Parcel sorting method and device, computer storage medium and program product

Abstract

The invention discloses a parcel sorting method and device, a computer storage medium and a program product, and the parcel sorting method comprises the steps that first appearance information and bar code information of a parcel borne by a first trolley are determined when the first trolley is in a loading section, and the bar code information of the parcel borne by the first trolley represents a target grid of the first trolley; the first appearance information of the package carried by the first trolley represents the shape or size of the package carried by the first trolley on the loading section; determining second appearance information of the parcel carried by the first trolley when the first trolley is in the conveying section, the second appearance information representing the shape or size of the parcel carried by the first trolley in the conveying section; determining that the first appearance information is inconsistent with the second appearance information, and transmitting the first trolley carrying the parcel to a backflow grid opening; and determining that the first appearance information is consistent with the second appearance information, and enabling the first trolley carrying the parcel to continue to convey to the target grid. According to the invention, the problem of wrong sorting in parcel sorting can be avoided, and the reliability and the working efficiency of logistics sorting are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sorting equipment, and particularly relates to a package sorting method, equipment, computer storage medium and program product. Background Art

[0002] In the development of logistics technology and equipment, the development of package automatic sorting technology is of great significance for improving sorting efficiency. With the rapid development of the e-commerce industry, the sorting system needs to process a large number of packages, and the requirements for sorting speed and accuracy are increasing day by day.

[0003] Package automatic sorting at least includes the steps of loading and delivering packages. Specifically, the barcode information of the package needs to be scanned and entered into the main control system first, and then the trolley delivers the package to the corresponding grid opening according to the instruction. In an ideal state, each package should be accurately placed into the corresponding grid opening. However, in actual applications, after the barcode information of the package is entered, there may often be a situation where the package with the entered barcode information is inconsistent with the actually loaded package, resulting in mis-sorting of the package, and a large amount of manpower and time are required for post-error correction. Summary of the Invention

[0004] The purpose of the present invention is to solve the technical problem of package mis-sorting in the prior art. The present invention provides a sorting device that can timely detect and correct errors in the sorting process, avoid the problem of package mis-sorting caused by operational errors, and improve the reliability and working efficiency of logistics sorting.

[0005] To solve the above technical problem, an embodiment of the present invention discloses a package sorting method, which is applied to a sorting device. The sorting device includes a track, a package supply table, a target grid opening, a return grid opening and a first trolley. Along the transmission path of the first trolley, the track includes a loading section, a transmission section and a sorting section. The package supply table is arranged on the loading section and is used to provide packages to the first trolley. The target grid opening is arranged on the sorting section and is used to receive the packages that are not mis-sorted and are transmitted by the first trolley. The return grid opening and the target grid opening are arranged at intervals on the sorting section, and the return grid opening is used to receive the mis-sorted packages transmitted by the first trolley. The package sorting method includes:

[0006] When it is determined that the first trolley is in the loading section, determine the first appearance information and barcode information of the package carried by the first trolley. The barcode information of the package carried by the first trolley represents the target grid opening of the first trolley, and the first appearance information of the package carried by the first trolley represents the shape and / or size of the package carried by the first trolley in the loading section;

[0007] When it is determined that the first trolley is in the conveying section, determine the second appearance information of the package carried by the first trolley, where the second appearance information represents the shape and / or size of the package carried by the first trolley in the conveying section;

[0008] When it is determined that the first appearance information and the second appearance information are inconsistent, the first trolley carrying the package is conveyed towards the return grid opening;

[0009] When it is determined that the first appearance information and the second appearance information are consistent, the first trolley carrying the package continues to be conveyed towards the target grid opening.

[0010] With the above technical solution, the first trolley can move on the track to sort different packages to different target grid openings. When the first trolley is in the package loading section of the track, determine the first appearance information and barcode information of the package carried by the first trolley. The first appearance information represents the shape or size of the package carried by the first trolley in the package loading section. Then, determine the target grid opening of the first trolley according to the barcode information. In production practice, when the first appearance information and barcode information of the package are confirmed, it is easy to occur that the package actually carried by the first trolley is inconsistent with the package with the input barcode information. At this time, the first trolley still moves towards the target grid opening corresponding to the package with the input barcode information. However, at this time, the target grid opening corresponding to the actually carried package is inconsistent with the target grid opening that the first trolley is heading for, resulting in mis-sorting of the package, and a large amount of manpower and time are required for post-error correction.

[0011] Based on this, in this application, when the first trolley is in the conveying section, determine the second appearance information of the package carried by the first trolley. The second appearance information represents the shape or size of the package carried by the first trolley in the conveying section. By comparing whether the first appearance information and the second appearance information are consistent, re-check the package carried by the first trolley to determine whether the package carried in the package loading section is consistent with the package carried in the conveying section. If the first appearance information and the second appearance information are consistent, it indicates that there is no problem of mis-sorting the package carried by the first trolley, and the first trolley carrying the package continues to be conveyed towards the first target grid opening. If the first appearance information and the second appearance information are inconsistent, it indicates that there may be a problem of mis-sorting the package carried by the first trolley, and the first trolley carrying the package is conveyed towards the return grid opening, and the mis-sorted package is conveyed to the return grid opening, waiting for manual re-check and then re-loading and conveying, so as to avoid the occurrence of mis-sorting of packages and improve the reliability and working efficiency of logistics sorting.

[0012] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a package sorting method,

[0013] The sorting device includes a second trolley, and the first trolley and the second trolley pass through the package loading section in sequence. The package sorting method includes:

[0014] When determining that the second trolley is in the parcel loading section, determine the first appearance information and barcode information of the parcel carried by the second trolley. The barcode information of the parcel carried by the second trolley indicates the target grid opening of the second trolley, and the first appearance information of the parcel carried by the second trolley represents the shape or size of the parcel carried by the second trolley in the parcel loading section;

[0015] Determine that the second appearance information of the parcel carried by the first trolley is consistent with the first appearance information of the parcel carried by the second trolley, and both the first trolley and the second trolley are conveyed towards the return grid opening;

[0016] Determine that the second appearance information of the parcel carried by the first trolley is inconsistent with the first appearance information of the parcel carried by the second trolley, and both the first trolley and the second trolley continue to be conveyed towards the target grid opening.

