Method and device for controlling logistics sorting action, sorting system and storage medium

Abstract

This disclosure provides a control method, apparatus, sorting system, and storage medium for logistics sorting operations. The logistics sorting system determines multiple occupied sorting carts based on the length of the package in the direction of travel. An occupation sequence is formed according to the arrangement of the multiple occupied sorting carts in the direction of travel. Each occupied sorting cart is assigned a sequence identifier within the occupation sequence. In response to each occupied sorting cart passing a first preset position, a delayed sorting instruction is sent to the passing occupied sorting cart via a signal transmitting device. The delayed sorting instruction causes each occupied sorting cart to perform a sorting action after its respective delayed sorting time, enabling the group of occupied sorting carts to synchronously perform sorting actions on packages at the target compartment. The delayed sorting time is related to the sequence position indicated by the sequence identifier. For large-sized packages, each occupied sorting cart can automatically and synchronously perform sorting actions at the target compartment, ensuring accurate package delivery.

Description

Technical Field

[0001] This disclosure relates to the field of logistics sorting equipment technology, and in particular to control methods, devices, sorting systems and storage media for logistics sorting operations. Background Technology

[0002] Currently, cross-link sorters (such as narrow-belt sorters) use multiple sorting carts topped with belts to load large packages. These belts can move laterally to sort the packages. During sorting, each sorting cart carrying a large package performs its sorting action independently. This method can lead to problems such as partial belt rotation, slippage, or drive overload alarms for heavier large packages, preventing the package from being accurately moved into the target compartment, resulting in misalignment of the large package sorting position. Summary of the Invention

[0003] In view of the shortcomings of the prior art described above, the purpose of this disclosure is to provide a control method, device, sorting system and storage medium for logistics sorting operations, and to solve the problems in the related art.

[0004] This disclosure provides a control method for logistics sorting operations, applied to a control system in a logistics sorting system. The logistics sorting system includes multiple sorting vehicles movably arranged along a transport track. The control system is also communicatively connected to a signal transmitting device, which is fixedly positioned corresponding to a first preset position in the transport track. The control method includes: determining multiple occupied sorting vehicles based on the length of the package in the running direction; forming an occupation sequence according to the arrangement order of the multiple occupied sorting vehicles in the running direction; wherein each occupied sorting vehicle is assigned a sequence identifier in the occupation sequence; in response to each occupied sorting vehicle passing the first preset position, sending a delayed sorting instruction to the passing occupied sorting vehicle through the signal transmitting device; the delayed sorting instruction is used to cause each occupied sorting vehicle to perform a sorting operation after its respective delayed sorting time, so that the group of occupied sorting vehicles synchronously performs the sorting operation on the package at the target compartment; the delayed sorting time is related to the sequence position indicated by the sequence identifier.

[0005] In an embodiment of the first aspect, the delayed sorting time is related to the sequence position indicated by the sequence identifier, including: obtaining the delayed sorting time of the occupied sorting vehicle, and sending a delayed sorting instruction containing the delayed sorting time to the occupied sorting vehicle through the signal transmitting device; wherein, the delayed sorting time is calculated from the distance between the occupied sorting vehicle from the first preset position to the sorting position of the corresponding target compartment and the movement speed of the occupied sorting vehicle; the sorting position of each occupied sorting vehicle is determined according to its sequence position in the occupancy sequence and the width of the sorting vehicle.

[0006] In an embodiment of the first aspect, each sorting vehicle has sorting vehicle identifiers assigned sequentially according to the direction of movement; determining that an occupied sorting vehicle is located at the first preset position includes: detecting each sorting vehicle passing through the second preset position using a sensor corresponding to a second preset position in the transport track; wherein a preset positional relationship exists between the second preset position and the first preset position; determining the sorting vehicle identifier of the occupied sorting vehicle located at the first preset position based on the sorting vehicle identifier of the sorting vehicle located at the second preset position and the preset positional relationship.

[0007] In an embodiment of the first aspect, determining the sorting position based on the sequence position of the occupied sorting vehicle in the occupancy sequence and the width of the sorting vehicle includes: determining the sequence position interval between the second occupied sorting vehicle at a first preset position and the sequence identifier of the first occupied sorting vehicle prior to it; obtaining the number of vehicles between the first occupied sorting vehicle and the second occupied sorting vehicle based on the sequence position interval, and multiplying it by the width of the sorting vehicle to obtain the interval distance; and obtaining the sorting position of the second occupied sorting vehicle by offsetting the interval distance from the sorting position of the first occupied sorting vehicle.

[0008] In an embodiment of the first aspect, the delayed sorting time for each occupied sorting vehicle is pre-calculated and stored in a data table for the control system to retrieve.

[0009] In a first aspect embodiment, the transport track is connected to a package feeding device for transporting packages to a sorting vehicle; the package feeding device is equipped with a detection device for detecting the length information of the package in the direction of movement along the track; the control system is communicatively connected to the detection device to obtain the length information.

[0010] In an embodiment of the first aspect, the number of the plurality of occupied sorting vehicles is limited to a preset threshold.

