Package loading method and system and sorting system

Abstract

According to the parcel feeding method, a side parcel supply table is arranged on the side portion of a linear narrow-band sorting device, the first sorting position of the linear narrow-band sorting device is connected with an abnormal return line, and the abnormal return line is connected with the input end of the side parcel supply table. When it is determined that the sorting position information of a piece of goods is not obtained, the goods can be directly conveyed to a nearby sorting abnormal return line and conveyed to the side parcel supply table to be loaded again, manual carrying is not needed, meanwhile, the parcel loading process of the side parcel supply table is controlled, and the parcel loading efficiency is improved. Interference between goods supplied by the side package supply table and goods supplied by the head package supply system can be effectively avoided, the timeliness of backflow goods processing and the accuracy of sorting are effectively guaranteed, and sorting efficiency is improved.

Description

Technical Field

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

[0002] The straight narrow belt sorting system is a commonly used sorting device in the loading and unloading vehicle scenario. The invention patent application with the publication number CN115889236A discloses a commonly used straight narrow belt sorting system, which generally includes a straight narrow belt sorting device, DWS devices connected to both ends of the straight narrow belt sorting device, and a return chute.

[0003] However, during actual sorting, there are some situations where the sorting position information of goods cannot be obtained effectively due to damaged or dirty barcodes. At this time, it is necessary to make these goods without sorting position information enter the return chute.

[0004] Since the return chute and the DWS device are located at both ends of the straight narrow belt sorting device, it is very difficult to set up a return conveyor line between them to convey the goods to the input end of the DWS device, which brings great inconvenience to the sorting of the returned goods. Summary of the Invention

[0005] The purpose of the present invention is to solve the above problems existing in the prior art, and provide a bag loading method, system and sorting system.

[0006] The purpose of the present invention is achieved through the following technical solutions: A bag loading method, comprising the following steps: S1, controlling the side bag supply table to start conveying the goods entering it. The side bag supply table is connected to the side of the straight narrow belt sorting device, and its input end is connected to the abnormal return line. The input end of the abnormal return line is connected to the first sorting position of the straight narrow belt sorting device, and it is on the same side of the straight narrow belt sorting device as the side bag supply table; S2, determining the number of narrow belt trolleys that the goods need to match; S3, reserving narrow belt trolleys for the goods according to the number of the narrow belt trolley where the real-time dynamic matching point is located and the number of narrow belt trolleys that need to be matched; S4, determining whether the reserved narrow belt trolley is occupied. If so, execute S5; if not, execute S6; S5, after adjusting the number of the narrow belt trolley where the real-time dynamic matching point is located, reserve the narrow belt trolley again, and execute S4; S6, controlling the bag supply speed of the side bag supply table to make the goods enter the reserved target narrow belt trolley.

[0007] Preferably, the number of narrow - band trolleys that the goods need to be matched with, the number of the narrow - band trolley where the real - time dynamic matching point is located, and the parameters required to control the bag - feeding speed of the side bag - feeding table are determined according to the signal triggered by the goods on the light curtain at the side bag - feeding table.

[0008] Preferably, the number of the narrow - band trolley where the real - time dynamic matching point is located is determined according to the following formula: R 动 =R 初 +[L 包 ×cosγ+W 包 ×sinγ] / p; where, R 动 is the number of the narrow - band trolley where the real - time dynamic matching point corresponding to the center of the goods is located after the goods completely leave the light curtain; R 初 is the number of the narrow - band trolley where the initial real - time dynamic matching point corresponding to the minimum detection point of the light curtain is located; L 包 is half of the first length of the goods in the bag - feeding direction; γ is the included angle between the bag - feeding direction of the linear narrow - band sorting device and the bag - feeding direction of the side bag - feeding table; W 包 is half of the width of the goods; p is the narrow - band trolley intercept.

[0009] Preferably, in S5, the number of the narrow - band trolley where the new real - time dynamic matching point is located is determined by adding 1 to the number of the narrow - band trolley where the previous real - time dynamic matching point is located.

