A combined robot for sorting and transporting express logistics and its operation control method

Abstract

This invention proposes a combined sorting and transport robot for express logistics and its operation control method. The combined sorting and transport robot can move on the ground and includes a robotic arm, a gripper at the end of the robotic arm for grasping express packages, and a retractable and directional conveyor belt. The gripper can pick up express packages and place them onto the directional conveyor belt. By extending, retracting, and adjusting the direction of the directional conveyor belt, the directional conveyor belts of different combined sorting and transport robots can connect to each other or to the sorting conveyor belt. The directional conveyor belt of this invention serves as the channel for transporting express packages to the sorting conveyor belt. The robotic arm of the combined sorting and transport robot only needs to pick up the express package onto its corresponding directional conveyor belt, which will then quickly transport it to the sorting conveyor belt. Therefore, the combined sorting and transport robot does not need to move back and forth between the express package pile and the sorting conveyor belt, thus improving sorting speed.

Description

Technical Field

[0001] This invention belongs to the field of express delivery and logistics sorting technology, specifically relating to a combined robot for express delivery and logistics sorting and transportation and its operation control method. Background Technology

[0002] The booming development of the express delivery industry has rapidly changed people's lives and shopping habits, leading to the rapid development of some enterprises and even the entire industry. Due to weather conditions causing traffic paralysis, or during peak online shopping periods (such as 618, Double Eleven, Double Twelve, etc.), the volume of express deliveries surges. If express deliveries pile up and cannot be sorted in time, or even cannot be received, a large number of express deliveries will be stuck at the originating station or transit station. Therefore, it is necessary to sort the piled-up express deliveries quickly.

[0003] For example, CN202210776045.2 discloses an intelligent robot sorting optimization method based on classification and recognition. This method includes: acquiring a sorting depth image corresponding to a pile of express packages to be sorted; traversing pixels in each preset direction starting from the first highest point in the sorting depth image to obtain termination points in each direction; calculating the first grayscale change rate before the termination point in each direction based on the grayscale values ​​of pixels before the termination point in each direction; obtaining the grasping coefficient of the express package corresponding to the first highest point based on the first grayscale change rate before the termination point in each direction; obtaining the grasping degree of the express package corresponding to the first highest point based on the grasping coefficient and the first grayscale change rate before the termination point in each direction; and grasping the express package if the grasping degree of the express package corresponding to the first highest point is greater than a grasping threshold.

[0004] While the aforementioned patent improves the efficiency of express delivery sorting, it requires real-time calculation and processing of large amounts of information to grab express packages based on the highest point and stacking situation, which affects the speed. In addition, during sorting, after grabbing the express package, it is generally necessary to walk and transport it to the conveyor belt for screening and sorting. The back-and-forth walking pattern of grabbing and placing on the conveyor belt will affect the sorting speed. Summary of the Invention

[0005] The present invention aims to solve the technical problems existing in the prior art. The first objective of the present invention is to provide a combined robot for sorting and transporting express logistics. The second objective of the present invention is to provide an operation control method based on the aforementioned combined robot for sorting and transporting express logistics.

[0006] To achieve the first objective mentioned above, the present invention adopts the following technical solution: a combined sorting and transport robot for express logistics. The combined sorting and transport robot is capable of moving on the ground and includes a robotic arm, a gripper located at the end of the robotic arm for grasping express packages, and a retractable and directional conveyor belt. The gripper can grasp express packages onto the directional conveyor belt. By extending and adjusting the direction of the directional conveyor belt, the directional conveyor belts of different combined sorting and transport robots can be connected to each other or between the directional conveyor belt and the sorting conveyor belt.

[0007] The above technical solution allows for the connection between different directional conveyor belts of sorting and transporting combined robots, or between directional conveyor belts and sorting conveyor belts. The directional conveyor belt serves as the channel for transporting express packages to the sorting conveyor belt. The robotic arm of the sorting and transporting combined robot only needs to pick up the express package onto its corresponding directional conveyor belt, which will then quickly transport it to the sorting conveyor belt. As a result, the sorting and transporting combined robot does not need to move back and forth between the express package pile and the sorting conveyor belt, thus improving the sorting speed.

[0008] In a preferred embodiment of the present invention, the directional conveyor belt is at the same height as or higher than the sorting conveyor belt.