[0011] A second aspect of this disclosure provides a control device for logistics sorting operations, applied to a control system in a logistics sorting system. The logistics sorting system includes multiple sorting vehicles movably arranged along a transport track. The control system is also communicatively connected to a signal transmitting device, which is fixedly positioned corresponding to a first preset position in the transport track. The control device includes: an occupancy calculation module, used to determine the multiple occupied sorting vehicles occupied by the package based on the length of the package in the running direction; a sequence identification module, used to form an occupancy sequence according to the arrangement order of the multiple occupied sorting vehicles in the running direction; wherein each occupied sorting vehicle is assigned a sequence identifier in the occupancy sequence; and a delay instruction module, used to send a delayed sorting instruction to each occupied sorting vehicle via the signal transmitting device in response to each occupied sorting vehicle passing the first preset position; the delayed sorting instruction causes each occupied sorting vehicle to perform a sorting operation after its respective delayed sorting time, so that the group of occupied sorting vehicles synchronously performs the sorting operation on the package at the target compartment; the delayed sorting time is related to the sequence position indicated by the sequence identifier.

[0012] This disclosure provides a logistics sorting system in a third aspect, comprising: a transport track and a plurality of sorting vehicles movably arranged along the transport track; a signal transmitting device fixedly disposed at a first preset position in the transport track; and a control system as described in any one of the first aspects, communicatively connected to the signal transmitting device.

[0013] The fourth aspect of this disclosure provides a computer-readable storage medium storing program instructions that, when executed, implement a control method for logistics sorting operations as described in any one aspect of the first aspect.

[0014] As described above, this disclosure provides a control method, apparatus, sorting system, and storage medium for logistics sorting operations. The logistics sorting system determines multiple occupied sorting carts based on the length of the package in the direction of travel; an occupation sequence is formed according to the arrangement order of the multiple occupied sorting carts in the direction of travel; each occupied sorting cart is assigned a sequence identifier in the occupation sequence; in response to each occupied sorting cart passing a first preset position, a delayed sorting instruction is sent to the passing occupied sorting cart via a signal transmitting device; the delayed sorting instruction causes each occupied sorting cart to perform sorting operations after its respective delayed sorting time, so that the group of occupied sorting carts synchronously performs sorting operations on the packages at the target compartment; the delayed sorting time is related to the sequence position indicated by the sequence identifier. Each occupied sorting cart carrying a large-sized package can automatically and synchronously perform sorting operations at the target compartment, ensuring accurate package delivery. Attached Figure Description

[0015] Figure 1A schematic diagram of a logistics sorting system is shown as an example of related technologies.

[0016] Figure 2A and Figure 2B This diagram illustrates how multiple occupied sorting carts move to the target compartment and simultaneously perform sorting actions in one embodiment of the present disclosure.

[0017] Figure 3 A schematic diagram of the structure of a logistics sorting system in an application scenario according to one embodiment of the present disclosure is shown.

[0018] Figure 4 A flowchart illustrating a control method for logistics sorting actions according to an embodiment of this disclosure is shown.

[0019] Figure 5 This illustration shows a flowchart of a process for determining the sorting position of an occupied sorting vehicle according to one embodiment of the present disclosure.

[0020] Figure 6 A schematic diagram of a control device for logistics sorting operations is shown in one embodiment of this disclosure.

[0021] Figure 7 A schematic diagram of the controller structure in one embodiment of this disclosure is shown. Detailed Implementation

[0022] The following specific examples illustrate the implementation of this disclosure. Those skilled in the art can easily understand other advantages and effects of this disclosure from the information disclosed herein. This disclosure can also be implemented or applied through other different specific embodiments, and various details in this disclosure can be modified or changed according to different viewpoints and application modules without departing from the spirit of this disclosure. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this disclosure can be combined with each other.

[0023] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings, so that those skilled in the art to which this disclosure pertains can readily implement it. This disclosure may be embodied in many different forms and is not limited to the embodiments described herein.

[0024] In this disclosure, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic represented in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. Furthermore, the specific features, structures, materials, or characteristics represented may be combined in any suitable manner in any one or a group of embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples represented in this disclosure, as well as the features of those different embodiments or examples.

[0025] Furthermore, the terms "first" and "second" are used for illustrative purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the representation of this disclosure, "a set" means two or more, unless otherwise explicitly specified.

[0026] For the purpose of clarity, devices unrelated to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0027] Throughout this specification, when it is said that a device is "connected" to another device, this includes not only "direct connection" but also "indirect connection" by placing other components in between. Furthermore, when it is said that a device "comprises" a certain constituent element, unless otherwise stated otherwise, this does not exclude other constituent elements, but rather implies that other constituent elements may be included.

[0028] While the terms first, second, etc., are used in some examples herein to refer to various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, first interface and second interface, etc., are used. Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of the stated feature, step, operation, element, module, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, modules, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are interpreted as inclusive, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0029] The technical terms used herein are for reference only to specific embodiments and are not intended to limit the scope of this disclosure. The singular form used herein includes the plural form unless the statement explicitly indicates otherwise. The word "comprising" as used in this specification means to specify a particular characteristic, region, integer, step, operation, element, and / or component, and does not exclude the presence or addition of other characteristics, regions, integers, steps, operations, elements, and / or components.

