is a plan view of the package of the present invention when it is rotated by an angle θ around the Z axis;

[0039] Figure 7 This is a schematic diagram of the layout of the robot that directly grabs packages from the conveyor line according to the present invention;

[0040] Figure 8 A schematic diagram of the dynamic tracking path of the robot of the present invention directly grabbing a package from a conveyor line;

[0041] Figure 9 Schematic diagram of the distribution of silicone suction cups on the suction tool of the present invention.

[0042] In the figure, 100, conveyor line; 200, feeder; 300, working range; 400, introduction table; 500, slope; 600, platform; 700, silicone suction cup. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the accompanying drawings.

[0044] Example 1:

[0045] The Delta parallel robot described in this embodiment grabs packages from the feeder 200 in a static grabbing mode, i.e., packages are first delivered in batches from the conveyor line 100 to the feeder 200, and then the Delta parallel robot grabs the packages that are statically placed on the feeder 200 and moves them to the induction platform 400. For this mode, the layout of the Delta parallel robot is as follows: Figure 1 As shown, the feeder 200 has a ramp 500 and a platform 600 about 300 mm wide. The express package is conveyed from the ramp 500 by belt power to the platform 600 and is stationary on the platform 600. A 3D vision system and light source are installed above the platform 600. Figure 1The circle with an R of 600mm in the middle represents the working range 300 of the Delta parallel robot, which covers the platform 600 of the feeder 200 and the parcel placement position on the induction platform 400. The workflow is as follows: Express parcels flow in large quantities from the conveyor line 100 and slide into the hopper of the feeder 200, or are dumped into the hopper of the feeder 200. The feeder 200 delivers a batch of parcels to the platform 600 at regular intervals. Because the feeder 200 has a slope 500, the parcels arriving at the platform 600 are basically not stacked. The 3D vision system takes a picture to locate the parcel on the platform 600, and sends the product information and positioning information to the Delta parallel robot. The Delta parallel robot controls the gripper to move to the top of the parcel and perform vacuum adsorption based on the product's height, width, length and other information. It grabs the parcel and places it at the appropriate position on the induction platform 400, completing the grabbing and placement of a parcel.

[0046] like Figure 2 As shown, a logistics package sorting method involved in this embodiment includes the following steps:

[0047] L1: Express parcels flow through the 3D vision system, triggering visual photography;

[0048] The L2 and 3D vision systems obtain the package's location information and length, width, and height information, and send it to the Delta parallel robot controller. After solving the problem, the Delta parallel robot controls the gripper to grab the package and place it on the induction platform 400. The specific grabbing process includes:

[0049] L21, the Delta parallel robot controller determines the distribution of the packages on the platform 600 according to the location information of each package, and arranges the order of grabbing the packages in descending order according to the height of the packages; Figure 3 , follow the order of 4→1→2→5→3, take the highest package first, then the second highest, the third highest, and so on.

[0050] L22. When grabbing a package, the Delta parallel robot controller first determines the highest height of packages around the package being grabbed or within the robot's path, and then lifts the robot vertically to at least the maximum height before moving horizontally.

[0051] L23, the Delta parallel robot controller determines the gate-shaped trajectory of the package's path based on the package's starting point location information, lift height, and end point location information; the end point location information is the coordinates of the placement point of the captured package on the induction platform 400;

[0052] The L24 and Delta parallel robots drive the grippers to grab packages along a gate-shaped trajectory, enabling the packages to be picked up and placed from the conveyor line 100 to the induction platform 400.

[0053] like Figure 4 As shown, during the static grasping, the determination of the gate-shaped trajectory includes the following steps:

[0054] L231. Place the Delta parallel robot between the feeder 200 and the induction platform 400, above them. The starting point of the package, i.e., the coordinates of the grasping point, is determined by the X, Y, and Z coordinates of the grasped package provided by the 3D vision system. The coordinates provided by the vision system are generally the center coordinates of the package.

[0055] L232. Calibrate the 3D vision system and robot to determine their relative positional relationship. Select the corner point of the platform 600 of the progressor 200 as the coordinate origin O(0, 0, 0). Select the intersection of the center line and the bottom edge of the introduction platform 400 as the reference point of the introduction platform 400. Then, move the robot calibration probe to the reference point to determine the coordinate value A(s, q, 0) of the reference point. After calibration, the coordinate value becomes a known fixed value.

