Sorting control method, control system and linear narrowband sorting system

Abstract

The application discloses a sorting control method, a control system and a linear narrow-band sorting system. The sorting control method determines a narrow-band trolley where a parcel is located according to signals of a parcel detection sensor and a trolley matching sensor group. After determining a target sorting slot corresponding to the parcel and the narrow-band trolley where the parcel is located, the sorting control method determines the number of sorting start pulses required for the narrow-band trolley where the parcel is located to move to a sorting start position by a selected tracking positioning sensor group matched by a partition where the sorting slot of the parcel is located. The counting of pulses starts when the narrow-band trolley where the parcel is located triggers the selected tracking positioning sensor group. The narrow-band trolley where the parcel is located starts sorting when the counting of pulses reaches the number of sorting start pulses. This can effectively reduce the cumulative error of the trolley pitch, keep the cumulative error within an acceptable range, avoid mis-sorting and improve the accuracy of sorting.

Description

Technical Field

[0001] This invention relates to the field of logistics sorting, and in particular to sorting control methods, control systems and linear narrow strip sorting systems. Background Technology

[0002] Currently in the e-commerce warehousing industry, electric roller type linear narrow belt sorting systems mainly consist of vision-based single-item separation equipment to achieve package separation and spacing control, DWS equipment to achieve barcode scanning of packages, and linear narrow belt sorting machines to achieve package sorting.

[0003] A linear narrow-belt sorting machine consists of a ring of narrow-belt trolleys rotating along a track. During the design phase, the track dimensions, the number and size of the narrow-belt trolleys, and the standard trolley pitch (the sum of the trolley width and the standard spacing, where adjacent narrow-belt trolleys are connected at equal intervals) are determined. However, during the production and assembly of the linear narrow-belt sorting machine, the track dimensions often deviate to some extent. Given a fixed width and number of narrow-belt trolleys, to match the trolleys to the track, the only way to compensate for the error is to adjust the spacing between the trolleys. This results in the actual trolley pitch no longer being a uniform standard pitch.

[0004] In existing parcel tracking methods, the number of pulses required for a parcel to move from the tracking sensor group at the input end of the narrow-band sorter to the sorting start position is calculated based on the entrance width of the sorting slot, the distance between the tracking sensor group and the first sorting slot, and the detection accuracy of the tracking sensor group. The detection accuracy of the tracking sensor group is determined based on the standard trolley pitch.

[0005] The farther the target sorting grid of the package is from the tracking sensor group, the more narrow-band carts will pass between them. Due to the adjustment of the spacing between the narrow-band carts, the cumulative error of the cart pitch will also be greater. During the sorting process, there is a risk of premature or delayed action when sorting according to the number of pulses determined by the above method, resulting in a certain missorting rate. Summary of the Invention

[0006] The purpose of this invention is to solve the above-mentioned problems existing in the prior art and to provide a sorting control method, a control system and a linear narrow strip sorting system.

[0007] The objective of this invention is achieved through the following technical solution: A sorting control method is based on a linear narrow-band sorting system. The linear narrow-band sorting system includes a linear narrow-band sorter and at least one row of sorting slots located on one side of the linear narrow-band sorter. A package detection sensor and a trolley matching sensor group are set at a set position at the input end of the linear narrow-band sorter. The row of sorting slots is divided into multiple partitions, and each partition is matched with a tracking and positioning sensor group. The tracking and positioning sensor group is set within a specified range upstream of the entrance of the first sorting slot in each partition. The sorting control method determines the narrow-band cart where a package is located based on the signals from the package detection sensor and the cart matching sensor group. After determining the target sorting compartment corresponding to the package and the narrow-band trolley where it is located, the number of sorting start pulses required for the narrow-band trolley where the package is located to move from the selected tracking and positioning sensor group to the sorting start position is determined. The selected tracking and positioning sensor group is the tracking and positioning sensor group matched to the partition where the target sorting compartment corresponding to the package is located. When the narrow-band vehicle containing the package triggers the selected tracking and positioning sensor group, pulse counting begins; When the pulse count reaches the sorting start pulse count, the narrow-belt trolley containing the package is started for sorting.