[0030] Although not explicitly defined, all terms, including technical and scientific terms used herein, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. Terms defined in commonly used dictionaries shall be further interpreted as having a meaning consistent with the relevant technical literature and the message of the present disclosure, and shall not be over-interpreted as having an ideal or overly formulaic meaning unless otherwise defined.

[0031] Currently, automated logistics sorting systems are widely used to help logistics companies quickly sort packages and goods. An example of such a logistics sorting system is a cross-belt sorter.

[0032] like Figure 1 The diagram shows a schematic representation of a logistics sorting system in an example.

[0033] exist Figure 1 In this example, the logistics sorting system is exemplified by a cross-belt sorter 1. The cross-belt sorter 1 is exemplified as a circular cross-belt sorter 1. The cross-belt sorter 1 includes a circularly arranged track 11 and sorting carts 12 that are relatively movable on the track 11. Each sorting cart 12 can move along the track 11 at the same uniform speed. Exemplarily, a slot 13 for loading packages is connected to the side of a predetermined position on the track 11. Each sorting cart 12 has a conveyor belt 121 on its top, which can be a belt, for carrying packages and moving in a direction intersecting the direction of movement (e.g., perpendicular to each other). Thus, when the sorting cart 12 moves along the track 11 to a predetermined position in the slot 13 where the package to be unloaded is located, the package is then loaded into the slot 13 by the operation of the conveyor. Exemplarily, a package feeding device 14 for conveying packages to the sorting cart 12 may also be provided on the side of the track 11. The package feeding device 14 is, for example, a package feeding machine.

[0034] It should be noted that there are many types of cross-belt sorters 1, and they are not limited to those shown in the figure.

[0035] It is understandable that longer packages in the direction of movement will occupy multiple conveyor belts 121 of the sorting cart 12. This is especially true for narrow-belt sorters, where the width (or "intercept") of the conveyor belt 121 is narrower, meaning packages of the same size will occupy more conveyor belts 121 of the sorting cart 12. Since package sorting relies on the movement of each occupied conveyor belt 121, the more conveyor belts 121 occupied by the same package, the more difficult it becomes to accurately deliver the package to the target slot 13 during sorting. That is, when the sorting actions between the conveyor belts 121 are performed independently, due to asynchronous movement, it can cause packages to rotate, slip, or trigger drive overload alarms, preventing the package from accurately entering the target slot 13 and resulting in sorting position deviations.

[0036] In view of this, the present disclosure provides a control method, device, and sorting system for logistics sorting operations, enabling simultaneous sorting operations on various sorting vehicles carrying the same package, so as to accurately unload the package and solve the problems in related technologies.

[0037] like Figure 2A and Figure 2B The diagram shown illustrates the synchronous sorting actions performed by the sorting vehicle in an embodiment of this disclosure.

[0038] exist Figure 2A As shown, suppose a package A requires the conveyor belts of 5 sorting carts. The 5 sorting carts are sorting carts 1, 2, 3, 4, and 5, and each sorting cart that is occupied can be referred to as an "occupied sorting cart". Package A needs to be placed in the target slot C.

[0039] exist Figure 2B As can be seen, sorting carts 1, 2, 3, 4, and 5 of this group arrive at their respective sorting positions 1, 2, 3, 4, and 5 at the corresponding target compartment C, and then simultaneously perform sorting actions, that is, synchronously move their respective conveyor belts towards the target compartment C, as shown by arrow B. Package A will be accurately delivered into the target compartment C along the direction of arrow B.

[0040] Figure 2A and Figure 2B The results of a group of occupied sorting vehicles performing sorting actions synchronously are shown in an embodiment of this disclosure. The following provides a description of an implementation embodiment.

[0041] like Figure 3 The diagram shown illustrates a simplified scenario of the logistics sorting system in an embodiment of this disclosure.

[0042] The structure of the logistics sorting system 3 is illustrated using a ring cross-belt sorting machine as an example.

[0043] In addition to the track 31 and multiple occupied sorting carts 32 (other sorting carts are omitted for ease of description), the logistics sorting system 3 may also include a control system 33 and a signal transmitting device 34. The signal transmitting device 34 is set at a first preset position corresponding to the track 31. Exemplarily, the signal transmitting device 34 may be located beside, above, or below the track 31. The signal transmitting device 34 can send signals to the sorting carts 32, and each sorting cart 32 may also be equipped with a signal receiving device to receive the signals. Exemplarily, the signal transmitting device 34 and the signal receiving device may communicate wirelessly, such as through radio frequency communication. As a further example, the radio frequency communication may be, for example, UART wireless serial communication using the 425-440.5MHz frequency band, or high-frequency communication using the 2.4GHz frequency band.

[0044] The control system 33 is communicatively connected to the signal transmitting device 34. The control system 33 can generate a delayed sorting instruction for the sorting cart 32 to perform sorting actions, and send it to the occupied sorting cart passing through the first preset position via the signal transmitting device 34. In some embodiments, the control system 33 may include one or more controllers, such as a PLC controller. A continuous group of occupied sorting carts 32 carry packages D to the target compartment 35.

