Logistics sorting system and method

Abstract

The present invention discloses a logistics sorting system and method, characterized in that it comprises: a closed-loop track assembly and a group of RGV carriages; the closed-loop track assembly comprises a closed-loop track, the closed-loop track is fixedly connected to two groups of evenly distributed support vertical rods, and the two groups of evenly distributed support vertical rods are respectively fixedly connected to two groups of symmetrical inclined plane brackets; the RGV carriage comprises a main beam, one side of the main beam is fixedly connected to a transmission plate bracket, and the upper side of the transmission plate bracket is fixedly connected to a transmission plate. The present invention relates to the field of logistics sorting technology, and specifically, to a logistics sorting system and method. The technical problem to be solved by the present invention is to provide a logistics sorting system and method, which provides a smoother and more efficient connection between package operation and track operation, can transmit two packages of different sizes or the same size at one time, improves the single-point vehicle flow, realizes the operation of packages of different sizes on the same path, improves the sorting efficiency, and saves space and personnel.

Description

Technical Field

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

[0002] With the rise of intelligent manufacturing in the world, the logistics industry has also ushered in intelligence. Automated Guided Vehicle (AGV) and Rail Guided Vehicle (RGV) are an indispensable part of the automated logistics system. This intelligent vehicle can transport goods, so it plays an important role in the automated logistics system. It can not only improve the efficiency of transportation, but also reduce transportation costs and reduce the occupation of operating space.

[0003] Main products of the same type:

[0004] RGV is widely used in logistics systems, with the characteristics of fast speed, high reliability and low cost. RGV, also known as rail shuttle, is a transport vehicle that contacts the ground rail. According to its different functions, it can be divided into two types: assembly-type RGV system and transport-type RGV system, which are mainly used for material transportation, workshop assembly, etc. Its movement mode can be divided into circular motion type and linear reciprocating type. The circular track RGV system is highly efficient and can work on multiple vehicles and multiple layers at the same time. It generally uses a circular track and rotates along the horizontal plane; the linear reciprocating type generally has multiple RGVs rolling in a ring-shaped manner vertical to the horizontal plane. The efficiency is relatively low compared to the circular motion RGV system, but it occupies a small area. Regardless of the movement mode, the trolley is mainly composed of a frame, main wheels, back wheels, transmission system, communication system, electrical system and various cover panels. In the existing document CN110180788A, a RGV vehicle is provided, which moves along the tracks crisscrossing in the x and y directions. The vehicle is provided with rollers moving along the x direction, rollers moving along the y direction, and a lifting assembly. By controlling the action of the lifting assembly, the rollers are separated from or contacted with the tracks. When in contact, the vehicle can run in one direction. This arrangement delays the time when the vehicle changes direction, and the transportation efficiency is low. This RGV detects whether the package is received through a belt conveyor, and drops the package to the grid through the rotation of the belt conveyor. Only one package can be transmitted at a time, and the transportation efficiency is low and the transportation cost is too high. The prior art CN209684570U discloses a high-efficiency automatic sorting shelf, which is installed on an AGV or RGV vehicle, and the corresponding mobile sorting platform is driven to move in the height direction of the shelf body through a lifting mechanism. Although the RGV vehicle equipped with this sorting shelf can sort multiple orders at the same time, the mobile sorting platform is constantly lifted and lowered, which not only requires a lot of equipment and has a large loss, but also has a low sorting efficiency. The cross-belt sorting system introduced from abroad can only increase efficiency by increasing speed on a single layer, which greatly shortens the service life of the equipment and increases the risk of using the equipment. Multi-layers increase costs and require multiple control systems. The imported linear sorting machine wastes half of its efficiency due to the half-circle of driving. Its structural characteristics prevent it from designing too many flow directions. Large flow directions must be graded and cannot meet application needs. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a logistics sorting system and method, which makes the connection between package operation and track operation smoother and more efficient, can transport two packages of different sizes or the same size at one time, improves the single-point vehicle flow, realizes the operation of packages of different sizes on the same path, improves the sorting efficiency, and saves space and personnel.