[0008] Preferably, in the sorting control method, each partition has the same length.

[0009] Preferably, in the sorting control method, the length of the partition is the sum of the widths of the entrances of 5-15 sorting compartments.

[0010] Preferably, in the sorting control method, the detection accuracy of the tracking and positioning sensor group is 1 / 4 of the standard trolley pitch.

[0011] Preferably, in the sorting control method, the bottom of the frame of each narrow-band cart is provided with a detection plate that matches the package detection sensor and tracking positioning sensor group.

[0012] Preferably, in the sorting control method, the number of sorting start pulses is calculated according to the following formula: N=(N 目标 -N 首 )*Y / δ, Where N is the number of sorting start pulses, N 目标 N is the grid number of the target sorting grid. 首 Y is the grid number of the first sorting grid in the partition where the target sorting grid is located; δ is the entrance width of the sorting grid; and δ is the detection accuracy of the tracking and positioning sensor group.

[0013] Preferably, in the sorting control method, the linear narrow strip sorting system uses a vision-based single-item separation device to transport packages one by one to the linear narrow strip sorting machine.

[0014] Preferably, in the sorting control method, the visual single-item separation device, the package roller centering machine, has a control system that pre-stores the time information of different types of packages entering the roller centering machine from different positions, and the time information includes theoretical time and actual time. In subsequent operations, the vision-based single-item separation device determines which package stored in the control system matches the package to be output to the roller centering machine, and adjusts the time for delivering the next package to the roller centering machine based on the duration information of the matched package.

[0015] The sorting control system includes: The trolley package binding unit is used to determine the narrow-band trolley where a package is located based on the signals from the package detection sensor and the trolley matching sensor group. The pulse count determination unit is used to determine the number of sorting start pulses required for the narrow strip trolley containing the package to move from the selected tracking and positioning sensor group to the sorting start position after determining the target sorting compartment corresponding to the package and the narrow strip trolley in which it is located. The selected tracking and positioning sensor group is the tracking and positioning sensor group matched to the partition where the target sorting compartment corresponding to the package is located. A pulse counting unit is used to start pulse counting when the narrow-band vehicle containing the package triggers the selected tracking and positioning sensor group; The sorting unit is used to control the narrow-belt trolley containing the package to start sorting when the pulse count reaches the sorting start pulse number.

[0016] A linear narrow strip sorting system includes a linear narrow strip sorter and at least one row of sorting slots located on one side of the linear narrow strip sorter. A package detection sensor and a trolley matching sensor group are installed at a set position at the input end of the linear narrow strip sorter. The row of sorting slots is divided into multiple partitions, and each partition is matched with a tracking and positioning sensor group. The tracking and positioning sensor group is set within a specified range upstream of the entrance of the first sorting slot in each partition.

[0017] The advantages of the technical solution of this invention are mainly reflected in: This invention divides the sorting grid into multiple zones and sets up a tracking and positioning sensor group upstream of each zone. The subsequent calculation of the number of sorting start pulses for each package is determined based on the tracking and positioning sensor group corresponding to the zone where the target sorting grid of the package is located. The tracking and positioning sensor is triggered by the narrow-band trolley where the package is located to start pulse counting. This can effectively reduce the cumulative error of the trolley pitch, keep the cumulative error within an acceptable range, thereby avoiding missorting and improving sorting accuracy.

[0018] Before the visual single-item separation equipment is officially put into use, this invention samples and trains deep learning on the stall conditions of various packages passing through the roller centering machine during the testing of the visual single-item separation equipment. It also determines and stores the actual time and theoretical time of different packages passing through the roller centering machine. When it is officially used, visual detection determines which package to be output to the roller centering machine matches with the already stored package. Based on the difference between the actual time and the theoretical time of the matched package, the delivery of the next package to the roller centering machine is delayed, thereby compensating for stall and ensuring that the spacing between packages is within a suitable parameter range to achieve stable sorting. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the linear narrow-band sorting system of the present invention; Figure 2 This is a partial schematic diagram of the linear narrow strip sorting machine area of ​​the present invention; Figure 3 This is a schematic diagram of the vehicle matching sensor group and the tracking and positioning sensor group of the present invention; Figure 4 This is a schematic diagram showing the positional relationship between the detection plate on the narrow-band trolley (non-lead trolley) of the present invention and the trolley matching sensor group or tracking and positioning sensor group; Figure 5 This is a schematic diagram of the sorting process of the linear narrow strip sorting system of the present invention. Detailed Implementation