[0010] Preferably, in S5, the bag - feeding of the side bag - feeding table is controlled according to the determined bag - feeding speed that the side bag - feeding table needs to be adjusted to and the adjustment time when operating at the bag - feeding speed that needs to be adjusted to.

[0011] Preferably, the bag - feeding speed that needs to be adjusted to is calculated according to the following formula: V 调 =V 分 / COSγ; where, V 调 is the bag - feeding speed that needs to be adjusted to; V 分 is the component speed of the bag - feeding speed that needs to be adjusted to in the bag - feeding direction of the linear narrow - band sorting device; γ is the included angle between the bag - feeding direction and the bag - feeding direction of the side bag - feeding table.

[0012] Preferably, the adjustment time is calculated according to the following formula: t 调 =(d 余 +d dif ) / V 主-(V 主 -V 分 ) / a 分 -(V 初分 -V 分 ) / a 分 ; d 余 =(V 主 ²-V 分 ²) / (2×a 分 )+(V 分 ²-V 初分 ) / (2×a 分 )+V 分 ×t 调 ; where t 调 is the adjustment time; d 余 is the remaining adjustable distance of the goods in the bag feeding direction; d dif is the distance in the bag feeding direction between the center of the goods and the midpoint of the target narrow belt trolley in the bag feeding direction when the goods completely leave the light curtain; V 主 is the running speed of the trolley loop; V 分 is the component speed of the bag feeding speed to be adjusted in the bag feeding direction; V 初分 is the component speed of the initial bag feeding speed of the side bag feeding table in the bag feeding direction; a 分 is the component acceleration of the side bag feeding table in the bag feeding direction.

[0013] Preferably, the d 余 is calculated according to the following formula: d 余 =d 可 ×COSγ; d 可 =Min{d 调n -[V 初 / (t 下 -t n上 )]}; d 调n =n×(d max -d Min ) / m+d Min ; where d 可 is the remaining adjustable distance of the goods in the bag feeding direction; d 调n is the adjustable distance of the goods in the bag feeding direction when the nth detection point of the light curtain detects the goods; V初 is the initial bag supply speed of the side bag supply table; t 下 is the time from when the goods start to trigger the light curtain to when the goods completely leave the light curtain; t n上 is the time from when the goods start to trigger the light curtain to when the nth detection point of the light curtain starts to detect the goods; n is the number of the nth detection point of the light curtain; d max is the distance between the maximum detection point of the light curtain and the output end of the side bag supply table in the bag supply direction; d Min is the distance between the minimum detection point of the light curtain and the output end of the side bag supply table in the bag supply direction; m is the total number of detection points of the light curtain.

[0014] Preferably, the d dif is calculated according to the following formula: d dif = (R 目标 - R 动 ) × p; Where: R 目标 is the number of the narrow - band trolley where the real - time dynamic matching point is located when determining the target narrow - band trolley; R 动 is the number of the narrow - band trolley where the real - time dynamic matching point corresponding to the center of the goods is located after the goods completely leave the light curtain; P is the narrow - band trolley intercept.

[0015] The bag - loading system includes: A starting unit for controlling the side bag supply table to start transporting the goods entering it; the side bag supply table is connected to the side of the linear narrow - band sorting device, and its input end is connected to the abnormal return line, the input end of the abnormal return line is connected to the first sorting position of the linear narrow - band sorting device and it is on the same side of the linear narrow - band sorting device as the side bag supply table; A car - number determination unit for determining the number of narrow - band trolleys that the goods need to be matched with; A reservation unit for reserving narrow - band trolleys for the goods according to the number of the narrow - band trolley where the real - time dynamic matching point is located and the number of narrow - band trolleys that need to be matched; An occupancy judgment unit for determining whether the reserved narrow - band trolley is occupied; A re - reservation unit for, when it is determined that the reserved target narrow - band trolley is occupied, determining the number of the narrow - band trolley where the new real - time dynamic matching point is located and then re - reserving the narrow - band trolley and sending a signal to the occupancy judgment unit; An adjustment feeding unit is used to control the feeding speed of the side feeding table to enable the goods to enter a reserved target narrow-band trolley when it is determined that the reserved target narrow-band trolley is not occupied.