[0017] With the above technical solution, first compare the first appearance information of the first trolley with the second appearance information of the first trolley. If they are consistent, then the first trolley is normally conveyed towards the target grid opening. Then, compare the second appearance information of the first trolley with the first appearance information of the second trolley. If the two are consistent, it indicates that there may be a situation of mis-sorting of parcels, and both the first trolley and the second trolley are conveyed towards the return grid opening; if the two are inconsistent, it indicates that there is no situation of mis-sorting of parcels, and both the first trolley and the second trolley continue to be conveyed towards the target grid opening.

[0018] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a parcel sorting method,

[0019] After determining that the second appearance information of the parcel carried by the first trolley is inconsistent with the first appearance information of the parcel carried by the second trolley, and both the first trolley and the second trolley continue to be conveyed towards the target grid opening, the parcel sorting method further includes:

[0020] When determining that the second trolley is in the conveying section, determine the second appearance information of the parcel carried by the second trolley. The second appearance information of the parcel carried by the second trolley represents the shape or size of the parcel carried by the second trolley in the conveying section;

[0021] Determine that the first appearance information of the parcel carried by the second trolley is inconsistent with the second appearance information of the parcel carried by the second trolley, and the second trolley carrying the parcel is conveyed towards the return grid opening;

[0022] Determine that the first appearance information of the parcel carried by the second trolley is consistent with the second appearance information of the parcel carried by the second trolley, and the second trolley carrying the parcel continues to be conveyed towards the target grid opening;

[0023] Determine that the second appearance information of the package carried by the second trolley is consistent with the second appearance information of the package carried by the first trolley, and the first trolley and the second trolley are conveyed towards the return grid opening;

[0024] Determine that the second appearance information of the package carried by the second trolley is inconsistent with the second appearance information of the package carried by the first trolley, and the first trolley and the second trolley continue to be conveyed towards the target grid opening.

[0025] Adopting the above technical solution, after determining that the second appearance information of the package carried by the first trolley is inconsistent with the first appearance information of the package carried by the second trolley, the second trolley continues to travel to the conveying section to determine the second appearance information of the package carried by the second trolley.

[0026] At this time, first compare the first appearance information of the second trolley with the second appearance information of the second trolley. If they are inconsistent, it indicates that there may be a situation of mis-sorting of packages, and the second trolley is conveyed towards the return grid opening; if they are consistent, then the second trolley is normally conveyed towards the target grid opening.

[0027] Then, compare the second appearance information of the second trolley with the second appearance information of the first trolley. If the two are consistent, it indicates that there may be a situation of mis-sorting of packages, and both the first trolley and the second trolley are conveyed towards the return grid opening; if the two are inconsistent, it indicates that there is no situation of mis-sorting of packages, and the first trolley and the second trolley continue to be conveyed towards the target grid opening.

[0028] In this way, through repeated detection and comparison, the detection accuracy of avoiding mis-sorting of incoming packages can be further improved, the situation of incoming errors can be further avoided, and the sorting efficiency and reliability can be improved.

[0029] In some embodiments of the present invention, a sorting device is further provided, including a track, a package supply table, a target grid opening, a return grid opening, and a first trolley. Along the conveying path of the first trolley, the track includes a loading section, a conveying section, and a sorting section. The package supply table is arranged on the loading section and is used to provide packages to the first trolley. The target grid opening is arranged on the sorting section and is used to receive the packages that are not mis-sorted conveyed by the first trolley. The return grid opening and the target grid opening are arranged at intervals on the sorting section. The return grid opening is used to receive the mis-sorted packages conveyed by the first trolley. The sorting device further includes a main control system, and the main control system is communicatively connected to the trolleys on the track and executes the package sorting method described in any one of the foregoing embodiments.

[0030] According to another specific implementation manner of the present invention, an implementation manner of the present invention discloses a sorting device, and the sorting device further includes:

[0031] The first image recognition system is communicatively connected to the main control system. The first image recognition system is disposed on the conveying section. The first image recognition system includes a first vision camera for determining the barcode information and the first appearance information of the package provided by the package supply table.

[0032] The second image recognition system is disposed between the first image recognition system and the target grid opening. The second image recognition system includes a second vision camera for determining the second appearance information of the package.

[0033] The main control system receives the first appearance information and the second appearance information, and is used to determine whether the second appearance information is consistent with the first appearance information. When the second appearance information is inconsistent with the first appearance information, the main control system sends a return flow instruction to the first trolley carrying the package, and the first trolley carrying the package conveys towards the return grid opening; when the second appearance information is consistent with the first appearance information, the main control system does not send the return flow instruction to the first trolley carrying the package, and the first trolley carrying the package continues to convey towards the target grid opening.

[0034] Adopting the above technical solution, the first vision camera captures the barcode information of the package waybill and the first appearance information of the package. After the main control system receives the barcode information and the first appearance information, it matches the corresponding target grid opening number to the trolley carrying the package according to the barcode information and the preset sorting plan. The preset sorting plan is a plan pre-entered into the system, and the preset sorting plan records that each package should be sorted to the corresponding target grid opening number. When the main control system receives the barcode information, it compares the barcode information with the information in the preset sorting plan, and then it can obtain which target grid opening the package corresponding to the barcode information should be assigned to, and match the corresponding target grid opening number to the trolley carrying the package, and the trolley moves towards the corresponding target grid opening number.

[0035] When the trolley carrying the package passes through the second image recognition system, the second vision camera captures the second appearance information of the package. The main control system receives the second appearance information and compares it with the first appearance information. If it is found through comparison that the second appearance information is inconsistent with the first appearance information, it proves that the package actually placed on the trolley for loading is inconsistent with the package with the barcode information entered by the first vision camera, and an error occurs during loading. At this time, the main control system sends a return flow instruction to the trolley, and the first trolley carrying the package conveys towards the return grid opening, and conveys the mis-sorted package to the return grid opening, waiting for manual re-inspection and then re-loading and conveying; if the second appearance information is consistent with the first appearance information, the trolley carrying the package normally travels to the corresponding target grid opening to execute package delivery. In this way, it can timely prevent the package from being wrongly put into the target grid opening, consuming a large amount of manpower and time for post-event error correction, thereby improving the reliability and working efficiency of logistics sorting.