[0020] The objectives, advantages, and features of this invention will be illustrated and explained through the following non-limiting description of preferred embodiments. These embodiments are merely typical examples of applying the technical solutions of this invention, and all technical solutions formed by equivalent substitutions or equivalent transformations fall within the scope of protection claimed by this invention.

[0021] In the description of the solution, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience and simplification of 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, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] The sorting control method disclosed in this invention will be described below with reference to the accompanying drawings. Figure 1 As shown, the sorting control method is based on a linear narrow strip sorting system, which includes a packing conveyor 100, a vision-based single-item separation device 200, a DWS device 300, an inlet belt conveyor 400, and a linear narrow strip sorter 500 arranged sequentially. The specific structures of the packing conveyor 100, the vision-based single-item separation device 200, the DWS device 300, the inlet belt conveyor 400, and the linear narrow strip sorter 500 are known technologies and will not be described in detail here.

[0023] As attached Figure 2 As shown, a package detection sensor 600 and a trolley matching sensor group 700 are set at the set position of the input end of the linear narrow strip sorting machine 500. The package detection sensor 600 is used to detect whether there is a package on the narrow strip trolley. The specific positions of the package detection sensor and the trolley matching sensor group 700 can be designed as needed and are not limited here.

[0024] As attached Figure 2 As shown, the linear narrow strip sorting machine 500 has a row of sorting slots 800 on at least one side. Preferably, sorting slots are provided on both sides of the linear narrow strip sorting machine 500, and the two rows of sorting slots are arranged symmetrically. The sorting slots are located downstream of the package detection sensor 600 and the trolley matching sensor group 700. The sorting slots are numbered sequentially from right to left in the order of 1, 2, 3, 4, ..., n. The distance from the sorting slot with slot number 1 (the sorting slot closest to the linear narrow strip sorting machine) to the trolley matching sensor group 700 is a fixed value and is an integer multiple of the standard trolley pitch. Therefore, the number of pulse signals required for each narrow strip trolley to move from the trolley matching sensor group 700 to the sorting slot with slot number 1 is fixed.

[0025] A row of sorting slots 800 is divided into multiple partitions P, each partition P having the same length. The length of each partition P is the sum of the widths Y of the entrances of 5-15 sorting slots 800. Preferably, the length of the partition P is the width Y of 10 entrances of the sorting slots 800.

[0026] As attached Figure 2 As shown, each partition P is matched with a tracking and positioning sensor group 900. The tracking and positioning sensor group 900 is set within a specified range of the upstream end 801 of the entrance of the first sorting grid in each partition P. The upstream end refers to the end of the first sorting grid entrance that is closer to the input end of the linear narrow strip sorter. The specified range can be adaptively designed according to the actual situation of parameters such as the entrance width of the grid, the width of the narrow strip trolley, the standard trolley pitch, and the sorting speed. For example, the four first photoelectric sensors of the tracking and positioning sensor group 900 are symmetrically distributed on both sides of the upstream end, or the entire tracking sensor group 900 can be located within a certain range on the left or right side of the upstream end of the entrance.

[0027] As attached Figure 3 As shown, the detection accuracy δ of the vehicle matching sensor group 700 and the tracking and positioning sensor group 900 is 1 / 4 of the standard vehicle pitch X. Specifically, both the vehicle matching sensor group 700 and the tracking and positioning sensor group 900 include a row of four equally spaced first photoelectric sensors 001. The sum Z of the distance between the sensing areas of adjacent first photoelectric sensors 001 and the width of the sensing area is the detection accuracy δ. The vehicle matching sensor group 700 and the tracking and positioning sensor group 900 also include a second photoelectric sensor 002 located below the first photoelectric sensors 001. The second photoelectric sensor 002 is located directly below the rightmost first photoelectric sensor and is used to determine the lead vehicle (i.e., the vehicle numbered 1) in a loop of the narrow-band vehicles 510.