[0006] The present invention adopts the following technical solutions to achieve the invention objectives:

[0007] A logistics sorting system and method, characterized in that it comprises: a closed-loop track assembly and a group of RGV vehicles; the closed-loop track assembly comprises a closed-loop track, the closed-loop track is fixedly connected to two groups of evenly distributed support vertical rods, and the two groups of evenly distributed support vertical rods are respectively fixedly connected to two groups of symmetrical inclined plane brackets; the RGV vehicle comprises a main beam, one side of the main beam is fixedly connected to a transmission plate bracket, the upper side of the transmission plate bracket is fixedly connected to a transmission plate, the main beam is fixedly connected to a main frame, a first conveyor is installed on the main frame, a sub-frame is arranged on the lower side of the main beam, and a second conveyor is installed on the sub-frame; the main beam is fixedly connected to a front hinge, the main beam is fixedly connected to a symmetrical main shaft, the symmetrical main shafts are respectively bearing-connected to symmetrical main wheels, the symmetrical main shafts are respectively bearing-connected to supporting wheels, the main wheels move forward along the upper side of the closed-loop track, and the supporting wheels move forward along the side of the closed-loop track to prevent derailment and steering when turning.

[0008] As a further limitation of the technical solution, the sub-frame is rotatably connected to the adjustable universal joint bracket through a symmetrical hinge, the front adjustable universal joint bracket is rotatably connected to the universal joint, and the rear adjustable universal joint bracket is fixedly connected to the universal joint.

[0009] As a further limitation of the present technical solution, the main beam is fixedly connected to a control module, a communication module and a power supply integration, and the communication module and the power supply integration are electrically connected to the control module respectively.

[0010] As a further limitation of the present technical solution, it also includes a sorting device, which includes an upper inner slide, an upper outer slide, a lower inner slide, a lower outer slide, an inner ring cargo collecting port and an outer ring cargo collecting port, a group of the upper inner slides are respectively fixedly connected to the corresponding inclined plane brackets on the upper side, a group of the upper outer slides are respectively fixedly connected to the corresponding inclined plane brackets on the upper side, a group of the lower inner slides are respectively fixedly connected to the corresponding inclined plane brackets on the lower side, a group of the lower outer slides are respectively fixedly connected to the corresponding inclined plane brackets on the lower side, the inner ring cargo collecting port is arranged on the lower side of the upper inner slide and the lower side of the exit end of the upper outer slide, and the outer ring cargo collecting port is arranged on the lower side of the lower inner slide and the lower outer slide.

[0011] As a further limitation of the technical solution, a collector arm is installed on the main beam.

[0012] As a further limitation of the technical solution, it also includes a package supply device A and a package supply device B, the package supply device A and the package supply device B are respectively arranged on one side of the closed-loop track, the package supply device A and the package supply device B respectively include a package supply conveyor belt, the package supply conveyor belt is installed on a support frame, the package supply conveyor belt is fixedly connected to a mounting frame, the top of the mounting frame is fixedly connected to an industrial camera, and a mechanical arm that can slide along the height direction is installed on the mounting frame.

[0013] As a further limitation of the present technical solution, the closed-loop track assembly also includes a closed-loop guide rail, the bottom plate center bearing of the sub-frame is connected to symmetrical balance wheels, and the symmetrical balance wheels respectively contact the closed-loop guide rail.

[0014] A sorting method for a logistics sorting system comprises the following steps:

[0015] S1: placing the parcel to be distributed on the support frame, placing the parcel to be distributed on the parcel supply conveyor belt, scanning the parcel to be distributed by the industrial camera, and determining the RGV driving and sorting port to be allocated to the parcel according to the scanning result;

[0016] S2: According to the scanning result, the robot arm is controlled to move, the package to be delivered is clamped, and the package is placed on the corresponding first conveyor or second conveyor;

[0017] S3: Control the RGV to move along the closed-loop track, determine its position according to the communication module, and match it with the corresponding outer ring cargo collection port or the inner ring cargo collection port;

[0018] S4: Control the first conveyor or the second conveyor so that the parcels to be distributed on the first conveyor enter the inner ring cargo collection port via the upper inner slide, the parcels to be distributed on the first conveyor enter the outer ring cargo collection port via the upper outer slide, the parcels to be distributed on the second conveyor enter the inner ring cargo collection port via the lower inner slide, and the parcels to be distributed on the second conveyor enter the outer ring cargo collection port via the lower outer slide, so as to realize cargo sorting.

[0019] Compared with the prior art, the advantages and positive effects of the present invention are:

[0020] 1. The present invention can convey parcels of different specifications corresponding to two different sorting ports at one time and convey them to the sorting area together. Through the respective actions of the double-layer conveyor, the parcels can be conveyed to different sorting ports, thereby improving the sorting efficiency. The cross-belt system currently used must separate large and small pieces (pieces in the package), and large pieces occupy the site and sorting personnel separately for sorting, which results in repeated labor and large site occupation. The present invention basically solves the above problems and pain points.