[0036] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a sorting device, including a detection device disposed on the conveying section. The detection device is communicatively connected to the first vision camera and is used to determine that the first cart reaches the position of the first vision camera, triggering the first vision camera to capture the barcode information and the first appearance information. The detection device is communicatively connected to the second vision camera and is used to determine that the first cart reaches the position of the second vision camera, triggering the second vision camera to capture the second appearance information.

[0037] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a sorting device, and the detection device includes at least one of a photoelectric sensor, an infrared sensor or a pressure sensor.

[0038] By adopting the above technical solution, it is possible to obtain good detection results at a relatively low cost.

[0039] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a sorting device. The track includes a return section, and the sorting section is disposed between the return section and the conveying section. The sorting device includes a grayscale meter. Along the conveying path, the grayscale meter is disposed between the grid opening and the parcel supply table on the return section. The grayscale meter is communicatively connected to the main control system and is used to determine that the first cart on the return section between the grid opening and the parcel supply table does not carry a parcel, and send an instruction allowing parcel receiving to the main control system. The first cart moves to the parcel loading section to carry a parcel.

[0040] By adopting the above technical solution, when a cart carrying a parcel fails to put the parcel into the corresponding grid opening but transports the parcel to the return section, it can be detected in time to avoid sorting errors and improve work efficiency.

[0041] An embodiment of the present invention also discloses a computer storage medium, including a memory and a processor. The memory is adapted to store computer instructions, and the processor is adapted to execute the parcel sorting method according to any one of the above embodiments when running the computer instructions.

[0042] An embodiment of the present invention also discloses a computer program product, including a computer program / instructions. When the computer program / instructions are executed by a processor, the parcel sorting method according to any one of the above embodiments is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 The figure shows a schematic diagram of the sorting device provided by an embodiment of the present application.

[0044] Figure 2 The figure shows a schematic block diagram of the main control system of the sorting device provided by an embodiment of the present application.

[0045] Figure 3 Shows a schematic diagram of the detection device of the sorting equipment provided by the embodiments of the present application.

[0046] Figure 4 Shows a schematic diagram of the first package provided by the embodiments of the present application.

[0047] Figure 5 Shows a schematic diagram of the second package provided by the embodiments of the present application.

[0048] Figure 6 Shows a flowchart of the first situation of the package sorting method provided by the embodiments of the present application.

[0049] Figure 7 Shows a flowchart of the second situation of the package sorting method provided by the embodiments of the present application.

[0050] Figure 8 Shows a flowchart of the third situation of the package sorting method provided by the embodiments of the present application.

[0051] Figure 9 Shows a schematic of the first appearance information and the second appearance information provided by the embodiments of the present invention.

[0052] Figure 10 Shows another schematic of the first appearance information and the second appearance information provided by the embodiments of the present invention.

[0053] Figure 11 Shows a block diagram of the electronic device provided by the embodiments of the present invention.

[0054] Figure 12 Shows a block diagram of a system on chip (SoC) provided by the embodiments of the present invention. Detailed implementation manners

[0055] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiments, this does not mean that the features of this invention are limited to this implementation manner. On the contrary, the purpose of introducing the invention in conjunction with the implementation manner is to cover other alternatives or modifications that may be extended based on the claims of the present invention. In order to provide a deep understanding of the present invention, many specific details will be included in the following description. The present invention can also be implemented without these details. In addition, in order to avoid confusing or obscuring the focus of the present invention, some specific details will be omitted in the description. It should be noted that, without conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0056] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0057] In the description of this embodiment, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "bottom", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is customarily placed during use. It is only for the convenience of describing the present invention and simplifying 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 thus should not be construed as a limitation of the present invention.

[0058] The terms "first", "second", etc. are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0059] In the description of this embodiment, it should also be noted that unless otherwise clearly specified and defined, the terms "arranged", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0060] To make the objectives, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the drawings.

[0061] The embodiments of the present invention disclose a parcel sorting method, which is applied to sorting equipment and is used to improve the accuracy of parcel sorting and reduce the occurrence of mis-sorted parcels. Refer to Figure 1, The sorting device includes a track 10, a parcel supply table 20, a target chute 30, a return chute 31, and at least one trolley 40 (such as the first trolley 41 and the second trolley 42 in the embodiments of the present application). Along the conveying path a of the trolley 40, the track 10 includes a loading section 11, a conveying section 12, a sorting section 13, and a return section 14. The sorting section 13 is disposed between the return section 14 and the conveying section 12. The parcel supply table 20 is disposed at the loading section 11 for providing parcels to the trolley 40. The target chute 30 is disposed at the sorting section 13 for receiving the parcels that are not mis-sorted and conveyed by the trolley 40. Along the conveying path a, the target chute 30 and the return chute 31 are sequentially and spacedly disposed at the sorting section 13. The return chute 31 is used to receive the mis-sorted parcels conveyed by the trolley 40. The conveying section 12 is disposed between the loading section 11 and the sorting section 13 for conveying the parcels from the supply table to the target chute 30 or the return chute 31. The return section 14 is used to return the trolley 40 without parcels to the loading section 11 for reloading.

[0062] In some embodiments, a robotic arm (not shown in the figure) is provided at the parcel supply table 20 for loading the parcels onto the trolley 40 without parcels. It can be understood that the embodiments of the present application do not limit this, and for example, manual loading can also be used.

[0063] In some embodiments, the track 10 can be composed of conveyor rollers or conveyor belts. The embodiments of the present application do not limit this. The track 10 in the embodiments of the present application can also refer to an intersection belt formed by multiple segments of the track 10. In addition, the track 10 can be Figure 1 in the form of a circular closed loop, or the track 10 can also be set in a non-closed form. The embodiments of the present application do not limit this either.

[0064] In some embodiments, referring to Figure 1 、 Figure 2 , the sorting device further includes a main control system, a first image recognition system 50, and a second image recognition system 60. Along the conveying path a, the first image recognition system 50 is disposed at the conveying section 12.

[0065] Exemplarily, the first image recognition system 50 includes a first vision camera. The first vision camera is installed above the track 10 and can be used to capture and determine the barcode information of the parcel and the first appearance information of the parcel. Exemplarily, the first vision camera uses a high-definition industrial camera, which can clearly capture the barcode information on the parcel and the first appearance information of the parcel. The first vision camera is connected to the main control system through a data cable and transmits the captured images to the main control system for processing in real time.