[0009] In a preferred embodiment of the present invention, the directional conveyor belt includes a placement conveyor section fixed to the base of the robotic arm and a flexible conveyor section connected to the end of the placement conveyor section. The gripper will quickly grab onto the placement conveyor section. The flexible conveyor section can extend, retract, and be directional so that the end of the directional conveyor belt can be connected to the directional conveyor belt or sorting conveyor belt of other sorting and transporting combined robots.

[0010] The above technical solution uses a conveyor belt with a fixed relative position for the delivery section, ensuring the consistency of the position of the package placed on the conveyor belt by the gripper each time, and preventing the package from missing its target.

[0011] In a preferred embodiment of the present invention, the flexible conveying section includes a retractable conveyor belt and a first turning section and a second turning section fixedly connected to the frames at both ends of the conveyor belt. The first turning section and the second turning section are both made of elastic material, or both are folded structures with pleats. The first end of the first turning section is fixedly connected to the frame at the end of the placement conveying section. The frame at the beginning of the placement conveying section and the frame of the sorting conveyor belt have connecting parts. The end of the second turning section has a snap-fit ​​part that can engage with the connecting part.

[0012] The above technical solution allows the flexible conveyor section to be extended and retractable by setting the conveyor belt body, and allows the flexible conveyor section to be steered by setting the first steering section and the second steering section. Thus, by extending and retracting the length of the conveyor belt body and adjusting the direction of the flexible conveyor section by the first steering section and the second steering section, the directional conveyor belts of different sorting and transporting combined robots can be connected to each other or to the sorting conveyor belt. Moreover, when the sorting and transporting combined robot needs to move its position, it can also adapt by extending, retracting and adjusting the direction of the flexible conveyor section.

[0013] In a preferred embodiment of the invention, the flexible conveyor section is a retractable conveyor belt carried by a continuous robot mounted on a loading and unloading conveyor section frame.

[0014] In the above technical solution, the flexible conveyor section rotates and extends / retracts with the continuous robot.

[0015] In another preferred embodiment of the present invention, an image sensor is also included, which acquires an image of the express delivery pile and transmits it to a controller, which extracts the length and width information of the express delivery pile from the image.

[0016] To achieve the second objective mentioned above, the present invention adopts the following technical solution: a method for controlling the operation of a sorting and transporting combined robot, comprising the following steps: S1, transporting express packages to a sorting point and assembling them; S2, acquiring an image of the express package pile and extracting the length and width information of the express package pile from the image; S3, determining the number and position of the sorting and transporting combined robots based on the length and width information of the express package pile; S4, the sorting and transporting combined robots reach the designated position, and the directional conveyor belts connect sequentially, with the end of the last directional conveyor belt connecting to the sorting conveyor belt; S5, the robotic arm of the sorting and transporting combined robot picks up the express packages.

[0017] The above technical solution, by configuring a suitable number and position of sorting and transporting combined robots, allows the robotic arm of the sorting and transporting combined robot to simply pick up the express delivery and place it on the corresponding directional conveyor belt, which will then quickly transport it to the sorting conveyor belt. As a result, the sorting and transporting combined robot does not need to walk back and forth between the express delivery pile and the sorting conveyor belt, thus improving the sorting speed.

[0018] In another preferred embodiment of the present invention, the method for determining the number and position of the sorting and transporting combined robots based on the length and width information of the express pile is as follows: when W≥2R, N=2L / R, and the N sorting and transporting combined robots are divided into two columns and located on both sides of the express pile respectively; when W<2R, N=L / R, and the N sorting and transporting combined robots are located on the same side of the express pile; where W is the width of the express pile, L is the length of the express pile, R is the gripping radius of the sorting and transporting combined robots, and N is the number of sorting and transporting combined robots; the sorting and transporting combined robots are located at a distance r from the edge of the express pile and the directional conveyors on the same side are connected sequentially, where r is less than R, and the last directional conveyor on the same side is connected to the sorting conveyor.

[0019] The above technical solution, based on the relationship between the width of the express delivery pile and the gripping radius of the sorting and conveying combined robot, configures one or two rows of sorting and conveying combined robots to improve sorting efficiency.

[0020] In another preferred embodiment of the present invention, the method for the robotic arm of the sorting and conveying combined robot to pick up express packages is as follows: obtain the height H of the express package pile, determine whether H is higher than h, where h is the height of the conveyor belt; when H is higher than h, obtain the picking range of the robotic arm of the sorting and conveying combined robot, and pick up packages sequentially from left to right until the height of the express package pile is lower than or equal to h; when H is lower than h, pick up packages from the edge of the express package pile and obtain the cleared ground area; when all the ground areas are connected, the sorting and conveying combined robot moves closer to the express package pile by a distance s, where s is the minimum width of the cleared ground area.