[0056] L233, such as Figure 5 As shown, there are 1 to 4 packages on the platform 600 of the feeder 200. The reference point of the induction platform 400 is in the same plane as the coordinate origin. For the sake of simplicity, the package rotation angle is not considered. In order to avoid the package vertex colliding with the edge of the induction platform 400, the diagonal length of the package is used to calculate the placement point coordinates. Assuming that the visually obtained package length is b and the width is a, and the angle between the induction platform 400 and the platform 600 is α, the package placement point coordinates (r, u) are (s+m, q+n), that is, At the same time, a safety threshold H is considered, which is preferably 5 to 8 mm. The safety threshold is determined according to the actual situation on site, that is, the coordinates of the placement point are

[0057] L234. Determine whether there is a collision risk between the captured package and adjacent packages:

[0058] If there is a risk, the package lifting height should be greater than the height of the collision package (Z value) + the radius of the arc transition trajectory + the safety threshold H;

[0059] If there is no risk, the package can be lifted higher than the robot's required height. Usually, the default height is 50mm.

[0060] L235, the grabbing point coordinates of the door-shaped trajectory are given by vision, the placement point coordinates have been calculated, and the lifting height has also been calculated. Then the robot plans three straight line paths, such as Figure 4 , respectively, the elevation paths Translation Path Placing a height path On elevated paths With translation path Between, translation path Place height path The required door trajectory can be obtained by performing arc transition interpolation between them. The arc transition radius can be selected according to the beat requirements, usually 20-100mm can be selected, and the height path can be raised. and translation paths The arc radius between the translation paths can be and placing height paths The arc radii between them can be different or the same.

[0061] Determine whether there is a collision risk between the captured package and adjacent packages, including:

[0062] L2341. It is necessary to obtain the coordinates (x, y, z) of the package on the platform 600 of the feeder 200, the length and width of the package, and the rotation angle θ. This angle is the increment of the initial angle during visual modeling. The initial angle during visual modeling is generally set to 0.

[0063] L2342. Calculate the y coordinate values ​​of the four vertices of each package and determine the maximum and minimum values ​​in the Y direction; Figure 6 As shown, It can be seen as Rotating around the Z axis of center point 1, the coordinates of point 2 are (a / 2, b / 2), using the formula for coordinate rotation:

[0064]

[0065] Then the coordinates of 2' are: Similarly, the coordinates of the other three vertices can be obtained as follows:

[0066] The coordinates of 3' are:

[0067] The coordinates of 4' are:

[0068] The coordinates of 5' are:

[0069] Compare the Y coordinate values ​​of 2' and 3', and the larger one is the maximum value in the Y direction. Compare the Y coordinate values ​​of 4' and 5', and the smaller one is the minimum value in the Y direction. The vertex coordinates of the package can also be directly obtained from the 3D vision system.

[0070] L2343, connect the coordinate point of the package to be grabbed and the placement point into a straight line, such as Figure 5 As shown, calculate the slope of the straight line With the slope value k as the slope, four straight lines can be drawn through the four vertices of the grabbed package. Among them, there must be a straight line above the center point of the package and a straight line below the center point to form a channel, which is the moving path of the grabbed package. There must be no other packages colliding with it on this path. Figure 5 As shown in the figure, package 1 collides with package 3. The width of the feeder 200 is about 300 mm. When x is between 0 and 300 mm, the Y coordinate values ​​of the two upper straight lines of package 1 are compared with the Y minimum value + safety threshold of the adjacent package 3. If the Y minimum value + safety threshold of the adjacent package 3 is less than or equal to the Y value on the straight line, there is a collision. If it is greater than the Y value on the straight line, there is no collision. The same principle is used to compare the two lower straight lines of package 1 with the Y maximum value + safety threshold of package 2. If the Y maximum value + safety threshold of package 2 is greater than or equal to the Y value on the straight line, there is a collision. If it is less than the Y value on the straight line, there is no collision.