[0066] In some embodiments, referring to Figure 1 、 Figure 2, the main control system is communicatively connected to the first image recognition system 50 and the trolley 40, and can be used to receive barcode information and first appearance information, and match the corresponding grid number to the trolley 40 carrying the package according to the barcode information and the preset sorting scheme. Exemplarily, the main control system is composed of an industrial control computer, a data storage device and a communication module. The data storage device of the main control system is used to store data such as package information, sorting scheme and operation logs. The communication module is responsible for data exchange between the first image recognition system 50, the second image recognition system 60 and the sorting trolley 40.

[0067] In some embodiments, referring to Figure 1 , Figure 2 , along the transport path a, on the transport section 12, the second image recognition system 60 is arranged between the first image recognition system 50 and the target grid 30, and is used for secondary verification of the package during the package transportation process. Exemplarily, the second image recognition system 60 includes a second vision camera, which is installed above the track 10 and can be used to capture and determine the second appearance information of the package. Exemplarily, the second vision camera uses a high-definition industrial camera, which can clearly capture the second appearance information of the package. The second vision camera is connected to the main control system through a data cable, and transmits the captured image to the main control system for processing in real time.

[0068] Exemplarily, referring to Figure 1 , Figure 2 , Figure 3 , in some embodiments, the sorting device includes at least one detection device 70. The detection device 70 is communicatively connected to the second vision camera and is used to detect and determine whether the passing trolley 40 is carrying a package. When the trolley 40 carrying a package is detected, the second vision camera is triggered to capture and determine the second appearance information of the package.

[0069] Exemplarily, the sorting device may include two detection devices 70. One of the detection devices 70 is communicatively connected to the second vision camera. When the trolley 40 carrying a package is detected, the second vision camera is triggered to capture and determine the second appearance information of the package. The other detection device 70 is communicatively connected to the first vision camera. When the trolley 40 carrying a package is detected, the first vision camera is triggered to capture and determine the barcode information and the second appearance information of the package. It can be understood that multiple detection devices 70 can also be used in combination to improve the detection accuracy. The number of detection devices 70 is not limited in the embodiments of the present application. For example, it can also be 3, 4, 5, 6, etc.

[0070] In addition, the embodiments of the present application do not limit the type of the detection device 70. For example, the detection device 70 may include at least one of a photoelectric sensor, an infrared sensor, or a pressure sensor. For the sake of easy understanding, the embodiments of the present application take the detection device 70 adopting a photoelectric sensor as an example for illustration. The photoelectric sensor includes a transmitter and a receiver, and the transmitter and the receiver are respectively located on both sides of the track 10. When the trolley 40 carrying the package passes by, the light beam will be blocked, and a trigger signal is transmitted to the second vision camera. The response time of the photoelectric sensor is less than 10 milliseconds, and the detection distance is adjustable from 0.5 meter to 2 meters, and it can accurately detect the passing trolley 40. The embodiments of the present application do not limit the response time and the detection distance of the photoelectric sensor. For example, the response time can be adjusted to 6 milliseconds, 7 milliseconds, 8 milliseconds, 12 milliseconds, etc., and the detection distance can be 0.4 meter, 0.5 meter, 0.8 meter, 1 meter, 1.5 meters, 2 meters, etc.

[0071] Exemplarily, the return instruction is sent to the control unit on the trolley 40 through the wireless communication module. After receiving the instruction, the trolley 40 conveys the possibly mis-sorted package to the return compartment 31 and issues an alarm through an indicator light or a buzzer to remind the operator to handle the abnormal situation. In this way, it can prevent the package from being wrongly sorted to the incorrect target compartment 30 and improve the sorting accuracy. It can be understood that the embodiments of the present application do not limit the communication connection method between the main control system and the trolley 40. For example, the sorting device may further include a leaky cable communication system, and the main control system is connected to the trolley 40 through the leaky cable communication system.

[0072] In order to improve the intelligent level, operation efficiency, and reliability of the system, the sorting device provided by the embodiments of the present application further includes a background information system and a grayscale meter 80.

[0073] In some embodiments, the background information system is used to receive the barcode information and match the corresponding compartment number according to the preset sorting scheme, and send the compartment number to the main control system. Exemplarily, the background information system is composed of a server, a database, and application software. After the first image recognition system 50 captures the barcode information of the package, the main control system sends the barcode information to the background information system. The background information system matches the corresponding compartment number according to the preset sorting scheme and returns the compartment number to the main control system.

[0074] It should be further noted that the preset sorting scheme is a set of rules formulated according to the actual situation and business requirements of the logistics center, including various strategies such as zoning by destination, classifying by package type, and sorting by priority. The background information system can dynamically adjust the sorting scheme according to the real-time business volume and resource status to optimize the sorting efficiency. In the embodiments of the present application, the preset sorting scheme may include: for example, allocating the first package p1 to the target compartment 301 and allocating the second package p2 to the target compartment 302.

[0075] In some embodiments, referring to Figure 1 , along the conveying path a, the grayscale instrument 80 is arranged in the return section 14. The grayscale instrument 80 is communicatively connected to the main control system and is used to detect and determine whether the trolley 40 in the return section 14 is carrying a package. When it is determined that the trolley 40 in the return section 14 is not carrying a package, the grayscale instrument 80 sends an instruction allowing package receiving to the main control system, and the trolley 40 moves to the upstream section 11 to carry the package. When a trolley carrying a package fails to put the package into the corresponding grid opening but transports the package to the return section, it can be discovered in time to avoid sorting errors and improve work efficiency.

[0076] The following will describe the specific package sorting method in detail with reference to the accompanying drawings. The number of trolleys 40 is not limited in the embodiments of the present application. For example, the number can be 2, 3, 4, 5, 6, etc. Hereinafter, two trolleys 40 will be taken as an example for illustration. For the convenience of understanding, the two trolleys 40 are numbered as the first trolley 41 and the second trolley 42. The delivery destination of the first package p1 carried by the first trolley 41 is Shanghai, and the target grid opening corresponding to its barcode information is the target grid opening 301. The first package p1 is in the shape of a cuboid, with a length L of 55 cm, a width W of 30 cm, and a height H of 15 cm. The delivery destination of the second package p2 carried by the second trolley 42 is Beijing, and the target grid opening corresponding to its barcode information is the target grid opening 302. The second package p2 is in the shape of a cube, with a side length S of 30 cm.