[0021] The above technical solution selects different methods to pick up packages based on the change between the height of the package pile and the height of the redirecting conveyor belt. Specifically, when the package pile is high, packages that exceed the top of the redirecting conveyor belt are picked up first to prevent the top packages from collapsing. When the package pile is low, packages are picked up from the edge of the package pile to improve the sorting speed.

[0022] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0023] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0024] Figure 1 This is a schematic diagram of the structure of the express logistics sorting and transportation combined robot in an embodiment.

[0025] Figure 2This is a schematic diagram of a combined robot for sorting and transporting express packages, used in an embodiment of express logistics.

[0026] The reference numerals in the accompanying drawings include: sorting conveyor belt 10, sorting and transporting combined robot 20, robotic arm 21, chassis 22, reversing conveyor belt 23, loading and unloading conveyor section 231, flexible conveyor section 232, conveyor belt body 2321, first turning section 2322, second turning section 2323, connecting part 24, and buckle part 25. Detailed Implementation

[0027] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0028] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "vertical", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0029] In the description of this invention, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "linking" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two components. They can be direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. Example 1

[0030] This embodiment provides a rapid logistics sorting and transportation combined robot (hereinafter referred to as a sorting and transportation combined robot), such as Figure 1 and Figure 2As shown, the sorting and transporting combined robot 20 is capable of moving on the ground. It includes a robotic arm 21, a gripper at the end of the robotic arm 21 for grasping express packages, and a telescopic and directional conveyor belt 23. For example, the robotic arm 21 and the directional conveyor belt 23 can be mounted on a chassis 22 that can move on the ground, so that the robotic arm 21 and the directional conveyor belt 23 can move together with the chassis 22. The chassis 22 can be an AGV chassis as used in the prior art. The gripper of the robotic arm 21 can grasp express packages onto the directional conveyor belt 23. By telescopically extending and adjusting the direction of the directional conveyor belt 23, the directional conveyor belts 23 of different sorting and transporting combined robots 20 can be connected to each other or to the sorting conveyor belt 10.

[0031] like Figure 2 As shown, this invention allows for the configuration of multiple sorting and conveying combination robots 20 for sorting, depending on the size of the parcel pile. By extending and retracting the length of the directional conveyor belt 23 and adjusting its direction, the directional conveyor belts 23 of the multiple sorting and conveying combination robots 20 can be connected sequentially. The last directional conveyor belt 23 can connect with the sorting conveyor belt 10, and the multiple directional conveyor belts 23 connected sequentially form a channel for conveying parcels to the sorting conveyor belt 10. The robotic arm 21 of the sorting and conveying combination robot 20 only needs to pick up the parcels onto the corresponding directional conveyor belt 23, which will then quickly transport them to the sorting conveyor belt 10. The sorting conveyor belt 10 is connected to multiple branch conveyor belts to divert different parcels.

[0032] In this invention, the directional conveyor belt 23 is at the same height as or higher than the sorting conveyor belt 10. The end of the last directional conveyor belt 23 can be connected to the side of the sorting conveyor belt 10 or to the beginning of the sorting conveyor belt 10, as long as the express delivery on the directional conveyor belt 23 can reach the sorting conveyor belt 10 smoothly.

[0033] In this invention, the redirecting conveyor belt 23 includes a placement conveyor section 231 fixedly connected to the base of the robotic arm 21, and a flexible conveyor section 232 connected to the end of the placement conveyor section 231. For example, the frame of the placement conveyor section 231 is fixedly mounted on the chassis 22, so that the placement conveyor section 231 can move on the ground together with the sorting and transporting combined robot 20. The flexible conveyor section 232 can extend, retract, and redirect, so that the end of the redirecting conveyor belt 23 can connect with the redirecting conveyor belt 23 of other sorting and transporting combined robots 20 or the sorting conveyor belt 10. The gripper of the robotic arm 21 will quickly grab onto the placement conveyor section 231. The placement conveyor section 231 is a conveyor belt with a fixed position relative to the chassis 22, ensuring the consistency of the gripper placing the express delivery on the redirecting conveyor belt 23 each time, and avoiding the express delivery from being missed.