[0071] like Figure 7 As shown, the gripper is a combination gripper assembled from multiple silicone suction cups 700. The gripper size covers the maximum package grasping area (e.g., 300*300mm). Each silicone suction cup 700 corresponds to a vacuum generator. The Delta parallel robot controller controls the solenoid valve group of the combination gripper according to the length and width information of the package. The solenoid valve controls the vacuum adsorption force of the silicone suction cup 700 so that the vacuum area covers the package. For small-sized packages, the silicone suction cups 700 within the package size range turn on the vacuum, and the silicone suction cups 700 larger than the package size turn off the vacuum to ensure that the package is firmly grasped.

[0072] Example 2:

[0073] This embodiment involves a logistics package sorting method, which is basically the same as that of the first embodiment, except that:

[0074] like Figure 8 As shown, the Delta parallel robot directly grabs the package from the conveyor line 100. This method is dynamic tracking grabbing, that is, the package is in a flowing state on the conveyor line 100, and the Delta parallel robot grabs the package flowing on the conveyor line 100 to the import platform 400.

[0075] like Figure 9As shown, when the dynamic tracking grasping is performed and the gate-shaped trajectory is determined, the Delta parallel robot is set up above the conveyor line 100 and the introduction platform 400, and the 3D vision system is installed above the conveyor line 100 at the front end of the robot; the lifting height path needs to be superimposed on the movement path of the conveyor line 100 in the movement direction of the conveyor line 100. Assuming that the speed of the conveyor line 100 is υ, the robot lifting height path needs to be superimposed with a following trajectory υ·t in the direction of the conveyor line 100, where t is the time required for the robot to lift the height, that is, the robot walks through the gate-shaped trajectory. The robot moves a distance for a certain period of time until the lifting height exceeds the height of the adjacent package.

[0076] The dynamic tracking grasping grasps the package during the following motion without judging whether there is a collision between adjacent packages. Each time a package is grasped, a lifting action is performed to avoid collision with the package during the following grasping. The lifting height of the robot is determined by the highest height of the adjacent packages, that is, the maximum Z value of the adjacent packages + the safety threshold.

[0077] The above-mentioned specific embodiments are only specific cases of the present invention. The patent protection scope of the present invention includes but is not limited to the above-mentioned specific embodiments. Any appropriate changes or modifications made to them by ordinary technicians in the relevant technical field that comply with the claims of the present invention shall fall within the patent protection scope of the present invention.

Claims

1. A logistics package sorting method, characterized by: The method is based on a Delta parallel robot, a 3D vision system, and a gripper, wherein the gripper is mounted on the Delta parallel robot. The method comprises the following steps: L1: Express parcels flow through the 3D vision system, triggering visual photography; The L2 and 3D vision systems acquire the package's location, length, width, and height information and send it to the Delta parallel robot controller. After calculation, the Delta parallel robot controls the gripper to grab the package and place it on the induction platform. The specific grabbing process includes: The L21 and Delta parallel robot controllers determine the distribution of packages on the platform based on the location information of each package and arrange the package grabbing order from high to low according to the package height; L22. When grabbing a package, the Delta parallel robot controller first determines the highest height of packages around the package being grabbed or within the robot's path, and then lifts the robot vertically to at least the maximum height before moving horizontally. The L23, Delta parallel robot controller determines the gate-shaped trajectory of the package's path based on the package's starting point, lift height, and end point. The end point is the coordinate of the location where the grabbed package is placed on the induction platform. The L24 and Delta parallel robots drive the grippers to grab packages along a gate-shaped trajectory, enabling the pick-up and placement of packages from the conveyor line to the induction station; The Delta parallel robot grabs packages from the feeder in a static grabbing mode, i.e., packages are first delivered in batches from the conveyor line to the feeder, and the Delta parallel robot grabs the packages that are stationary on the feeder and moves them to the induction station; or the Delta parallel robot grabs packages directly from the conveyor line in a dynamic tracking grabbing mode, i.e., packages are in a flowing state on the conveyor line, and the Delta parallel robot grabs the packages flowing on the conveyor line and moves them to the induction station; During the static grasping, the determination of the gate-shaped trajectory includes the following steps: L231. Place the Delta parallel robot between the feeder and the induction platform, above them. The starting point of the package, i.e., the coordinates of the grasping point, is determined by the X, Y, and Z coordinates of the grasped package provided by the 3D vision system. L232. Calibrate the 3D vision system and the Delta parallel robot to determine their relative positional relationship. Select the corner point of the progressive machine platform as the coordinate origin O(0, 0, 0). Select the intersection of the centerline and bottom edge of the induction platform as the reference point of the induction platform. Then, run the Delta parallel robot calibration probe to the reference point to determine the coordinate value A(s, q, 0) of the reference point. L233, the diagonal length of the package is used to calculate the placement point coordinates. The package length obtained by the 3D vision system is , width is , the angle between the introduction table and the progressive machine platform is , then the coordinates of the package placement point ( , ) is (s+m, q+n), that is ( + s, + q ), and consider a safety threshold H, that is, the coordinates of the placement point are +s+H, +q + H); L234. Determine whether there is a collision risk between the captured package and adjacent packages: If there is a risk, the package lifting height should be greater than the height of the adjacent package + the radius of the arc transition trajectory + the safety threshold H; If there is no risk, the package can be lifted to a height greater than that required by the Delta parallel robot; The L235 and Delta parallel robots plan three straight-line paths, namely the elevation path, the translation path, and the placement height path. Circular arc transition interpolation is performed between the elevation path and the translation path, and between the translation path and the placement height path to obtain the required door-shaped trajectory.