[0045] Understandably, reference Figure 2A and Figure 2B Multiple occupied sorting carts in a group will arrive at their respective positions in the corresponding target compartments, which can be called "sorting positions," and then simultaneously perform sorting actions. Each occupied sorting cart receives a delayed sorting instruction sent by a signal transmitting device at the same position, and then proceeds to the sorting position to execute the sorting action. The sorting position of each occupied sorting cart is different from the first preset position corresponding to the signal transmitting device. For example, the distance between the sorting positions of sorting cart 1 and sorting cart 2 and the first preset position differs by one sorting cart width, and so on. The distance between the sorting positions of sorting cart 1 and sorting cart 5 and the first preset position differs by four sorting cart widths. Thus, each occupied sorting cart receives a delayed sorting instruction at the first preset position. This delayed sorting instruction instructs each occupied sorting cart in the group to execute the sorting action after its respective delayed sorting time.

[0046] Therefore, it can be seen that there is a length difference between the respective sorting positions 1 to 5 of sorting vehicles 1 to 5 and the first preset position. The length difference is between 1 and 4 sorting vehicle widths. Since the movement speed of each sorting vehicle is the same, the distance difference of 1 to 4 sorting vehicle widths corresponds to the time difference between the delayed sorting time of the delayed sorting instructions of sorting vehicles 1 to 5. For example, let t be the delayed sorting time of sorting vehicle 1, which represents the time it takes for sorting vehicle 1 to reach the sorting position from the first preset position; correspondingly, the delayed sorting time of sorting vehicle 2 is t-t1, where t1 is the time required for sorting vehicle 2 to move at a speed v relative to the distance between sorting position 2 and sorting position 1 of sorting vehicle 1 (i.e., the width of one sorting vehicle), representing the time it takes for sorting vehicle 2 to reach its own sorting position 2 from the first preset position; similarly, the delayed sorting time of sorting vehicle 3 is t-2*t1, the delayed sorting time of sorting vehicle 4 is t-3*t1, and the delayed sorting time of sorting vehicle 5 is t-4*t1.

[0047] Therefore, the delayed sorting instructions received by sorting vehicles 1-5 at their respective first preset positions instruct sorting vehicle 1 to perform sorting operations after time t, sorting vehicle 2 to perform sorting operations after time t-t1, sorting vehicle 3 to perform sorting operations after time t-2*t1, sorting vehicle 4 to perform sorting operations after time t-3*t1, and sorting vehicle 5 to perform sorting operations after time t-4*t1. This allows sorting vehicles 1-5 to present the following... Figures 2A to 2B The process.

[0048] Based on the examples above, it can be understood that the interval between the sorting positions of each occupied sorting cart at the target grid can be obtained by multiplying the number of occupied sorting carts separated by each other in their arrangement by the width of the sorting cart. Accordingly, since the movement speed of each sorting cart is the same and uniform, the time difference between the sorting actions performed by the sorting carts can be determined by dividing the interval distance by the movement speed. Therefore, the delayed sorting time of sorting cart 1 and the calculated time difference can be used to estimate the delayed sorting time of sorting carts 2 to 5, thus forming a delayed sorting instruction.

[0049] Based on the above principles, such as Figure 4 The diagram illustrates a flow chart of a control method for logistics sorting operations according to an embodiment of this disclosure. The method can be executed by a single controller in the control system running program instructions, or by multiple controllers running program instructions in coordination.

[0050] exist Figure 4 In this context, the control method includes:

[0051] Step S401: Based on the length of the package in the running direction, determine the multiple occupied sorting vehicles occupied by the package.

[0052] As illustrated in Figure 2, the transport track is connected to a package feeding device (e.g., a package feeding machine) for transporting packages to a sorting cart. The package feeding device is equipped with a detection device for detecting the length of the package along the direction of movement of the track. The control system is communicatively connected to the detection device to obtain the length information.

[0053] For example, the detection device can be a photoelectric sensor or other position sensor, set to correspond to the position of the package along its path. When no package is detected, the output is a first signal value, such as "0"; when the package passes by and is detected by the detection device, the output is a second signal value, such as "1"; when the package leaves, the detection device can no longer detect it and the output returns to the first signal value. The duration of the second signal value detected by the detection device corresponds to the length of the package divided by the transport speed of the package in the feeding device. The transport speed and the duration of the second signal value are known, and multiplying them gives the length of the package. Alternatively, in other embodiments, the method of calculating the package length varies depending on the type of detection device, and is not limited to this example. For example, the detection device can be a visual acquisition device such as a camera, which performs image recognition based on the acquired images to obtain the length of the package, etc.