[0034] Specifically, the flexible conveyor section 232 includes a retractable conveyor belt body 2321 (which may be a retractable conveyor belt disclosed in CN202311050626.9, CN201610006431.8 or CN202022571611.5), and a first turning section 2322 and a second turning section 2323 respectively fixed to the frames at both ends of the conveyor belt body 2321. The first turning section 2322 and the second turning section 2323 are both made of elastic material, or both are folded structures with pleats, which facilitates the turning of the flexible conveyor section 232. The first turning section 2322 is fixedly connected to the frame at the end of the placement conveyor section 231. The frame at the beginning of the placement conveyor section 231 and the frame of the sorting conveyor belt 10 have connecting parts 24. The end of the second turning section 2323 has a latching part 25 that can engage with the connecting part 24. For example, the latching part 25 is a movable latch, and the connecting part 24 is a locking groove. The movable latch engages in the locking groove to achieve connection. Preferably, one latching part 25 is provided on each side of the second turning section 2323. The first turning section 2322 and the second turning section 2323 serve as a connection and turning mechanism, and are relatively short, so they do not affect the conveyor belt 23's transport of express packages.

[0035] After multiple sorting and transporting combined robots 20 are in place, the length of the telescopic conveyor belt 2321 and the direction of the flexible conveyor section 232 are adjusted by the first and second steering sections 2322 and 2323, so that the end of the previous steering conveyor belt 23 can connect with the first section of the next steering conveyor belt 23, and the end of the last steering conveyor belt 23 can connect with the sorting conveyor belt 10. As the robotic arm 21 of the sorting and transporting combined robot 20 picks up packages, the sorting and transporting combined robot 20 needs to move. At this time, the length of the telescopic conveyor belt 2321 and the direction of the flexible conveyor section 232 are adjusted by the first and second steering sections 2322 and 2323 to adapt to the position movement of the sorting and transporting combined robot 20.

[0036] It should be noted that the flexible conveyor section 232 can also be a retractable conveyor belt carried by a continuous robot mounted on the frame of the loading and unloading conveyor section 231. The flexible conveyor section 232 rotates and extends with the continuous robot.

[0037] In another preferred embodiment, the sorting and transporting combined robot 20 also includes an image sensor, which can be mounted on the chassis 22 via a bracket. The image sensor acquires an image of the express stack and transmits it to the controller, which extracts the length and width information of the express stack from the image. Example 2

[0038] This embodiment provides an operation control method for a sorting and conveying combined robot 20 based on Embodiment 1, such as... Figure 1As shown, in a preferred embodiment, the operation control method includes the following steps:

[0039] S1, which centrally transports and collects express packages at the sorting point;

[0040] S2, obtain an image of the parcel pile, and extract the length and width information of the parcel pile from the image;

[0041] S3, determine the number and location of the sorting and conveying combination robots 20 based on the length and width information of the express delivery pile;

[0042] S4, the sorting and conveying combined robot 20 arrives at the designated position, the directional conveyor belts 23 are connected in sequence, and the end of the last directional conveyor belt 23 is connected to the sorting conveyor belt 10.

[0043] S5, the robotic arm 21 of the sorting and conveying combined robot 20 picks up the express delivery, places the picked-up express delivery on the placement conveyor section 231 of the redirecting conveyor belt 23, and is then transported by the redirecting conveyor belt 23 to the sorting conveyor belt 10.

[0044] Specifically, the method for determining the number and location of the sorting and conveying modular robots 20 based on the length and width information of the express delivery pile is as follows:

[0045] When W≥2R, N=2L / R, and the N sorting and transporting combined robots are divided into two columns and located on both sides of the express delivery pile.

[0046] When W < 2R, N = L / R, and N sorting and transporting combined robots 20 are located on the same side of the express delivery pile;

[0047] Where W is the width of the parcel stack, L is the length of the parcel stack, R is the gripping radius of the sorting and conveying combined robot, and N is the number of sorting and conveying combined robots.

[0048] The sorting and conveying robot 20 is positioned at a distance r from the edge of the express delivery pile and connects the directional conveyor belts 23 on the same side in sequence, where r is less than R. The last directional conveyor belt 23 on the same side connects with the sorting conveyor belt 10.