[0077] Hereinafter, reference will be made to Figure 6 and in combination with Figure 1 , Figure 2 , Figure 4 , to further illustrate the package sorting method provided by the embodiments of the present application:

[0078] S110: When it is determined that the first trolley 41 is in the upstream section 11, determine the first appearance information and barcode information of the first package p1 carried by the first trolley 41. The barcode information of the first package p1 carried by the first trolley 41 represents the target grid opening 30 of the first trolley 41, and the first appearance information of the first package p1 carried by the first trolley 41 represents the shape or size of the first package in the upstream section 11;

[0079] Exemplarily, referring to Figure 4 , Figure 6 and in combination with Figure 1, before the first package p1 carried by the first trolley 41 enters the conveying section 12 from the loading section 11, the detection device 70 detects the first trolley 41 carrying the first package p1, triggering the first vision camera to capture the barcode information and the first appearance information of the first package p1. Among them, the barcode information represents the information of the target cell of the first package p1. For example, the first package p1 should be transported to the target cell 301. The first appearance information represents the shape and size information of the first package p1. For example, the first package p1 is in the shape of a cuboid, with a length of 55 cm, a width of 30 cm, and a height of 15 cm. The first vision camera transmits the barcode information (such as the cell number 301) and the first appearance information (the shape and size information of the first package p1, such as in the shape of a cuboid, with a length of 55 cm, a width of 30 cm, and a height of 15 cm) of the first package p1 carried by the first trolley 41 to the data storage device of the main control system through the communication module. The industrial control computer of the main control system determines the information of the target cell of the first trolley 41 (such as the target cell 301) according to the barcode information and sends it to the first trolley 41. The first trolley 41 enters the conveying section 12 from the loading section 11 and moves towards the target cell 301.

[0080] S120: When it is determined that the first trolley 41 is in the conveying section 12, determine the second appearance information of the first package p1 carried by the first trolley 41. The second appearance information represents the shape or size of the first package p1 carried by the first trolley 41 in the conveying section 12.

[0081] Exemplarily, refer to Figure 4 , Figure 6 and in combination with Figure 1 , Figure 2 , when the first trolley 41 is running on the conveying section 12, when the first trolley 41 carrying the first package p1 arrives at the second vision camera, the detection device 70 detects the first trolley 41 carrying the first package p1, triggering the second vision camera to capture and determine the second appearance information of the first package p1 carried by the first trolley 41. The second vision camera transmits the second appearance information (the shape and size information of the first package p1, such as in the shape of a cuboid, with a length of 55 cm, a width of 30 cm, and a height of 15 cm) of the first package p1 to the data storage device of the main control system through the communication module.

[0082] S130: If it is determined that the first appearance information and the second appearance information are consistent, the first trolley 41 carrying the package continues to be conveyed towards the target cell 30.

[0083] Exemplarily, refer to Figure 4 , Figure 6 and in combination with Figure 1 , Figure 2After the main control system receives the second appearance information of the first package p1 carried by the first trolley 41, it compares it with the first appearance information of the first package p1 provided by the feeding table carried by the first trolley 41 stored previously. For example, the second appearance information received by the main control system shows that the first package p1 is also cuboid-shaped, with a length of 55 cm, a width of 30 cm, and a height of 15 cm. At this time, it is determined that the first appearance information and the second appearance information are consistent, and the first package p1 carried by the first trolley 41 on the conveying section 12 is still the first package p1 when loading, and there is no situation of wrong package sorting. The first trolley 41 carrying the first package p1 continues to travel along the original route, and conveys the first package p1 along the conveying section 12 towards the target cell 301 continuously.

[0084] S140: Determine that the first appearance information and the second appearance information are inconsistent, and the first trolley 41 carrying the package conveys towards the return cell 31;

[0085] Exemplarily, refer to Figure 4 、 Figure 6 And in combination with Figure 1 、 Figure 2 After the main control system receives the second appearance information of the first package p1 carried by the first trolley 41, it compares it with the first appearance information of the first package p1 carried by the first trolley 41 stored previously. For example, the second appearance information received by the main control system shows that the first package p1 is cube-shaped, with a side length of 25 cm, while the first appearance information of the first package p1 shows that the first package p1 is cuboid-shaped, with a length of 55 cm, a width of 30 cm, and a height of 15 cm. At this time, it is determined that the first appearance information and the second appearance information are inconsistent, that is, the first package p1 loaded on the loading section 11 and the first package p1 on the conveying section 12 are not the same. That is to say, after the first package p1 is loaded on the loading section 11 and the first appearance information and barcode information of the first package p1 are captured by the first vision camera, due to possible operation errors, other packages may be placed in the first trolley 41, resulting in the situation of wrong package sorting. If not corrected in time, the package that should not be put into the target cell 301 will be put into it, which may cause problems such as package loss. Therefore, after determining that the first appearance information and the second appearance information are inconsistent, the main control system sends a return instruction to the first trolley 41 carrying it, and the first trolley 41 carrying the possibly mis-sorted package conveys towards the return cell 31, conveys the possibly mis-sorted package into the return cell 31, and then transports the possibly mis-sorted package to the package supply table 20 by a transfer vehicle to wait for manual review and reloading, so as to avoid losses caused by wrongly putting the package into the target cell 30. It should be noted that the embodiments of the present application do not limit the sequence of steps S130 and S140. The embodiments of the present application also do not limit the method of returning the possibly mis-sorted package from the return cell 31 to the package supply table 20. For example, a connecting track may also be provided between the return cell 31 and the package supply table for conveying the possibly mis-sorted package.