[0016] A sorting system includes a processor and a memory. A program executable by the processor is stored in the memory. When the program is executed, the above-mentioned bagging method is implemented.

[0017] The advantages of the technical solution of the present invention are mainly reflected in: In the present invention, a side feeding table is arranged on the side of a linear narrow-band sorting device, and the first sorting position of the linear narrow-band sorting device is connected to an abnormal return line, and the abnormal return line is connected to the input end of the side feeding table. Therefore, when it is determined that a piece of goods does not obtain sorting position information, it can be directly sorted into the nearby abnormal return line and conveyed to the side feeding table to realize bagging again without manual handling. At the same time, by controlling the bagging process of the side feeding table, it can effectively avoid interference between the goods supplied by the side feeding table and the goods supplied by the head feeding system, effectively ensuring the timeliness of handling the returned goods and the accuracy of sorting, which is beneficial to improving the sorting efficiency.

[0018] The data required for various calculations of the present invention can be obtained through a light curtain, and the implementation method is simple, easy to implement, and the equipment cost is low. Description of the Drawings

[0019] Figure 1 is a partial top view of the sorting system of the present invention; Figure 2 is a top view of the side feeding table of the present invention; Figure 3 is a schematic diagram of the light curtain of the present invention for detecting packages; Figure 4 is a schematic process diagram of the bagging method of the present invention. Detailed Embodiments

[0020] The purpose, advantages and features of the present invention will be illustrated and explained by the following non-limiting description of preferred embodiments. These embodiments are only typical examples of applying the technical solution of the present invention, and any technical solutions formed by equivalent substitution or equivalent transformation fall within the scope of protection required by the present invention.

[0021] In the description of the solution, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of description and simplification of the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation on the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0022] Embodiment 1 The following describes the upper packaging method disclosed by the present invention in conjunction with the drawings. The upper packaging method is based on a sorting system, as shown in the attached Figure 1 figures. The sorting system includes a linear narrow belt sorting device 100. A head bag supply system 200 is provided at one end of the linear narrow belt sorting device 100. A side bag supply table 300 is provided on the side of the linear narrow belt sorting device 100. The side bag supply table 300 includes a workbench 310, a first belt conveyor 320, a second belt conveyor 330, and an inlet narrow belt machine 340 arranged in sequence. The inlet narrow belt machine is connected to the workbench 310 on the side of the linear narrow belt sorting device. A bull's eye bearing 311 is provided on the workbench 310 and is connected to an abnormal return line 400. The abnormal return line 400 is connected to the first sorting position on the side of the linear narrow belt sorting device. Therefore, goods that do not obtain sorting position information will be sorted to the abnormal return line 400 at the first sorting position. The abnormal return line 400 will transport the goods to the workbench 310. Workers perform barcode scanning or supplement the barcode information corresponding to the goods or re-paste the barcode at the workbench, and then put the goods into the side bag supply table 300 for conveying and bag supply.

[0023] Since the head bag supply system 200 continuously supplies bags, when the side bag supply table supplies bags, the trolley into which the goods supplied by the side bag supply table are to enter may be occupied by the goods supplied by the side bag supply table 300. At this time, if the side bag supply table still supplies bags normally, a situation of upper packaging interference will occur. Therefore, it is necessary to avoid the occupied narrow belt trolley when reserving the narrow belt trolley for the goods supplied by the side bag supply table, and at the same time, adjust the conveying speed of the side bag supply table to make the goods supplied by the side bag supply table be transported to the linear narrow belt sorting device 100.