[0049] Specifically, the method by which the robotic arm 21 of the sorting and conveying combined robot 20 picks up express packages is as follows: obtain the height H of the express package pile, and determine whether H is higher than h, where h is the height of the conveyor belt; when H is higher than h, obtain the picking range of the robotic arm 21 of the sorting and conveying combined robot 20, and pick up packages sequentially from left to right until the height of the express package pile is lower than or equal to h; when H is lower than h, pick up packages from the edge of the express package pile and obtain the cleared ground area; when all the ground areas are connected, the sorting and conveying combined robot 20 moves together toward the express package pile by a distance s, where s is the minimum width of the cleared ground area.

[0050] In the description of this specification, references to terms such as "preferred embodiment," "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0051] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for controlling the operation of a combined sorting and transporting robot for express logistics, characterized in that, The express logistics sorting and transporting combined robot can travel on the ground, and comprises a mechanical arm, a gripper arranged at the end of the mechanical arm for grabbing the express, and a direction-adjustable conveying belt capable of being stretched and adjusted, the gripper being capable of grabbing the express onto the direction-adjustable conveying belt, the direction-adjustable conveying belts of different sorting and transporting combined robots being capable of being connected with each other or with a sorting conveying belt by stretching and adjusting the direction of the direction-adjustable conveying belt. The operation control method comprises the following steps: S1, transporting the express to a sorting point and collecting; S2, acquiring an image of the express stack, and extracting length and width information of the express stack from the image; S3, determining the number and position of the assigned sorting and transporting combined robots according to the length and width information of the express stack; S4, the sorting and transporting combined robot reaching the specified position, the direction-adjustable conveying belts being connected in sequence, and the end of the last direction-adjustable conveying belt being connected with the sorting conveying belt; S5, the mechanical arm of the sorting and transporting combined robot picking up the express; The method for determining the number and position of the assigned sorting and transporting combined robots according to the length and width information of the express stack is as follows: When W≥2R, N=2L / R, the N sorting and transporting combined robots are arranged in two rows and located on the two sides of the express stack; When W<2R, N=L / R, the N sorting and transporting combined robots are located on the same side of the express stack; Wherein, W is the width of the express stack, L is the length of the express stack, R is the grabbing radius of the sorting and transporting combined robot, and N is the number of the sorting and transporting combined robots; The sorting and transporting combined robot is arranged at a distance r from the edge of the express stack, and the direction-adjustable conveying belts on the same side are connected in sequence, r being less than R, and the last direction-adjustable conveying belt on the same side being connected with the sorting conveying belt.

2. The operation control method according to claim 1, characterized by, The direction-adjustable conveying belt is at the same height as or higher than the sorting conveying belt.

3. The operation control method according to claim 1, characterized by, The direction-adjustable conveying belt comprises a placing conveying section fixed relative to the mechanical arm base, and a flexible conveying section connected with the end of the placing conveying section, the express being quickly grabbed onto the placing conveying section, and the flexible conveying section being capable of being stretched and adjusted in direction, so that the end of the direction-adjustable conveying belt can be connected with the direction-adjustable conveying belt of another sorting and transporting combined robot or the sorting conveying belt.

4. The operation control method according to claim 3, characterized by The flexible conveying section comprises a stretchable conveying belt body, and a first turning section and a second turning section fixed with the racks at the two ends of the conveying belt body, respectively, the first turning section and the second turning section being made of elastic material or both having a folded structure with folds. The first end of the first turning section is fixed with the rack at the end of the placing conveying section, the racks at the beginning of the placing conveying section and the sorting conveying belt have connecting parts, and the end of the second turning section has a buckle part capable of being buckled with the connecting part.

5. The operation control method according to claim 3, characterized by, The flexible conveying section is a stretchable conveying belt carried by a continuum robot installed on the rack of the placing conveying section.

6. The operation control method according to any one of claims 1-5, characterized by, An image sensor is further included, the image sensor acquiring an image of the express stack and transmitting the image to the controller, and the controller extracting the length and width information of the express stack from the image.

7. The operation control method according to claim 1, characterized by, The method for picking up the express by the mechanical arm of the sorting and transporting combined robot is as follows: Obtain the height H of the express stack, judge whether H is higher than h, h is the height of the direction transfer belt; When H is higher than h, obtain the picking range of the mechanical arm of the sorting and transporting combined robot, pick from left to right until the height of the express stack is lower than or equal to h; When H is lower than h, pick from the edge of the express stack and obtain the cleared ground area, when all the ground areas are connected, the sorting and transporting combined robot approaches the express stack by a distance s, s is the minimum width of the cleared ground area.

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