[0086] It is understandable that the embodiment of the present application does not limit the implementation method of comparing the first appearance information and the second appearance information. For example, by extracting the contour features of the package through an image processing algorithm, it can be identified whether the package is a cuboid, a cube, a cylinder or an irregular shape. The size information is obtained through the conversion relationship between the pixels in the image and the actual size, including the length, width and height data of the package. The main control system calculates the similarity of the two sets of appearance information through the image processing algorithm, including the matching degree of the shape contour and the deviation value of the size data. If the similarity between the first appearance information and the second appearance information is lower than the preset threshold value (e.g., 85%, which is not limited in the embodiment of the present application), it is determined that the second appearance information of the package carried by the first trolley 41 and the first appearance information of the package provided by the supply table carried by the first trolley 41 are inconsistent. In other words, the package carried by the first trolley 41 is no longer the package when the package was loaded. If the first trolley 41 continues to move forward, the package that should not be sorted into the target grid 30 will be put into the target grid 30, causing the package to be misclassified. Therefore, the main control system sends a reflux instruction to the first trolley 41 carrying the package, which is used to make the first trolley carrying the package transfer toward the reflux grid 31, and transfer the package that may be misclassified to the reflux grid 31 for review. The embodiment of the present application does not limit the image processing algorithm, which can be a shape similarity measurement algorithm based on shape contours (e.g., Fourier descriptor), etc.

[0087] By adopting the above technical solution, the first trolley 41 can move on the track 10 and sort different parcels to different target grids 30. When the first trolley 41 is in the loading section 11 of the track 10, the first appearance information and barcode information of the first parcel p1 carried by the first trolley 41 are determined, and then the target grid 301 of the first trolley 41 is determined according to the barcode information. In production practice, after the first appearance information and barcode information of the first parcel p1 are confirmed, it is easy to have a situation where the parcel actually carried by the first trolley 41 is inconsistent with the first parcel p1 with the barcode information entered. At this time, the first trolley 41 is still moving towards the target grid 301 corresponding to the first parcel p1 with the barcode information entered. However, at this time, the target grid corresponding to the parcel actually carried is inconsistent with the target grid 301 to which the first trolley 41 is heading. For example, the parcel actually carried should be sent to the target grid 302, but is mistakenly put into the target grid 301, thereby causing the parcel to be misclassified.

[0088] Based on this, in the present application, when the first trolley 41 is on the conveying section 12, the second appearance information of the first package p1 carried by the first trolley 41 is determined. The first appearance information and the second appearance information include the shape and size of the package. By comparing whether the first appearance information and the second appearance information are consistent, a re-inspection is performed on the first package p1 carried by the first trolley 41. If the first appearance information and the second appearance information are consistent, the first trolley 41 carrying the first package p1 continues to be conveyed towards the target cell 301. If the first appearance information and the second appearance information are inconsistent, the first trolley 41 carrying the first package p1 is conveyed towards the return cell 31, thereby being able to avoid the occurrence of package mis-sorting and improve the reliability and working efficiency of logistics sorting.

[0089] In this way, the detection accuracy of avoiding mis-sorting of incoming packages can be improved, the situation of incoming package errors can be further avoided, and the sorting efficiency and reliability can be improved.

[0090] In some embodiments, before step S1, there is also step S100:

[0091] S100: Determine that when the first trolley 41 is on the return section 14, the first trolley 41 does not carry the first package p1.

[0092] Exemplarily, referring to Figure 4 、 Figure 6 and combining with Figure 1 、 Figure 2 , after the first trolley 41 carrying the first package p1 delivers the first package p1 to the target cell 301, the first trolley 41 without a package continues to move forward. There is also a grayscale meter 80 configured on the return section 14. The grayscale meter 80 is communicatively connected to the main control system and is used to detect and determine whether the trolley 40 on the return section 14 carries a package. The grayscale meter 80 is connected to the main control system through a data line and transmits the detection result in real time. When it is determined that the first trolley 41 on the return section 14 does not carry the first package p1, the grayscale meter 80 sends an allowable package receiving instruction to the main control system, and the first trolley 41 moves to the incoming package section 11 to re-carry a package. When the first trolley 41 carrying the first package p1 fails to deliver the first package p1 to the corresponding target cell 301 but transports the first package p1 to the return section 14, or when the first trolley 41 fails to deliver a possibly mis-sorted package to the return cell 31, both can be promptly detected by the grayscale meter 80, thereby avoiding sorting errors and improving the working efficiency and sorting reliability.

[0093] Exemplarily, the grayscale meter 80 is used to measure and analyze the light reflection or transmission characteristics of the surface of the first trolley 41. There is a light source (such as an LED) and a light sensor (such as a CCD or CMOS sensor). The light source irradiates the surface inside the first trolley 41. When the surface reflects light, the sensor captures the intensity and color information of the reflected light, thereby realizing image acquisition inside the first trolley 41. If the first package p1 is carried inside the first trolley 41, its surface characteristics and color will affect the light reflection characteristics. At this time, it is proved that the first trolley 41 still carries the first package p1, that is, the first package p1 has not been put into the target grid 301. The grayscale meter 80 sends a command not allowing the package to be received to the main control system, and the main control system sends a stop operation command to the first trolley 41. If the trolley 40 in the return section 14 is detected to be not carrying a package, the grayscale meter 80 sends a command allowing the package to be received to the main control system, enabling the trolley 40 to reload the package and perform a new round of package delivery.

[0094] The embodiments of the present application do not limit the number of trolleys 40. There can be multiple trolleys 40 simultaneously performing package sorting and delivery tasks on the track 10. In the embodiments of the present application, the first trolley 41 and the second trolley 42 sequentially pass through the loading section 11. The following will refer to Figure 7 、 Figure 8 and in combination with Figure 1 、 Figure 2 、 Figure 5 . In order to further reduce the misclassification of packages, the package sorting method further includes:

[0095] S200: When it is determined that the second trolley 42 is in the loading section 11, determine the first appearance information and barcode information of the second package p2 carried by the second trolley 42. The barcode information of the second package p2 carried by the second trolley 42 represents the target grid 30 of the second trolley 42, and the first appearance information of the second package p2 carried by the second trolley 42 represents the shape or size of the second package p2 carried by the second trolley 42 in the loading section 11;

[0096] Exemplarily, refer to Figure 5 、 Figure 7 and in combination with Figure 1 、 Figure 2, before the first cart 41 reaches the grid opening, that is, when the first cart 41 is still on the conveying section 12 and has not reached the sorting section 13, after the second package p2 carried by the second cart 42 is loaded on the loading section 11, the detection device 70 detects the second cart 42 carrying the second package p2, triggering the first vision camera to capture the barcode information and the first appearance information of the second package p2. Among them, the barcode information represents the information of the target grid opening of the second package p2. For example, the second package p2 should be transported to the target grid opening 302, and the first appearance information represents the shape and size information of the second package p2. For example, the second package p2 is cube-shaped with a side length of 30 cm. The first image recognition system 50 transmits the barcode information (such as grid opening number 302) and the second appearance information (the shape and size information of the second package p2, such as cube-shaped with a side length of 30 cm) of the second package p2 carried by the second cart 42 to the data storage device of the main control system through the communication module. The industrial control computer of the main control system determines the information of the target grid opening of the second cart 42 (such as target grid opening 302) according to the barcode information and sends it to the second cart 42. The second cart 42 enters the conveying section 12 from the loading section 11 to move towards the target grid opening 302.