[0028] As attached Figure 3 As shown in Appendix 4, in order to cooperate with the matching sensor group 700 and the tracking and positioning sensor group 900 of the trolley, a detection plate 512 is provided at the bottom of the frame 511 of each narrow-band trolley 510. The bottom of the detection plate 512 of the lead trolley is located below the bottom of the detection plates 512 of the other narrow-band trolleys. The width of the detection plate 512 can be designed as needed. Preferably, the width of the detection plate is half of the standard trolley pitch. The installation position of the detection plate only needs to ensure that it does not protrude outside any side of the narrow-band trolley. Preferably, for example, the detection plate is installed near the downstream side of the narrow-band trolley.

[0029] The matching sensor group 700 and the tracking and positioning sensor group 900 are located below the upper narrowband trolley. When the detection plate 512 of the lead trolley passes the matching sensor group 700 and the tracking and positioning sensor group 900, it can trigger the first photoelectric sensor 001 and the second photoelectric sensor 002. However, when other narrowband trolleys 510 pass the matching sensor group 700 and the tracking and positioning sensor group 900, they can only trigger the first photoelectric sensor 001. Therefore, when each narrowband trolley passes the matching sensor group 700 and the tracking and positioning sensor group 900, it will sequentially trigger four first photoelectric sensors 001, thereby generating four pulse signals. After any narrowband trolley triggers the first first photoelectric sensor on the matching sensor group 700 and the tracking and positioning sensor group 900, when the narrowband trolley continues to move downstream a distance of X / 4, it will trigger the second first photoelectric sensor group. Furthermore, theoretically, when the car moves a distance of X / 4 along the loop, the car matching sensor group 700 and the tracking and positioning sensor group 900 will generate a pulse signal.

[0030] Based on the number of pulse signals generated by the matching sensor group 700 and the tracking and positioning sensor group 900, the number of the narrowband vehicle that currently triggers the matching sensor group 700 or the tracking and positioning sensor group 900 can be determined. The process of determining the corresponding narrowband vehicle number is a known technique and will not be elaborated here.

[0031] When the entire linear narrow strip sorting system is working, as shown in the attached... Figure 5 As shown, the process is as follows: A large number of packages are placed flat on the upper packaging conveyor line 100, either manually or through automated equipment. The upper packaging conveyor line 100 transports the packages to the vision-based single-item separation device 200. The vision-based single-item separation device 200 transports the packages one by one to the DWS device 300. After the DWS device 300 obtains weight information and the target sorting slot, the packages are transported to the guide belt conveyor 400. The guide belt conveyor 400 transports the packages to the linear narrow belt sorting machine 500.

[0032] After the package enters the linear narrow belt sorting machine 500, it moves along the trolley loop towards the sorting slot 800. When the package triggers the package detection sensor, the narrow belt trolley 510 where the package head (the end away from the input end of the linear narrow belt conveyor) is located and its number are determined according to the signal of the trolley matching sensor group 700. The length of the package can be determined based on the duration of the package detection sensor being triggered by the package, or based on the package length determined at DWS, and thus the number of narrow belt trolleys 510 containing the package and the corresponding narrow belt trolley number can be determined.

[0033] After determining the target sorting compartment corresponding to the package and the narrow-band trolley where it is located, the number of sorting start pulses required for the narrow-band trolley where the package is located to move to the sorting start position by the selected tracking and positioning sensor group 900 is determined. The selected tracking and positioning sensor group 900 is the tracking and positioning sensor group 900 matched with the partition P where the target sorting compartment 800 corresponding to the package is located.

[0034] When the narrow-band trolley containing the package triggers the selected tracking and positioning sensor group 900, pulse counting begins. When the pulse count reaches the sorting start pulse count, the narrow-band trolley 510 containing the package starts sorting.

[0035] The number of sorting start pulses required for the narrow-strip cart containing the package to move from the selected tracking and positioning sensor group 900 to the sorting start position is determined based on the distance between the selected tracking and positioning sensor group 900 and the target sorting slot and the detection accuracy of the tracking and positioning sensor group.