[0021] 2. The logistics sorting system provided by the present invention can run express parcels of various sizes (more than two specifications) on a unified production line at the same time, and the parcels fall into the designated sorting grids, i.e., the outer ring cargo collection port and the inner ring cargo collection port, because the upper and lower layers of the RGV trolley can be of different sizes. The sorting efficiency is high. Due to the unique arrangement of the sorting grids of the present invention, the sorting grids are arranged front to back, not side by side (compared with the imported cross belt), which greatly saves site occupation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic diagram of RGV driving of the present invention Figure 1 .

[0023] Figure 2 Schematic diagram of RGV driving of the present invention Figure 2 .

[0024] Figure 3 It is a schematic diagram of the installation of the RGV vehicle of the present invention.

[0025] Figure 4 It is a front view of the RGV vehicle installation of the present invention.

[0026] Figure 5 It is a side view of the RGV crane installation of the present invention.

[0027] Figure 6 This is the overall structural diagram of the logistics sorting system of the present invention.

[0028] Figure 7 It is a schematic diagram of the docking state of the RGV crane and the bag supply device of the present invention.

[0029] Figure 8 It is a schematic diagram of the arrangement of the sorting device of the present invention.

[0030] In the figure: 1, first conveyor, 2, main frame, 3, main wheel, 4, front hinge, 5, main shaft, 6, back wheel, 7, auxiliary frame, 8, second conveyor, 9, transmission plate, 10, collector arm, 11, main beam, 12, universal joint, 13, balance wheel, 14, adjustable universal joint bracket, 15, hinge, 16, transmission plate bracket, 17, control module, 18, communication module, 19, power integration, 20, large Size express, 21. Closed-loop track, 22. Small size express, 23. Closed-loop guide rail, 24. Inclined bracket, 25. Support vertical rod, 26. Package supply conveyor belt, 27. Support frame, 30. Industrial camera, 31. Mounting frame, 32. Robotic arm, 33. Upper outer slide, 34. Lower outer slide, 35. Outer ring cargo collection port, 36. Upper inner slide, 37. Lower inner slide, 38. Inner ring cargo collection port. DETAILED DESCRIPTION

[0031] A specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation.

[0032] The present invention comprises: a closed-loop track assembly and a group of RGV vehicles; the closed-loop track assembly comprises a closed-loop track 21, the closed-loop track 21 is fixedly connected to two groups of evenly distributed support vertical rods 25, and the two groups of evenly distributed support vertical rods 25 are respectively fixedly connected to two groups of symmetrical inclined plane brackets 24; the RGV vehicle comprises a main beam 11, one side of the main beam 11 is fixedly connected to a transmission plate bracket 16, the upper side of the transmission plate bracket 16 is fixedly connected to a transmission plate 9, the main beam 11 is fixedly connected to a main frame 2, the main A first conveyor 1 is installed on the frame 2, a sub-frame 7 is provided at the lower side of the main beam 11, and a second conveyor 8 is installed on the sub-frame 7; the main beam 11 is fixedly connected to the front hinge 4, and the main beam 11 is fixedly connected to the symmetrical main shafts 5, and the symmetrical main shafts 5 are respectively connected to the symmetrical main wheels 3 by bearings, and the symmetrical main shafts 5 are respectively connected to the supporting wheels 6 by bearings, and the main wheels 3 move forward along the upper side of the closed-loop track 21, and the supporting wheels 6 move forward along the side of the closed-loop track 21 to prevent derailment and steering when turning.

[0033] The second conveyor 8 may be a multi-layer conveyor.

[0034] The first conveyor 1 and the second conveyor 8 are installed relatively independently without any structural connection or interference. They can be the same or different in size. When one layer of conveyor is unloaded separately, the entire RGV can continue to work. Since the conveyors are connected separately and movably, they do not interfere with each other during movement. Conveyors of different sizes can be replaced to transport items of different categories.

[0035] The main wheels 3 and the supporting wheels 6 are arranged opposite to each other on the left and right sides and are arranged along the running direction of the RGV, matching with the closed-loop track 21 and rolling along the track.