[0024] To achieve the control of the conveying speed of the side bag supply table, it is necessary to design the structure of the side bag supply table 300 to obtain the required data for calculation. As shown in the attached Figure 2 figures, Figure 3As shown, a light curtain 350 is provided between the first belt conveyor 320 and the second belt conveyor 330 of the side bag supply table 300. The light curtain 350 includes a row of detection points 351 extending along the width direction of the side bag supply table 300. The detection points 351 are numbered in ascending order from the first end of the light curtain 350 close to the linear narrow belt sorting device 100 to the second end of the light curtain 350. The detection point at the first end is defined as the minimum detection point, and the detection point at the second end is defined as the maximum detection point. During actual bagging, based on the signal triggered by the goods on the light curtain, the number of narrow belt trolleys that the goods need to match, the number of the narrow belt trolley where the real-time dynamic matching point is located, and the parameters required to control the bag supply speed of the side bag supply table are determined.

[0025] Specifically, as shown in the appendix Figure 4 The bagging method includes the following steps: S1, Control the side bag supply table 300 to start conveying the goods entering it; S2, Determine the number c of narrow belt trolleys that the goods need to match; S3, Reserve narrow belt trolleys for the goods according to the number of the narrow belt trolley where the real-time dynamic matching point is located and the number of narrow belt trolleys that need to be matched; S4, Determine whether the reserved narrow belt trolley is occupied. If so, execute S5; if not, execute S6; S5, After determining the number of the narrow belt trolley where the new real-time dynamic matching point is located, reserve the narrow belt trolley again and execute S4; S6, Adjust the bag supply speed of the side bag supply table 300 so that the goods enter the reserved target narrow belt trolley.

[0026] When the goods are conveyed past the light curtain 350 at the side bag supply table 300, determine the first length, width and the position of the center of the goods.

[0027] In S1, when the sorting position information corresponding to the goods is obtained by manual scanning code or supplementary code, the side bag supply table starts. Of course, an optoelectronic sensor can also be set at the input end of the side bag supply table. When the optoelectronic sensor is triggered by the goods, the side bag supply table starts to convey.

[0028] In S2, when the goods are conveyed past the light curtain 350 at the side bag supply table 300, determine the first length and width of the goods. The first length is the length of the goods in the bag supply direction D of the side bag supply table 300 供The first length is the extension length of the goods in the conveying direction of the linear narrow-band sorting device 100. The first length can be calculated according to the duration when the light curtain is triggered and the initial bag supply speed of the side bag supply table. The width is the extension length of the goods in the width direction (perpendicular to the bag supply direction) of the side bag supply table 300. The width can be determined according to the positions of the two detection points at both ends among all the detection points of the package detected by the light curtain 350 and the distance between adjacent detection points of the grating.

[0029] When determining the number of narrow-band trolleys that the goods need to match, it can be determined according to the first length and the narrow-band trolley intercept. More preferably, the second length of the goods can be determined according to the signal of the grating. The second length is the extension length of the goods in the conveying direction D of the linear narrow-band sorting device 100 送 At this time, the number of narrow-band trolleys that need to be matched can be calculated according to the second length. At this time, the accuracy of the number of matched narrow-band trolleys can be higher, which is beneficial to ensuring more reliable sorting in the subsequent process.

[0030] Specifically, the second length is calculated according to the following formula: L2 = d max - d Min (1); d max = Max[(t 下 - t n上 ) × V 初 × COSγ + s n (2); d Min = Min[(t 下 - t n下 ) × V 初 × COSγ + s n (3); Wherein, L2 is the second length; d max is the distance in the conveying direction between the foremost end of the goods (the position where the goods first trigger the light curtain 350) and the minimum detection point of the light curtain 350 after the goods leave the light curtain 350. It is the maximum value among a group of distances calculated by substituting the time when each detection point of the light curtain 350 detects the goods into formula (2) respectively; d Min is the distance in the conveying direction between the rearmost end of the goods (the position where the goods last trigger the light curtain 350) and the minimum detection point of the light curtain 350 after the goods leave the light curtain 350. It is the minimum value among a group of distances calculated by substituting the time when the goods completely leave each detection light ray of the light curtain 350 (when the detection light ray cannot detect the goods) into formula (3); t 下 is the time when the goods completely leave the light curtain 350, that is, the time when the light curtain cannot detect the goods; t n上is the time when the nth detection point of the light curtain 350 starts to detect the goods; t n下 is the time when the nth detection point of the light curtain 350 fails to detect the goods, and the above-mentioned t 下 、t n上 、t n下 starts timing from when the goods trigger the light curtain; V 初 is the initial bag supply speed of the side bag supply table; γ is the included angle between the bag delivery direction and the bag supply direction; s n is the distance in the bag delivery direction between the nth detection point of the light curtain 350 and the minimum detection point.