[0036] The number of sorting start pulses is calculated according to the following formula: N=(N 目标 -N 首 )*Y / δ, Where N is the number of sorting start pulses, N 目标 N is the grid number of the target sorting grid. 首 N is the slot number of the first sorting slot in the partition where the target sorting slot is located; Y is the entrance width of the sorting slot, which is an integer multiple of the standard pitch X of the trolley; δ is the detection accuracy of the tracking and positioning sensor group. For example, if the target sorting slot of a package is number 15, and its partition includes slots 11-20, then N... 首 It is 11.

[0037] Of course, if the target sorting slot of a package is the first sorting slot of a partition, then when the narrow-band trolley triggers the tracking and positioning sensor group 900 corresponding to the partition, the narrow-band trolley containing the package is controlled to start sorting.

[0038] Since the visual single-piece separation device 200 includes a roller centering machine 210, in existing visual single-piece separation devices 200, the belt conveyor matrix operates at fixed time intervals T. 隔The packages are conveyed one by one to the roller centering machine 210. However, soft-bag packages and irregularly shaped packages often slip on the roller centering machine 210, resulting in significant speed loss. If the soft-bag package or irregularly shaped package that enters the roller centering machine 210 experiences severe speed loss, while the package (box-type package) that enters the roller centering machine 210 does not experience speed loss or experiences very little speed loss, it is easy for the latter package to catch up with the former soft-bag package or irregularly shaped package. This can easily lead to the two packages being mistaken for one package in subsequent sorting, affecting the sorting accuracy.

[0039] In the testing of the visual single-item separation device, the control system stores the time information of different types of packages entering the roller centering machine 210 from different positions, and the time taken for the package to completely enter the roller centering machine 210 and completely leave the roller centering machine 210. The time information includes the theoretical time and the actual time. At the same time, the control system also stores the matching elements such as size, shape, color, pattern, texture, and position of each package obtained by the visual inspection mechanism of the visual single-item separation device 200 for subsequent package matching.

[0040] During normal use, the visual inspection mechanism determines the matching elements of the package to be delivered to the roller centering machine 210. By comparing the matching elements, it is determined which package in the control system matches the package to be delivered to the roller centering machine 210 (the matching elements of the package to be delivered to the roller centering machine 210 are the same as or similar to the matching elements of a certain package in the storage). The time for delivering the next package to the roller centering machine 210 is adjusted according to the duration information of the matched package.

[0041] For example, when it is determined that the package to be transported to the roller centering machine 210 is matched with a soft-bag package, the theoretical and actual transport time of the matched soft-bag package on the roller centering machine 210 are determined, and then the time difference T between the actual and theoretical transport time is determined. 差 The calculation begins after the package to be conveyed to the roller centering machine 210 is delivered to the roller centering machine 210, and the time difference is calculated by the sum of the fixed time interval and the time difference (T) after the timing reaches a certain value. 隔 +T 差 Then the next package is conveyed to the roller centering machine 210.

[0042] Example 2 This embodiment discloses a sorting control system, including: The trolley package binding unit is used to determine the narrow-band trolley where a package is located based on the signals from the package detection sensor and the trolley matching sensor group. The pulse count determination unit is used to determine the number of sorting start pulses required for the narrow strip trolley containing the package to move from the selected tracking and positioning sensor group to the sorting start position after determining the target sorting compartment corresponding to the package and the narrow strip trolley in which it is located. The selected tracking and positioning sensor group is the tracking and positioning sensor group matched to the partition where the target sorting compartment corresponding to the package is located. A pulse counting unit is used to start pulse counting when the narrow-band vehicle containing the package triggers the selected tracking and positioning sensor group; The sorting unit is used to control the narrow-belt trolley containing the package to start sorting when the pulse count reaches the sorting start pulse number.

[0043] This invention has many other embodiments, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of this invention.