[0054] In some embodiments, each sorting cart can be pre-assigned a sorting cart identifier, i.e., cart ID. The arrangement of each sorting cart is predetermined, and each sorting cart has the same width and speed. Therefore, the relationship between sorting carts at two positions on the track is actually a fixed, preset positional relationship. For example, sorting cart number 1 is at position 1, and sorting cart number 10 is at position 2; if sorting cart number 2 is at position 1, then sorting cart number 11 is at position 2, and so on. This preset positional relationship is the distance between the two positions differing by 9 sorting cart widths. Therefore, as... Figure 4 As an example, by determining a second preset position on the track as a reference position, and setting sensor 36 to detect the sorting cart at that second preset position, the ID of the sorting cart at another fixed position can be obtained. For example, the ID of the sorting cart located at each grid position includes the ID of the sorting cart located at the first preset position. Further, after determining the location of a sorting cart with a certain ID, the time required for the sorting cart to travel to the sorting position can be calculated based on the movement speed of the sorting cart and the distance between the sorting cart and the sorting position (represented by multiplying the number of sorting carts in the interval by the width of the sorting cart, or known in advance). As an example, the sensor can be an infrared sensor, a magnetic sensor, or other types of sensors. Furthermore, a sorting cart identification reader (e.g., RFID) can be set at the second preset position to communicate with the sorting cart and read the sorting cart identification. Alternatively, the sorting cart identification of the sorting cart arriving at the second preset position can be calculated based on the initial position and displacement data of each sorting cart (the displacement of the sorting cart can be estimated based on the rolling data of the motion motor).

[0055] Therefore, the sorting cart identifier of the occupied sorting cart that receives the package when it arrives at the track can be determined. For example, if the time from the current position of the loading device to the package entering the track is t2, then the sorting cart identifier of the first occupied sorting cart that will arrive at the package receiving position after time t2 can be calculated based on the sorting cart speed. Then, the sorting cart identifiers of the occupied sorting carts can be determined sequentially based on the package length. This establishes the sorting cart identifiers for all occupied sorting carts.

[0056] Step S402: Form an occupation sequence according to the arrangement order of the multiple occupied sorting vehicles in the direction of movement.

[0057] Each occupied sorting cart is assigned a sequence identifier within the occupancy sequence, indicating its position within the sequence. This sequence identifier can be an attribute of the sorting cart's data. The sequence identifier can be an integer (int) type. For example, for a 50kg shipment occupying 5 sorting carts, the sequence identifiers for the 5 carts are assigned as 1, 2, 3, 4, and 5 according to their direction of movement.

[0058] Since each sorting vehicle is identified by a sorting vehicle identifier, each occupied sorting vehicle has both a sorting vehicle identifier and a sequence identifier in the occupation sequence. Therefore, the sorting vehicle identifier and the occupation sequence can be stored together in the data corresponding to the occupied sorting vehicle.

[0059] Step S403: In response to each occupied sorting vehicle passing through the first preset position, a delayed sorting instruction is sent to the passing occupied sorting vehicle through the signal transmitting device.

[0060] For example, by obtaining the delayed sorting time of the occupied sorting vehicle, and using the signal transmitting device to send a delayed sorting instruction containing the delayed sorting time to the occupied sorting vehicle passing through the first preset position, each occupied sorting vehicle is instructed to perform a sorting action after its respective delayed sorting time, as shown in the example. Figure 2B The sorting action is performed synchronously on the package at the target compartment, as shown.

[0061] The delayed sorting time for each occupied sorting cart can be determined based on its sequence identifier. As in the previous example, the delayed sorting time is, for example, t-t1, t-2*t1 to t-4*t1 for each of the occupied sorting carts 1 to 5, with sequence identifiers 1, 2, 3, 4, and 5 respectively. It is evident that the differences between the sequence identifiers actually indicate the number of sorting carts that separate them, and since the width and speed of the sorting carts are known, the delayed sorting time can be determined based on the sequence identifier of the occupied sorting cart.

[0062] In some embodiments, there are multiple ways to determine the delayed sorting time. In a first approach, the delayed sorting time can be calculated only once for the first occupied sorting vehicle in the sequence arriving at the first preset position, and then the delayed sorting times for the remaining occupied sorting vehicles can be estimated. Thus, a delayed sorting instruction with the corresponding delayed sorting time can be sent sequentially as each occupied sorting vehicle passes by. Alternatively, in a second approach, the delayed sorting time can be calculated for each occupied sorting vehicle arriving at the first preset position, and the corresponding delayed sorting instruction can be sent immediately.

[0063] like Figure 5 The diagram illustrates a process for determining delayed sorting time in an embodiment of this disclosure.

[0064] Figure 5 The example below illustrates the implementation principle of the first method for determining delayed sorting time.

[0065] exist Figure 5 The following steps are shown in the image:

[0066] Step S501: Determine the sequence identifier of the occupied sorting vehicle located at the first preset position.

[0067] As described in the previous embodiments, the location and identifier of each sorting vehicle are determinable. Therefore, the associated sequence identifier can be retrieved based on the sorting vehicle identifier, and the position of the occupied sorting vehicle in the occupied sequence can be determined based on the sequence identifier, thereby calculating the corresponding delayed sorting time. For example, sensors positioned at the second preset position in the transport track can detect each sorting vehicle passing through the second preset position. Furthermore, as described in the previous embodiments, a known preset positional relationship exists between the second preset position and the first preset position; for example, the sorting vehicle at position 1 is vehicle number 1, and the sorting vehicle at position 2 is vehicle number 10, a difference of 9 sorting vehicles. Therefore, based on the sorting vehicle identifier of the sorting vehicle located at the second preset position and the preset positional relationship, the sorting vehicle identifier of the occupied sorting vehicle located at the first preset position can be determined. Utilizing the association between the sorting vehicle identifier and the sequence identifier of each occupied sorting vehicle, the assigned sequence identifier of the occupied sorting vehicle can be retrieved based on the sorting vehicle identifier of the occupied sorting vehicle.