[0036] The driving power source of RGV is achieved by the transmission plate 9 driving the friction wheel set through the linear module or the motor. The transmission plate 9 can also be changed into a chain system.

[0037] When a linear module is used, the linear module is installed on a closed-loop track 21, the track of the linear module is embedded with a slider, and the slider is fixedly connected to a transmission plate 9 to drive the RGV to move.

[0038] When driven by a motor, multiple motors are installed on the closed-loop track 21, and the motor output shaft is connected to the friction wheel, and the friction wheel contacts the transmission plate 9. When the motor rotates, the transmission plate 9 is driven to move by friction force.

[0039] When a chain system is used, the transmission plate 9 is connected to the chain, and the chain movement is realized by using an external motor to drive the sprocket to rotate, thereby realizing the movement of the chain and the transmission plate 9.

[0040] The RGV driving transmission system (driving plate 9 and main beam 11) is not placed at the geometric center of the entire RGV driving direction, but is offset, mainly to provide a geometric center for the second conveyor 8, in order to improve the flexibility of the entire system (extend the service life of the equipment).

[0041] The sub-frame 7 is rotatably connected to the adjustable universal joint bracket 14 through a symmetrical hinge 15 . The front adjustable universal joint bracket 14 is rotatably connected to the universal joint 12 , and the rear adjustable universal joint bracket 14 is fixedly connected to the universal joint 12 .

[0042] The main wheel 3 and the supporting wheel 6 are a pair of wheels opposite to each other on the left and right sides, which are tangent to the top surface and the inner side surface of the track respectively. The front RGV carriage and the rear RGV carriage are hinged through the universal joint 12 and matched with the closed-loop track 21. The supporting wheel 6 plays a guiding role for the carriage, guiding the RGV carriage to turn along the closed-loop track 21 and preventing the RGV carriage from derailing.

[0043] The main beam 11 is fixedly connected to a control module 17 , a communication module 18 and a power integration 19 , and the communication module 18 and the power integration 19 are electrically connected to the control module 17 , respectively.

[0044] The RGV vehicle rolls forward on the closed-loop track 21 through the main wheels 3 and the supporting wheels 6. The first conveyor 1 is above the main frame 2, and the second conveyor 8 (a multi-layer conveyor can be used) is suspended on the sub-frame 7. The first conveyor 1 and other conveyors can be of different sizes, which means that goods of different sizes can be transported at the same time, and are respectively docked with the packaging device A and the packaging device B in height and position. The communication module 18 is used to receive instructions, and the control module 17 controls the operation of the first conveyor 1 and the second conveyor 8 according to the instructions. The power supply integration 19 supplies power to the first conveyor 1, the second conveyor 8, the control module 17 and the communication module 18 of the RGV vehicle.

[0045] The communication module 18 is wirelessly connected to the host.

[0046] The RGV vehicle also includes a positioning module for collecting the location information of the RGV vehicle and sending the location information to the host through the communication module 18.

[0047] The motion control of the first conveyor 1 and the second conveyor 8 is completed by the control module 17. The host calculates the speed operation plan of each RGV vehicle, communicates with the RGV vehicle in real time through wireless Ethernet, collects the position information and speed information of the RGV vehicle, and sends control instructions to the RGV vehicle. The RGV vehicle runs on the closed-loop track 21 according to the control instructions, drives to the entry and exit general sorting device, and docks with the corresponding sorting port.

[0048] The power source integration 19 is a sliding power transmission device.

[0049] The main beam 11 is provided with a collector arm 10 , which is a busbar collector. The power source integration 19 is electrically connected to the collector arm 10 .

[0050] The closed-loop track 21 is a circular guide rail with cables installed. The power supply integration 19 can be a rechargeable battery structure or a sliding power transmission device, which draws power from the cables arranged on the track through the collector arm 10.

[0051] It also includes a sorting device, which includes an upper inner slide 36, an upper outer slide 33, a lower inner slide 37, a lower outer slide 34, an inner ring cargo collection port 38 and an outer ring cargo collection port 35. A group of the upper inner slides 36 are respectively fixedly connected to the corresponding inclined plane brackets 24 on the upper side, a group of the upper outer slides 33 are respectively fixedly connected to the corresponding inclined plane brackets 24 on the upper side, a group of the lower inner slides 37 are respectively fixedly connected to the corresponding inclined plane brackets 24 on the lower side, and a group of the lower outer slides 34 are respectively fixedly connected to the corresponding inclined plane brackets 24 on the lower side. The inner ring cargo collection port 38 is arranged at the lower side of the upper inner slide 36 and the lower side of the exit end of the upper outer slide 33, and the outer ring cargo collection port 35 is arranged at the lower side of the lower inner slide 37 and the lower side of the lower outer slide 34. The inner ring cargo collection port 38 and the outer ring cargo collection port 35 are arranged perpendicular to the direction of the track 21.