[0031] In the above-mentioned S3, the number of the narrow belt trolley where the real-time dynamic matching point is located is determined according to the following formula: R 动 =R 初 +[L 包 ×cosγ + W 包 ×sinγ] / p; Among them, R 动 is the number of the narrow belt trolley where the real-time dynamic matching point corresponding to the center of the goods is located after the goods completely leave the light curtain 350; R 初 is the number of the narrow belt trolley where the initial real-time dynamic matching point corresponding to the minimum detection point of the light curtain is located. The initial real-time dynamic matching point is the point on the trolley loop located upstream of the fixed convergence point and the distance between it and the fixed convergence point satisfies the fixed time multiplied by the running speed of the trolley loop. The fixed convergence point can be, for example, one of the two ends of the output end of the side bag supply table close to the head bag supply system 200. The fixed time is the time used by the side bag supply table to complete the fixed distance S at the predetermined bag supply speed. The predetermined bag supply speed first conveys at the initial bag supply speed and adjusts the bag supply speed to V 终 when the fixed distance S is completed. The fixed distance S is the distance in the bag delivery direction between the minimum detection point of the light curtain and the fixed convergence point, as shown in the appendix Figure 2 . After the sorting debugging is completed, the position of the initial real-time dynamic matching point corresponding to the minimum detection point of the light curtain is fixed. Therefore, as long as the number of the narrow belt trolley at the initial real-time dynamic matching point is determined in real time; L 包 is half of the first length of the goods; γ is the included angle between the bag delivery direction of the linear narrow belt sorting device and the bag supply direction of the side bag supply table; W 包 is half of the width of the goods; p is the narrow belt trolley intercept, and the narrow belt trolley intercept is equal to the sum of the width of the narrow belt trolley and the spacing between adjacent narrow belt trolleys.

[0032] When reserving a narrow-band trolley, it is to reserve the narrow-band trolley where the real-time dynamic matching point is located and several front and rear narrow-band trolleys centered on it. The number of the several front and rear narrow-band trolleys and the narrow-band trolley where the real-time dynamic matching point is located is equal to c.

[0033] In S4, after determining the narrow-band trolley where the real-time dynamic matching point is located and several front and rear narrow-band trolleys, query whether they are occupied. If one or more of the several front and rear narrow-band trolleys have been reserved by other goods, it is determined that the reserved narrow-band trolley is occupied and a narrow-band trolley needs to be reserved again.

[0034] In S5, the number of the narrow-band trolley where the new real-time dynamic matching point is located is determined by adding 1 to the number of the narrow-band trolley where the previous real-time dynamic matching point is located. That is, when reserving a narrow-band trolley again according to the number of the narrow-band trolley where the new real-time dynamic matching point is located, instead of querying whether the foremost one of the previously reserved narrow-band trolleys is occupied, the status of the next narrow-band trolley after the previously reserved narrow-band trolleys is queried. For example, if the previously reserved narrow-band trolleys are No. 3 - No. 5 narrow-band trolleys, the next reserved narrow-band trolleys are No. 4 - No. 6 narrow-band trolleys.