Claims

1. A sorting control method based on a linear narrow strip sorting system, wherein the linear narrow strip sorting system includes a linear narrow strip sorter and at least one row of sorting slots located on one side of the linear narrow strip sorter, and a package detection sensor and a trolley matching sensor group are provided at a set position at the input end of the linear narrow strip sorter, characterized in that: The row of sorting slots is divided into multiple partitions, and each partition is matched with a tracking and positioning sensor group. The tracking and positioning sensor group is set within a specified range upstream of the entrance of the first sorting slot in each partition. The sorting control method determines the narrow-band cart where a package is located based on the signals from the package detection sensor and the cart matching sensor group. After determining the target sorting compartment corresponding to the package and the narrow-band trolley where it is located, the number of sorting start pulses required for the narrow-band trolley where the package is located to move from the selected tracking and positioning sensor group to the sorting start position is determined. The selected tracking and positioning sensor group is the tracking and positioning sensor group matched to the partition where the target sorting compartment corresponding to the package is located. When the narrow-band vehicle containing the package triggers the selected tracking and positioning sensor group, pulse counting begins; When the pulse count reaches the sorting start pulse count, the narrow-belt trolley containing the package is controlled to start sorting. The number of sorting start pulses is calculated according to the following formula: N=(N 目标 -N 首 )*Y / δ, Where N is the number of sorting start pulses, N 目标 N is the grid number of the target sorting grid. 首 Y is the grid number of the first sorting grid in the partition where the target sorting grid is located; δ is the entrance width of the sorting grid; and δ is the detection accuracy of the tracking and positioning sensor group.

2. The sorting control method according to claim 1, characterized in that: Each of the partitions has the same length.

3. The sorting control method according to claim 1, characterized in that: The length of the partition is the sum of the widths of the entrances to 5-15 sorting compartments.

4. The sorting control method according to claim 1, characterized in that: The bottom of the frame of each of the narrow-band vehicles is equipped with a detection plate that matches the package detection sensor and tracking and positioning sensor group.

5. The sorting control method according to claim 1, characterized in that: The detection accuracy of the tracking and positioning sensor group is 1 / 4 of the standard car pitch.

6. The sorting control method according to claim 1, characterized in that: The linear narrow-band sorting system uses a visual single-item separation device to transport packages one by one to the linear narrow-band sorting machine.

7. The sorting control method according to claim 6, characterized in that: The visual single-piece separation device, the package roller centering machine, has a control system that pre-stores the time information of different types of packages entering the roller centering machine from different positions, as well as the time information of the packages being transported on the roller centering machine. The time information includes the theoretical time and the actual time. In subsequent operations, the vision-based single-item separation device determines which package stored in the control system matches the package to be output to the roller centering machine, and adjusts the time for delivering the next package to the roller centering machine based on the duration information of the matched package.

8. A sorting control system for implementing the sorting control method as described in any one of claims 1-7, characterized in that: include: The trolley package binding unit is used to determine the narrow-band trolley where a package is located based on the signals from the package detection sensor and the trolley matching sensor group. The pulse count determination unit is used to determine the number of sorting start pulses required for the narrow strip trolley containing the package to move from the selected tracking and positioning sensor group to the sorting start position after determining the target sorting compartment corresponding to the package and the narrow strip trolley in which it is located. The selected tracking and positioning sensor group is the tracking and positioning sensor group matched to the partition where the target sorting compartment corresponding to the package is located. A pulse counting unit is used to start pulse counting when the narrow-band vehicle containing the package triggers the selected tracking and positioning sensor group; The sorting unit is used to control the narrow-belt trolley containing the package to start sorting when the pulse count reaches the sorting start pulse number.

9. A linear narrow-strip sorting system for implementing the sorting control method as described in any one of claims 1-7, comprising a linear narrow-strip sorting machine and at least one row of sorting slots located on one side of the linear narrow-strip sorting machine, wherein a package detection sensor and a trolley matching sensor group directly opposite the package detection sensor are provided at a set position at the input end of the linear narrow-strip sorting machine, characterized in that: The row of sorting slots is divided into multiple partitions, and each partition is matched with a tracking and positioning sensor group. The tracking and positioning sensor group is set within a specified range upstream of the entrance of the first sorting slot in each partition.

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