[0052] It also includes a package supply device A and a package supply device B, which are respectively arranged on one side of the closed-loop track 21. The package supply device A and the package supply device B respectively include a package supply conveyor belt 26, which is installed on a support frame 27. The package supply conveyor belt 26 is fixedly connected to a mounting frame 31, and the top of the mounting frame 31 is fixedly connected to an industrial camera 30. A mechanical arm 32 that can slide along the height direction is installed on the mounting frame 31. The industrial camera 30 takes a picture of the package appearance, and recognizes the barcode on the package at the same time. The picture and the recognition result are uploaded to the host. The host issues an instruction to the sorting grid of the destination of the package. The package supply device passes the package to the corresponding RGV vehicle, and binds the first conveyor 1 or the second conveyor 8. The RGV vehicle runs to the assigned sorting port and causes the conveyor to operate. The sorting grids are the inner ring cargo collection port 38 and the outer ring cargo collection port 35.

[0053] The support frame 27 is an extended three-section package supply platform, and the middle section is used as a package buffer to improve the package supply efficiency, so that the goods wait for the RGV to drive and queue up for boarding.

[0054] Large-sized express parcels 20 are placed on the first conveyor 1 , and small-sized express parcels 22 are placed on the second conveyor 8 .

[0055] The closed-loop track assembly further comprises a closed-loop guide rail 23 , and the bottom plate center bearing of the sub-frame 7 is connected to symmetrical balance wheels 13 , and the symmetrical balance wheels 13 contact the closed-loop guide rail 23 respectively.

[0056] The two balance wheels 13 are polymer compound tires installed with their axes vertically, and there is a closed-loop guide rail 23 between the two tires to ensure the stability of the normal plane of the moving plane when the entire trolley is moving.

[0057] The balance wheel 13 prevents the second conveyor 8 from swinging outward when it deflects and turns.

[0058] A sorting method for a logistics sorting system comprises the following steps:

[0059] S1: placing the parcel to be distributed on the support frame 27, placing the parcel to be distributed on the parcel supply conveyor belt 26, scanning the parcel to be distributed by the industrial camera 30, and determining the RGV driving and sorting port to be allocated to the parcel according to the scanning result;

[0060] S2: According to the scanning result, the robot arm 32 is controlled to move, to grab the package to be distributed, and to place it on the corresponding first conveyor 1 or second conveyor 8;

[0061] S3: Control the RGV to move along the closed-loop track 20, and determine its position according to the communication module 18 so that it matches the corresponding outer-loop cargo collection port 35 or the inner-loop cargo collection port 38;

[0062] S4: Control the first conveyor 1 or the second conveyor 8 so that the parcels to be distributed on the first conveyor 1 enter the inner ring cargo collection port 38 via the upper inner slide 36, the parcels to be distributed on the first conveyor 1 enter the outer ring cargo collection port 35 via the upper outer slide 33, the parcels to be distributed on the second conveyor 8 enter the inner ring cargo collection port 38 via the lower inner slide 37, and the parcels to be distributed on the second conveyor 8 enter the outer ring cargo collection port 35 via the lower outer slide 34, so as to realize cargo sorting.