[0035] In S6, the bag supply of the side bag supply table 300 is controlled according to the determined bag supply speed to which the side bag supply table needs to be adjusted and the adjustment time of running at the bag supply speed to which it needs to be adjusted. After the side bag supply table is adjusted to the bag supply speed to which it needs to be adjusted and runs for the corresponding adjustment time, the bag supply speed of the side bag supply table is adjusted to V 终 And at V 终 the goods are imported into the target narrow-band trolley, V 终 =V 主 / cosγ, where V 主 is the running speed of the trolley loop of the linear narrow-band sorting device 100, and γ is the included angle between the bag delivery direction of the linear narrow-band sorting device 100 and the bag supply direction of the side bag supply table 300.

[0036] The bag supply speed to which it needs to be adjusted is calculated according to the following formula: V 调 =V 分 / COSγ; Among them, V 调 is the bag supply speed to which it needs to be adjusted; V 分 is the component speed of the bag supply speed to which it needs to be adjusted in the bag delivery direction of the linear narrow-band sorting device.

[0037] The adjustment time is calculated according to the following formula: t 调 =(d 余 +d dif ) / V 主-(V 主 -V 分 ) / a 分 -(V 初分 -V 分 ) / a 分 ; d 余 =(V 主 ²-V 分 ²) / (2×a 分 )+(V 分 ²-V 初分 ²) / (2×a 分 )+V 分 ×t 调 ; Wherein, t 调 is the adjustment time; d 余 is the remaining adjustable distance of the goods in the bag feeding direction; d dif is the distance in the bag feeding direction between the center of the goods and the midpoint of the target narrow belt trolley in the bag feeding direction when the goods completely leave the light curtain 350; V 主 is the running speed of the trolley loop; V 分 is the component speed of the bag feeding speed to be adjusted in the bag feeding direction; V 初分 is the component speed of the initial bag feeding speed of the side bag feeding table 300 in the bag feeding direction, V 初分 =V 初 ×COSγ; a 分 is the component acceleration a of the acceleration a of the side bag feeding table 300 in the bag feeding direction; a 分 =a×COSγ.

[0038] The said d 余 is calculated according to the following formula: d 余 =d 可 ×COSγ; d 可 =Min{d 调n -[V 初 / (t 下 -t n上 )]}; d 调n =n×(d max -d Min ) / m+d Min ; Wherein, d 可 is the remaining adjustable distance of the goods in the bag feeding direction, which is the minimum value among the distances calculated according to the formula d 调n -[V 初 / (t 下 -t n上 )]; d 调nThe adjustable distance of the goods in the bag supply direction when the nth detection point of the light curtain 350 detects the goods; V 初 The initial bag supply speed of the side bag supply table 300; t 下 The time from when the goods start to trigger the light curtain 350 to when the goods completely leave the light curtain 350; t n上 The time from when the goods start to trigger the light curtain 350 to when the nth detection point of the light curtain 350 starts to detect the goods; n is the number of the nth detection point of the light curtain 350; d max The distance in the bag supply direction between the maximum detection point of the light curtain 350 and the output end of the side bag supply table 300; d Min The distance in the bag supply direction between the minimum detection point of the light curtain 350 and the output end of the side bag supply table 300; m is the total number of detection points of the light curtain 350.

[0039] The said d dif Is calculated according to the following formula: d dif = (R 目标 - R 动 ) × p; Where: R 目标 Is the number of the narrowband trolley where the real-time dynamic matching point is located when determining the target narrowband trolley; R 动 Is the number of the narrowband trolley where the real-time dynamic matching point corresponding to the center of the goods is located after the goods completely leave the light curtain; P is the narrowband trolley intercept.