[0068] Step S502: Obtain the delayed sorting time of the occupied sorting vehicle, and send a delayed sorting instruction containing the delayed sorting time to the occupied sorting vehicle through the signal transmitting device.

[0069] The delayed sorting time is calculated from the distance between the occupied sorting vehicle and the sorting position of the corresponding target compartment, as well as the movement speed of the occupied sorting vehicle. The sorting position of each occupied sorting vehicle is determined according to its sequence position in the occupancy sequence and the width of the sorting vehicle.

[0070] As an example, the sequence position interval between the second occupied sorting cart and the first occupied sorting cart at the first preset position can be determined based on their sequence identifiers. For example, sequence identifier 1 and sequence identifier 3 indicate a sequence position interval of 2. Further, the number of carts between the first and second occupied sorting carts is obtained based on the sequence position interval, and multiplied by the sorting cart width to obtain the interval distance. For example, if the difference is 2 sequence position intervals, the interval distance is 2 sorting cart widths. Furthermore, the sorting position of the second occupied sorting cart is obtained by offsetting the sorting position of the first occupied sorting cart from the interval distance. For example, if the first occupied sorting cart has sequence identifier 1 and the second occupied sorting cart has sequence identifier 3, then the difference between their sorting positions is 2 sorting cart widths. Similarly, the difference between their sorting positions and the distance from their sorting positions to the first preset position is also 2 sorting cart widths. The time difference between their delayed sorting times is the time obtained by dividing 2 sorting cart widths by the sorting cart's movement speed. Once the delayed sorting time of the first occupied sorting vehicle is calculated, it can be used as a reference to estimate the delayed sorting time of the second occupied sorting vehicle.

[0071] As an example, you can refer to Figure 2A and Figure 2B As shown, let L be the distance between the occupied sorting cart 1 and the corresponding target sorting position 1, and let V be the speed of movement. Let h be the width of the occupied sorting carts. We can see that the distance L between the sorting position 1 of the occupied sorting cart 1 and the first preset position is t = L / V, meaning the delay in sorting is t = L / V. The difference in the number of sorting carts between sorting position 2 and sorting position 1 is 1, which is the difference of one sorting cart width h. Therefore, the distance Lh between the occupied sorting cart 2 and the first preset position is also th. Correspondingly, the distance Lh between the occupied sorting cart 2 and the corresponding target sorting position 2, and its speed V, is t = (Lh) / V. In other words, t1 in the previous example is represented by h / V in this example. Similarly, the sorting position 3 of the occupied sorting cart 3 differs from sorting position 1 by 2*h, and the distance between sorting position 3 and the first preset position is L-2*h. The delayed sorting time of the occupied sorting cart 3 is (L-2*h) / V. The distance between sorting position 4 and the first preset position is L-3*h, and the delayed sorting time of the occupied sorting cart 4 is (L-3*h) / V. The distance between sorting position 5 and the first preset position is L-4*h, and the delayed sorting time of the occupied sorting cart 5 is (L-4*h) / V.

[0072] Based on the previous example, the instantaneous arrival position of each sorting cart can be pre-calculated, and its speed and width are also fixed. Multiple occupied sorting carts corresponding to a particular package can also be pre-calculated. Therefore, in some embodiments, the delayed sorting time for each occupied sorting cart can be pre-calculated and stored in a data table (which can be associated with the sorting cart identifier) ​​for the control system to retrieve. For example, if the delayed sorting time T_delay for sorting cart 3 is pre-stored as (L-2*h) / V, then when sorting cart 3 is at a first preset position, the controlled system determines that sorting cart 3 is at the first preset position based on the sensor's detection result. The control system can then retrieve the delayed sorting time based on the sorting cart identifier of sorting cart 3 and generate a delayed sorting instruction containing the delayed sorting time (L-2*h) / V. The delayed sorting instruction is then sent to sorting cart 3 via a signal transmitting device.

[0073] In the implementation example, the control system defines the delayed sorting time as an attribute parameter for each sorting vehicle and writes it into the corresponding data table. The control system can calculate the real-time position of all sorting vehicles in operation. When the corresponding sorting vehicle passes the designated signal transmitting device, it extracts the data from the current data table, writes it into its own serial port transmission buffer, and sends it to the signal transmitting device via a standard serial port data processor to be sent to the corresponding sorting vehicle. For example, the calculated delayed sorting time T_delay of the sorting vehicle can also be adjusted appropriately during debugging to be as close as possible to... Figure 2B Ideal synchronous sorting in the process.