[0063] The above disclosure is only a specific embodiment of the present invention, but the present invention is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A logistics sorting system, characterized in that: include: Closed-loop track assembly and a set of RGV carriages; The closed-loop track assembly comprises a closed-loop track (21), wherein the closed-loop track (21) is fixedly connected to two groups of evenly distributed support vertical rods (25), and the two groups of evenly distributed support vertical rods (25) are respectively fixedly connected to two groups of symmetrical inclined plane brackets (24); The RGV vehicle comprises a main beam (11), one side of the main beam (11) is fixedly connected to a transmission plate bracket (16), the upper side of the transmission plate bracket (16) is fixedly connected to a transmission plate (9), the main beam (11) is fixedly connected to the lower side of a main frame (2), a first conveyor (1) is mounted on the main frame (2), a sub-frame (7) is arranged on the lower side of the main beam (11), and a second conveyor (8) is mounted on the sub-frame (7); The main beam (11) is fixedly connected to the front hinge (4), the main beam (11) is fixedly connected to symmetrical main shafts (5), the symmetrical main shafts (5) are respectively connected to symmetrical main wheels (3) by bearings, the symmetrical main shafts (5) are respectively connected to supporting wheels (6) by bearings, the main wheels (3) move forward along the upper side of the closed-loop track (21), and the supporting wheels (6) move forward along the side of the closed-loop track (21) to prevent derailment and to steer when turning; The main frame (2) is offset in the horizontal direction relative to the transmission plate (9) and the main beam (11); The sorting device also includes a sorting device, which includes an upper inner slide (36), an upper outer slide (33), a lower inner slide (37), a lower outer slide (34), an inner ring cargo collection port (38) and an outer ring cargo collection port (35); a group of the upper inner slides (36) are respectively fixedly connected to the inclined brackets (24) corresponding to the upper side; a group of the upper outer slides (33) are respectively fixedly connected to the inclined brackets (24) corresponding to the upper side; a group of the lower inner slides (37) are respectively fixedly connected to the inclined brackets (24) corresponding to the lower side; a group of the lower outer slides (34) are respectively fixedly connected to the inclined brackets (24) corresponding to the lower side; the inner ring cargo collection port (38) is arranged at the lower side of the outlet ends of the upper inner slide (36) and the upper outer slide (33); and the outer ring cargo collection port (35) is arranged at the lower side of the lower inner slide (37) and the lower outer slide (34).

2. The logistics sorting system according to claim 1, characterized in that: The auxiliary frame (7) is rotatably connected to an adjustable universal joint bracket (14) via a symmetrical hinge (15); the front adjustable universal joint bracket (14) is rotatably connected to a universal joint (12); and the rear adjustable universal joint bracket (14) is fixedly connected to the universal joint (12).

3. The logistics sorting system according to claim 2, characterized in that: The main beam (11) is fixedly connected to a control module (17), a communication module (18) and a power integration (19); the communication module (18) and the power integration (19) are respectively electrically connected to the control module (17).

4. The logistics sorting system according to claim 3, characterized in that: A current collecting arm (10) is mounted on the main beam (11).

5. The logistics sorting system according to claim 4, characterized in that: It also includes a package supply device A and a package supply device B, the package supply device A and the package supply device B are respectively arranged on one side of the closed-loop track (21), the package supply device A and the package supply device B respectively include a package supply conveyor belt (26), the package supply conveyor belt (26) is installed on a support frame (27), the package supply conveyor belt (26) is fixedly connected to a mounting frame (31), the top of the mounting frame (31) is fixedly connected to an industrial camera (30), and a mechanical arm (32) that can slide in a height direction is installed on the mounting frame (31).

6. The logistics sorting system according to claim 1, characterized in that: The closed-loop track assembly also includes a closed-loop guide rail (23), the bottom plate center bearing of the sub-frame (7) is connected to symmetrical balance wheels (13), and the symmetrical balance wheels (13) respectively contact the closed-loop guide rail (23).

7. The sorting method of the logistics sorting system according to claim 5, characterized in that: The following steps are involved: S1: placing the parcel to be dispatched on the support frame (27), placing the parcel to be dispatched on the parcel supply conveyor belt (26), scanning the parcel to be dispatched with the industrial camera (30), and determining the RGV driving and sorting port to be allocated to the parcel according to the scanning result; S2: According to the scanning result, the robot arm (32) is controlled to move, to grab the package to be distributed, and to place it on the corresponding first conveyor (1) or second conveyor (8); S3: Controlling the RGV to move along the closed-loop track (21), and determining its position according to the communication module (18) so as to match the corresponding outer-loop cargo collection port (35) or the inner-loop cargo collection port (38); S4: Control the first conveyor (1) or the second conveyor (8) so that the parcels to be dispatched on the first conveyor (1) enter the inner ring cargo collection port (38) via the upper inner slide (36), the parcels to be dispatched on the first conveyor (1) enter the outer ring cargo collection port (35) via the upper outer slide (33), the parcels to be dispatched on the second conveyor (8) enter the inner ring cargo collection port (38) via the lower inner slide (37), and the parcels to be dispatched on the second conveyor (8) enter the outer ring cargo collection port (35) via the lower outer slide (34), thereby realizing cargo sorting.

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