[0097] S210: Determine that the second appearance information of the first package p1 carried by the first cart 41 is consistent with the first appearance information of the second package p2 carried by the second cart 42, and both the first cart 41 and the second cart 42 are moving towards the return grid opening 31;

[0098] Exemplarily, refer to Figure 4 、 Figure 5 、 Figure 7 And in combination with Figure 1 、 Figure 2, after the main control system receives the first appearance information of the second package p2 carried by the second cart 42, at this time the first cart 41 has not yet reached the target cell 301. The main control system compares it with the second appearance information of the first package p1 carried by the first cart 41 stored previously. For example, the second appearance information of the first package p1 includes: cuboid shape, length 55 cm, width 30 cm, height 15 cm. The first appearance information of the second package p2 includes: cuboid shape, length 55 cm, width 30 cm, height 15 cm. After comparison, the first appearance information of the second package p2 is consistent with the second appearance information of the first package p1, indicating that the second package p2 carried by the second cart 42 at this time may be the first package p1 carried by the first cart 41. That is to say, when the first cart 41 is on the conveying section 12 and is conveyed towards the target cell 301 through the second vision camera, the first package p1 on the first cart 41 may be placed on the second cart 42 (for example, when the first package p1 is taken off from the first cart 41 by an operator for rechecking, the first package p1 is misclassified to the second cart 42). To avoid the package being put into the wrong target cell 30, the main control system sends a return instruction to the first cart 41 and the second cart 42, and the first cart 41 and the second cart 42 convey the carried packages to the return cell 31 and wait for rechecking.

[0099] S220: Determine that the second appearance information of the first package p1 carried by the first cart 41 is inconsistent with the first appearance information of the second package p2 carried by the second cart 42, and the first cart 41 and the second cart 42 continue to convey towards the target cell 30.

[0100] Exemplarily, refer to Figure 4 , Figure 5 , Figure 7 and in combination with Figure 1 , Figure 2 , after the main control system receives the first appearance information of the second package p2 carried by the second cart 42, at this time the first cart 41 has not yet reached the target cell 301. The main control system compares it with the second appearance information of the first package p1 carried by the first cart 41 stored previously. For example, the second appearance information of the first package p1 includes: cuboid shape, length 55 cm, width 30 cm, height 15 cm. The first appearance information of the second package p2 includes: cube shape, side length 30 cm. After comparison, the second appearance information is inconsistent with the first appearance information, indicating that the first package p1 is not wrongly carried on the second cart 42. The first cart 41 and the second cart 42 continue to travel along the original route. The first cart 41 continues to travel towards the target cell 301, and the second cart enters the conveying section 12 from the loading section 11.

[0101] In some embodiments, after step S220, it further includes:

[0102] S300: When determining that the second trolley 42 is on the conveying section 12, determine the second appearance information of the second package p2 carried by the second trolley 42. The second appearance information of the second package p2 carried by the second trolley 42 represents the shape or size of the second package p2 carried by the second trolley 42 on the conveying section 12;

[0103] Exemplarily, refer to Figure 4 、 Figure 5 、 Figure 8 and in combination with Figure 1 、 Figure 2 After the foregoing steps, the first trolley 41 and the second trolley 42 continue to travel normally. Before the first trolley 41 reaches the grid opening, the second trolley 42 runs on the conveying section 12. When the second trolley 42 carrying the second package p2 arrives at the second vision camera, the detection device 70 detects the second trolley 42 carrying the second package p2, triggers the second vision camera to take a picture and determine the second appearance information of the second package p2 carried by the second trolley 42. The second vision camera transmits the second appearance information of the second package p2 (the shape and size information of the second package p2, such as cube-shaped, side length 30 cm) to the data storage device of the main control system through the communication module.

[0104] S310: Determine that the first appearance information of the package carried by the second trolley 42 is inconsistent with the second appearance information of the package carried by the second trolley 42, and the second trolley 42 carrying the second package p2 is conveyed towards the return grid opening 31;

[0105] Exemplarily, refer to Figure 4 、 Figure 5 、 Figure 8 and in combination with Figure 1 、 Figure 2, after the main control system receives the second appearance information of the second package p2 carried by the second trolley 42, it first compares it with the first appearance information of the second package p2 carried by the second trolley 42 stored previously. If the first appearance information and the second appearance information are inconsistent (for example, the first appearance information shows that the second package p2 is cube-shaped with a side length of 30 cm, and the second appearance information shows that the second package p2 is cube-shaped with a side length of 55 cm), at this time, it indicates that the second package p2 carried by the second trolley 42 on the conveying section 12 is inconsistent with the second package p2 on the loading section 11. That is to say, after loading the package on the loading section 11 and the first vision camera captures the first appearance information and barcode information of the second package p2, due to possible operation errors, other packages may be placed in the second trolley 42, resulting in the situation of package misclassification. If not corrected in time, the package that should not be put into the target grid 302 will be put into it, which may cause problems such as package loss. Therefore, after determining that the first appearance information and the second appearance information are inconsistent, the main control system sends a return flow instruction to the second trolley 42, and the second trolley 42 carrying the second package p2 conveys towards the return flow grid 31, and puts the possibly misclassified package into the return flow grid 31 for rechecking.