[0074] In some embodiments, the number of occupied sorting carts is limited to a preset threshold. Specifically, a larger number of occupied sorting carts means a greater instantaneous current generated when they perform simultaneous sorting operations. Furthermore, considering that the number of sorting slots on-site is generally at least 20 or more, the simultaneous sorting operations of multiple slots by sorting carts result in a larger current for the entire production line. A larger current means a larger cable diameter and power supply, leading to higher equipment costs. Therefore, the number of occupied sorting carts needs to be limited to a preset threshold. For example, the preset threshold range could be 5-6 sorting carts or 6-7 sorting carts.

[0075] like Figure 6 The diagram shown illustrates a module schematic of a control device for logistics sorting operations according to an embodiment of this disclosure. It should be noted that the principle and technical implementation of the line-of-sight estimation device can refer to the control method embodiments for logistics sorting operations in previous embodiments (e.g., Figure 4 Therefore, this embodiment will not repeat the details.

[0076] The control device 600 includes:

[0077] The occupancy calculation module 601 is used to determine the number of occupied sorting vehicles corresponding to the number of conveyor belts occupied by the package based on the length of the package in the running direction.

[0078] The sequence identifier module 602 is used to form an occupation sequence according to the arrangement order of the plurality of occupied sorting vehicles in the direction of movement; wherein each of the occupied sorting vehicles is assigned a sequence identifier in the occupation sequence.

[0079] The delay instruction module 603 is used to send a delayed sorting instruction to each occupied sorting vehicle via the signal transmitting device in response to each occupied sorting vehicle passing through the first preset position; the delayed sorting instruction is used to cause each occupied sorting vehicle to perform a sorting action after its respective delayed sorting time, so that the group of occupied sorting vehicles can synchronously perform the sorting action on the package at the target compartment; the delayed sorting time is related to the sequence position indicated by the sequence identifier.

[0080] It should be noted that, in Figure 6 The various functional modules in the embodiments can be implemented, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, they can be implemented, in whole or in part, in the form of a program instruction product. A program instruction product includes one or a set of program instructions. When the program instructions are loaded and executed on a computer, all or part of the flow or function according to this disclosure is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The program instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another.

[0081] and, Figure 6 The apparatus disclosed in the embodiments can be implemented through other modular division methods. The apparatus embodiments shown above are merely illustrative. For example, the module division is only a logical functional division, and in actual implementation, there may be other division methods. For example, a group of modules or modules may be combined or dynamically integrated into another system, or some features may be ignored or not executed. Furthermore, the shown or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces, and the indirect coupling or communication connection between devices or modules may be electrical or other forms.

[0082] in addition, Figure 6 The functional modules and sub-modules in the embodiments can be dynamically integrated within a single processing unit, or each module can exist physically independently, or two or more modules can be dynamically integrated within a single unit. These dynamic units can be implemented in hardware or as software functional modules. If these dynamic units are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. This storage medium can be a read-only memory, a hard disk, or an optical disk, etc.

[0083] It should be specifically noted that the flowchart representations of the embodiments described above in this disclosure can be understood as representing modules, segments, or portions of code comprising one or more sets of executable instructions configured to implement specific logical functions or processes. Furthermore, the scope of the preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved.

[0084] For example, Figure 4 , Figure 5 The order of the steps in the method embodiments may vary in specific scenarios and is not limited to the above representation.

[0085] like Figure 7 The diagram shown illustrates the structure of a controller according to an embodiment of this disclosure. The controller can be applied to, for example, the control system shown in Figure 2. The controller 700 can be exemplified as a PLC.

[0086] The controller 700 can execute computer program instructions to perform actions such as... Figure 4 or Figure 5 The methods or steps in the process.

[0087] The controller 700 includes a bus 701, a processor 702, and a memory 703. The processor 702 and the memory 703 can communicate via the bus 701. The memory 703 can store program instructions. The processor 702 implements the complete method flow or partial steps of the previous embodiments by executing the program instructions in the memory 703, for example... Figure 4 or Figure 5 The complete method or some steps in the process.

[0088] Bus 701 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, although only one thick line is used in the diagram, this does not indicate that there is only one bus or one type of bus.

[0089] In some embodiments, processor 702 may be implemented as a central processing unit (CPU), microprocessor unit (MCU), system-on-chip (System-on-Chip), or field-programmable array (FPGA). Memory 703 may include volatile memory for temporary data storage during program execution, such as random access memory (RAM).

[0090] The memory 703 may also include non-volatile memory for data storage, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state disk (SSD).

[0091] In some embodiments, the controller 700 may further include a communicator 704. The communicator 704 is used for communication with external devices. In specific examples, the communicator 704 may include one or more wired and / or wireless communication circuit modules. For example, the communicator 704 may include one or more of, such as a wired network card, a USB module, a serial interface module, etc. The wireless communication protocols followed by the wireless communication module include, for example, Nearfield Communication (NFC) technology, Infrared (IR) technology, Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Time-Division Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), Bluetooth (BT), Global Navigation Satellite System (GNSS), etc.

[0092] This disclosure also provides a computer-readable storage medium, characterized in that it stores program instructions, which are executed, for example... Figure 4 The control method for logistics sorting actions in the embodiment.