[0040] Embodiment 2 This embodiment discloses an upper bag system, including: A start unit, used to control the side bag supply table 300 to start conveying the goods entering it; the side bag supply table 300 is connected to the side of the linear narrowband sorting device 100 and is connected to the abnormal return line 400, the input end of the abnormal return line 400 is connected to the first sorting position of the linear narrowband sorting device 100 and it and the side bag supply table 300 are located on the same side of the linear narrowband sorting device 100; A car number determination unit, used to determine the number of narrowband trolleys that the goods need to be matched with; A reservation unit, used to reserve narrowband trolleys for the goods according to the number of the narrowband trolley where the real-time dynamic matching point is located and the number of narrowband trolleys that need to be matched; An occupancy judgment unit, used to determine whether the reserved narrowband trolley is occupied; A re-reservation unit, used to determine the number of the narrowband trolley where the new real-time dynamic matching point is located after determining that the reserved target narrowband trolley is occupied, and then reserve the narrowband trolley again, and send a signal to the occupancy judgment unit; The bag feeding unit is adjusted to adjust the bag feeding speed of the side bag feeding table 300 when it is determined that the reserved target narrowband trolley is not occupied, so that the goods can enter the reserved target narrowband trolley.

[0041] Embodiment 3 This embodiment discloses a sorting system, including a processor and a memory. A program executable by the processor is stored in the memory. When the program is executed, the bag loading method described in any one of the above is implemented.

[0042] There are still various implementation manners of the present invention. All technical solutions formed by equivalent transformation or equivalent substitution fall within the protection scope of the present invention.

Claims

1. Upper wrapping method, characterized in that It includes the following steps: S1. Control the side bag supply table to start conveying the goods entering it. The side bag supply table is connected to the side of the linear narrow belt sorting device, and its input end is connected to the abnormal return line. The input end of the abnormal return line is connected to the first sorting position of the linear narrow belt sorting device, and it is on the same side of the linear narrow belt sorting device as the side bag supply table; S2. Determine the number of narrow belt trolleys that the goods need to match; S3. Reserve narrow belt trolleys for the goods according to the number of the narrow belt trolley where the real-time dynamic matching point is located and the number of narrow belt trolleys that need to be matched; S4. Determine whether the reserved narrow belt trolley is occupied. If so, execute S5; if not, execute S6; S5. After determining the number of the narrow belt trolley where the new real-time dynamic matching point is located, reserve narrow belt trolleys again and execute S4; S6. Control the bag supply speed of the side bag supply table so that the goods enter the reserved target narrow belt trolley.

2. The upper wrapping method according to claim 1, characterized in that: Determine, calculate the number of narrow belt trolleys that the goods need to match, the number of the narrow belt trolley where the real-time dynamic matching point is located, and the parameters required to control the bag supply speed of the side bag supply table according to the signal triggered by the goods on the light curtain at the side bag supply table.

3. The upper wrapping method according to claim 2, characterized in that: The number of the narrow belt trolley where the real-time dynamic matching point is located is determined according to the following formula: R 动 =R 初 +[L 包 × cosγ + W 包 × sinγ] / p; Among them, R 动 is the number of the narrowband trolley where the real-time dynamic matching point corresponding to the center of the goods is located after the goods completely leave the light curtain; R 初 It is the number of the narrowband trolley where the initial real-time dynamic matching point corresponding to the minimum detection point of the light curtain is located; L 包 is half of the first length in the supply direction of the goods; γ is the included angle between the bag conveying direction of the linear narrow belt sorting device and the bag supply direction of the side bag supply table; W 包 is half of the width of the goods; p is the intercept of the narrow belt trolley.

4. The upper wrapping method according to claim 1, characterized in that: In S5, add 1 to the number of the narrow belt trolley where the previous real-time dynamic matching point is located to determine the number of the narrow belt trolley where the new real-time dynamic matching point is located.

5. The upper wrapping method according to claim 1, characterized in that: In S6, control the bag supply of the side bag supply table according to the determined bag supply speed that the side bag supply table needs to be adjusted to and the adjustment time of running at the bag supply speed that needs to be adjusted to.

6. The overpacking method according to claim 5, wherein: The bag supply speed that needs to be adjusted to is calculated according to the following formula: V 调 = V 分 / COSγ; Among them, V 调 is the bag supply speed to be adjusted; V 分 is the component speed of the bag supply speed to be adjusted in the bag delivery direction of the linear narrow-band sorting device; γ is the included angle between the bag delivery direction and the bag supply direction of the side bag supply table.