2. The logistics package sorting method according to claim 1, characterized in that: Determine whether there is a collision risk between the captured package and adjacent packages, including: L2341, obtain the coordinates of the package on the feeder platform ( , , ), the length and width information of the package, and the rotation angle θ; L2342, calculate the 4 vertices of each package Coordinate value, determine the maximum and minimum values ​​in the Y direction; L2343. Connect the coordinates of the package to be grabbed and the placement point into a straight line and calculate the slope of the line , with the slope value k as the slope, four straight lines are drawn through the four vertices of the grabbed package, among which there must be a straight line above the center point of the package and a straight line below the center point to form a channel, which is the moving path of the grabbed package. There must be no collision with other packages on this path. When the coordinate point of the package is When the width is smaller than the feeder width, the Y coordinate values ​​of the two straight lines above the grasped package are compared with the Y minimum value + safety threshold of the adjacent package. If the Y minimum value + safety threshold of the adjacent package is less than or equal to the Y value on the straight line, there is a collision; if it is greater than the Y value on the straight line, there is no collision; the two straight lines below the grasped package are compared with the Y maximum value + safety threshold of another adjacent package. If the Y maximum value + safety threshold of the other adjacent package is greater than or equal to the Y value on the straight line, there is a collision; if it is less than the Y value on the straight line, there is no collision.

3. The logistics package sorting method according to claim 1, characterized in that: The package coordinates given by the 3D vision system are the coordinates of the center point of the package.

4. The logistics package sorting method according to claim 1, characterized in that: The safety threshold H is 5 to 8 mm.

5. The logistics package sorting method according to claim 1, characterized in that: During the dynamic tracking and grasping, the Delta parallel robot is set up above the conveyor line and the introduction platform, and the 3D vision system is installed above the conveyor line at the front end of the Delta parallel robot; the lifting height path needs to be superimposed on the conveyor line's motion path in the direction of motion of the conveyor line. Assume that the speed of the conveyor line is , then the Delta parallel robot's lifting height path needs to be superimposed with a follow-up trajectory in the direction of the conveyor line. , until the lifting height of the Delta parallel robot exceeds the height of the adjacent package.

6. The logistics package sorting method according to claim 5, characterized in that: In the dynamic tracking grasping, the Delta parallel robot performs a lifting action each time it grasps a package, and the lifting height is the maximum Z value of the adjacent packages + the safety threshold.

7. The logistics package sorting method according to any one of claims 1 to 4, characterized in that: The suction device is a combined suction device assembled from a plurality of silicone suction cups.

8. The logistics package sorting method according to claim 7, characterized in that: Each silicone suction cup corresponds to a vacuum generator. The Delta parallel robot controller controls the solenoid valve group of the combined gripper according to the length and width information of the package. The solenoid valve controls the vacuum adsorption force of the silicone suction cup so that the vacuum area covers the package.

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