[0093] That is, the method steps in the above embodiments are implemented as software or computer code that can be stored in a recording medium (such as CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or implemented as computer code that is originally stored in a remote recording medium or a non-transitory machine-readable medium and will be stored in a local recording medium after being downloaded via a network, so that the method represented herein can be stored in such software processing on a recording medium using a general-purpose computer, a special processor or programmable or special hardware (such as ASIC or FPGA).

[0094] In summary, the embodiments of this disclosure provide a control method, apparatus, sorting system, and storage medium for logistics sorting operations. The logistics sorting system determines multiple occupied sorting carts based on the length of the package in the direction of travel; an occupation sequence is formed according to the arrangement order of the multiple occupied sorting carts in the direction of travel; each occupied sorting cart is assigned a sequence identifier in the occupation sequence; in response to each occupied sorting cart passing a first preset position, a delayed sorting instruction is sent to the passing occupied sorting cart via a signal transmitting device; the delayed sorting instruction causes each occupied sorting cart to perform sorting operations after its respective delayed sorting time, so that the group of occupied sorting carts synchronously performs sorting operations on the packages at the target compartment; the delayed sorting time is related to the sequence position indicated by the sequence identifier. The occupied sorting carts carrying large-sized packages can automatically and synchronously perform sorting operations at the target compartment, ensuring accurate package delivery.

[0095] The above embodiments are merely illustrative of the principles and effects of this disclosure and are not intended to limit this disclosure. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this disclosure. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this disclosure should still be covered by the claims of this disclosure.

Claims

1. A control method of a logistics sorting action, characterized by, A control system applied to a logistics sorting system, the logistics sorting system including multiple sorting carts movably arranged along a transport track; the control system is also communicatively connected to a signal transmitting device, the signal transmitting device being fixedly set at a first preset position corresponding to the transport track; the control method includes: Based on the length of the package in the direction of travel, determine the number of occupied sorting vehicles occupied by the package; An occupation sequence is formed according to the arrangement order of the multiple occupied sorting vehicles in the direction of movement; wherein each occupied sorting vehicle is assigned a sequence identifier in the occupation sequence; In response to each occupied sorting cart passing the first preset position, a delayed sorting instruction is sent to the passing occupied sorting cart via the signal transmitting device, including: obtaining the delayed sorting time of the occupied sorting cart, and sending a delayed sorting instruction containing the delayed sorting time to the occupied sorting cart via the signal transmitting device; wherein, the delayed sorting time is calculated from the distance of the occupied sorting cart from the first preset position to the sorting position of the corresponding target compartment and the movement speed of the occupied sorting cart; the sorting position of each occupied sorting cart is determined according to its sequence position in the occupancy sequence and the width of the sorting cart; the delayed sorting instruction is used to cause each occupied sorting cart to perform a sorting action after its respective delayed sorting time, so that the group of occupied sorting carts synchronously performs the sorting action on the package at the target compartment; the delayed sorting time is related to the sequence position indicated by the sequence identifier. The sorting position is determined based on the occupied sorting cart's position in the occupancy sequence and the cart's width, including: The sequence position interval between the second occupied sorting vehicle and the first occupied sorting vehicle at the first preset position is determined according to their sequence identifiers. The number of sorting vehicles between the first occupied sorting vehicle and the second occupied sorting vehicle is obtained based on the sequence position interval, and the interval distance is obtained by multiplying it by the width of the sorting vehicle. The sorting position of the second occupied sorting vehicle is obtained by offsetting the sorting position of the first occupied sorting vehicle by the interval distance.

2. The control method according to claim 1, characterized in that, Each sorting cart has a sorting cart identifier assigned in sequence according to the direction of movement; Determining that the occupied sorting vehicle is located at the first preset position includes: Sensors positioned at corresponding second preset positions along the transport track are used to detect each sorting vehicle passing through the second preset position; wherein, a preset positional relationship exists between the second preset position and the first preset position; Based on the sorting vehicle identifier of the sorting vehicle located at the second preset position and the preset position relationship, the sorting vehicle identifier of the occupied sorting vehicle located at the first preset position is determined.

3. The control method according to claim 1, characterized in that, The delayed sorting time for each occupied sorting vehicle is pre-calculated and stored in a data table for the control system to retrieve.

4. The control method according to claim 1, characterized in that, The transport track is connected to the package feeding device, which is used to transport packages to the sorting vehicle; the package feeding device is equipped with a detection device for detecting the length information of the package in the direction of movement along the track; the control system is communicatively connected to the detection device to obtain the length information.

5. The control method according to claim 1, characterized in that, The number of the multiple occupied sorting vehicles is limited to a preset threshold.

6. A logistics sorting system, characterized in that, include: A transport track and multiple sorting vehicles movably arranged along the transport track; A signal transmitting device is fixedly installed at the first preset position in the transport track; A control system employing the control method as described in any one of claims 1 to 5, wherein the control system is communicatively connected to the signal transmitting device.

7. A computer-readable storage medium, characterized in that, The system stores program instructions that, when executed, implement the control method for logistics sorting operations as described in any one of claims 1 to 5.

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