7. The upper wrapping method according to claim 6, characterized in that: The adjustment time is calculated according to the following formula: t 调 =(d 余 +d dif ) / V 主 -(V 主 -V 分 ) / a 分 -(V 初分 -V 分 ) / a 分 ; d 余 =(V 主 ² - V 分 ²) / (2×a 分 ) + (V 分 ² - V 初分 ²) / (2×a 分 ) + V 分 ×t 调 ; where t 调 is the adjustment time; d 余 is the remaining adjustable distance of the goods in the bag - sending direction; d dif is the distance in the package delivery direction between the center of the goods and the midpoint of the target narrowband trolley in the package delivery direction when the goods completely leave the light curtain; V 主 is the running speed of the trolley loop; V 分 is the component velocity of the bag supply speed to be adjusted in the bag feeding direction; V 初分 is the component velocity in the packet delivery direction of the initial packet supply velocity of the side packet supply table; a 分 It is the component acceleration of the acceleration of the side bag supply table in the bag feeding direction.

8. The upper wrapping method according to claim 7, characterized in that: The said d 余 Calculated according to the following formula: d 余 = d 可 × COSγ; d 可 = Min{d 调n - [V 初 / (t 下 - t n上 )]}; d 调n =n×(d max -d Min ) / m + d Min ; where d 可 is the remaining adjustable distance of the goods in the supply direction; d 调n The adjustable distance of the goods in the bag supply direction when the nth detection point of the light curtain detects the goods; V 初 is the initial bag supply speed of the side bag supply table; t 下 is the time from when the goods start to trigger the light curtain to when the goods completely leave the light curtain; t n上 It is the time from when the goods start to trigger the light curtain to when the nth detection point of the light curtain starts to detect the goods; n is the number of the nth detection point of the light curtain; d max is the distance in the bag supply direction between the maximum detection point of the light curtain and the output end of the side bag supply table; d Min is the distance in the bag supply direction between the minimum detection point of the light curtain and the output end of the side bag supply table; m is the total number of detection points of the light curtain.

9. The upper wrapping method according to claim 7, wherein: The said d dif Calculated according to the following formula: d dif = (R 目标 - R 动 ) × p; Where: R 目标 is the number of the narrowband trolley where the real-time dynamic matching point is located when determining the target narrowband trolley; R 动 is the number of the narrowband trolley where the real-time dynamic matching point corresponding to the center of the goods is located after the goods completely leave the light curtain; P is the intercept of the narrowband trolley.

10. Upper wrapping system, characterized in that, It includes: A start unit for controlling the side bag supply table to start conveying the goods entering it. The side bag supply table is connected to the side of the linear narrow belt sorting device, and its input end is connected to the abnormal return line. The input end of the abnormal return line is connected to the first sorting position of the linear narrow belt sorting device, and it is on the same side of the linear narrow belt sorting device as the side bag supply table; A trolley number determination unit for determining the number of narrow belt trolleys that the goods need to match; A reservation unit for reserving narrow belt trolleys for the goods according to the number of the narrow belt trolley where the real-time dynamic matching point is located and the number of narrow belt trolleys that need to be matched; An occupancy judgment unit for determining whether the reserved narrow belt trolley is occupied; A re-reservation unit for, when it is determined that the reserved target narrow belt trolley is occupied, after determining the number of the narrow belt trolley where the new real-time dynamic matching point is located, reserving narrow belt trolleys again and sending a signal to the occupancy judgment unit; Adjust the bag supply unit, which is used to control the bag supply speed of the side bag supply table to enable the goods to enter the reserved target narrow-band trolley when it is determined that the reserved target narrow-band trolley is not occupied.

11. Sorting system, comprising a processor and a memory, wherein a program executable by the processor is stored in the memory, characterized in that: When the program is executed, the bag loading method described in any one of claims 1-8 is implemented.

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