[0106] S320: Determine that the first appearance information of the second package p2 carried by the second trolley 42 is consistent with the second appearance information of the second package p2 carried by the second trolley 42, and the second trolley 42 carrying the second package p2 continues to convey towards the target grid 302;

[0107] Exemplarily, refer to Figure 4 、 Figure 5 、 Figure 8 And in combination with Figure 1 、 Figure 2 , after the main control system receives the second appearance information of the second package p2 carried by the second trolley 42, it first compares it with the first appearance information of the second package p2 carried by the second trolley 42 stored previously. If the first appearance information and the second appearance information are consistent (for example, both the first appearance information and the second appearance information show that the second package p2 is cube-shaped with a side length of 30 cm), that is, the second package p2 carried by the second trolley 42 on the conveying section 12 is still the second package p2 during loading, and there is no situation of package misclassification. The second trolley 42 continues to travel along the original route and conveys the second package p2 along the conveying section 12 towards the target grid 302.

[0108] S330: Determine that the second appearance information of the package carried by the second trolley 42 is consistent with the second appearance information of the package carried by the first trolley 41, and the first trolley 41 and the second trolley 42 convey towards the return flow grid 31;

[0109] Exemplarily, refer to Figure 4 、 Figure 5 、 Figure 8 And in combination withFigure 1 , Figure 2 After the master control system receives the second appearance information of the second package p2 carried by the second trolley 42, since the second appearance information of the first package p1 carried by the first trolley 41 is also stored in the data storage device of the master control system, and at this time the first trolley 41 has not yet reached the target grid opening, the master control system reinspects the first package p1 again, compares the second appearance information of the first package p1 carried by the first trolley 41 with the second appearance information of the second package p2 carried by the second trolley 42. If the two are consistent (for example, the second appearance information of the first package p1 carried by the first trolley 41 shows that the first package p1 is rectangular, with a length of 55 cm, a width of 30 cm, and a height of 15 cm, and the second appearance information of the second package p2 carried by the second trolley 42 shows that the second package p2 is rectangular, with a length of 55 cm, a width of 30 cm, and a height of 15 cm), it means that the second package p2 carried by the second trolley 42 at this time may be the first package p1 carried by the first trolley 41 (for example, when the second package p2 is taken off from the second trolley 42 by an operator for rechecking, the second package p2 is misclassified to the first trolley 41), and there may be a situation of package misclassification. To prevent the package from being put into the wrong target grid opening 30, the master control system sends a return flow instruction to the first trolley 41 and the second trolley 42, and the first trolley 41 and the second trolley 42 convey towards the return flow grid opening 31, and convey the possibly misclassified package into the return flow grid opening 31 to wait for rechecking.

[0110] S340: Determine that the second appearance information of the second package p2 carried by the second trolley 42 is inconsistent with the second appearance information of the first package p1 carried by the first trolley 41, and the first trolley 41 and the second trolley 42 continue to convey towards the target grid opening 30.

[0111] Exemplarily, refer to Figure 4 , Figure 5 , Figure 8 and in combination with Figure 1 , Figure 2After the master control system receives the second appearance information of the second package p2 carried by the second trolley 42, since the second appearance information of the first package p1 carried by the first trolley 41 is also stored in the data storage device of the master control system, and at this time the first trolley 41 has not yet reached the target grid opening, the master control system re-inspects the first package p1 again, and compares the second appearance information of the first package p1 carried by the first trolley 41 with the second appearance information of the second package p2 carried by the second trolley 42. If the two are inconsistent (for example, the second appearance information of the first package p1 carried by the first trolley 41 shows that the first package p1 is rectangular, with a length of 55 cm, a width of 30 cm, and a height of 15 cm, and the second appearance information of the second package p2 carried by the second trolley 42 shows that the second package p2 is cube-shaped, with a side length of 30 cm), the first trolley 41 and the second trolley 42 continue to convey until the packages are put into the corresponding grid openings. After the first trolley 41 puts the first package p1 into the target grid opening 301 and the second trolley 42 puts the second package p2 into the target grid opening 302, the first trolley 41 and the second trolley 42 should enter the return section 14 in an empty state in sequence. After passing through the gray scale detector on the return section 14 and determining that the first trolley 41 and the second trolley 42 do not carry packages, the first trolley 41 and the second trolley 42 are loaded with parts on the loading section 11 in sequence.

[0112] It should be noted that the first package p1 and the second package P2 provided in the embodiments of the present application may also be other shapes, and the first appearance information and the second appearance information are not limited to three-dimensional shape and size information.

[0113] Exemplarily, refer to Figure 9 、 Figure 10 Taking the projected shape of the package in the vertical direction as the appearance information as an example for illustration, as Figure 9 shown, the first appearance information p10 of the first package p1 (or the second package p2) on the loading section 11 is circular, and the second appearance information p11 of the first package p1 (or the second package p2) on the conveying section is rectangular. Since the first appearance information p10 and the second appearance information p11 are inconsistent, the trolley 40 should convey the possibly misclassified package it carries to the return grid opening 31. As Figure 10As shown, the first appearance information p10 of the first package p1 (or the second package p2) in the loading section 11 is rectangular, and the second appearance information p11 of the first package p1 (or the second package p2) in the conveying section is also rectangular. At this time, the deviation value of the size data of the two sets of appearance information is calculated through an image processing algorithm to calculate the similarity. If the similarity is lower than a preset threshold, for example, the perimeter of the rectangle in the first appearance information p10 of the first package p1 (or the second package p2) in the loading section 11 is 15 cm, while the perimeter of the rectangle in the second appearance information p11 of the first package p1 (or the second package p2) in the conveying section is 30 cm, it is determined that the first appearance information p10 and the second appearance information 11 are inconsistent.

[0114] In this way, through repeated detection and comparison, the detection accuracy of avoiding misclassification during loading can be further improved, the situation of loading errors can be further avoided, and the sorting efficiency and reliability can be improved.

[0115] In addition, the present invention also provides a computer storage medium, including a memory and a processor. The memory is adapted to store computer instructions, and the processor is adapted to execute the package sorting method of any of the above embodiments when running the computer instructions.

[0116] Now refer to Figure 11 , which shows a block diagram of an electronic device 400 according to an embodiment of the present application. The electronic device 400 is, for example, a smart mobile terminal. The electronic device 400 may include one or more processors 401 coupled to a controller hub 403, and the processor 401 is communicatively connected to the main control system of the sorting device. For at least one embodiment, the controller hub 403 communicates with the processor 401 via a multi-branch bus such as a front side bus (FSB), a point-to-point interface such as a QuickPath Interconnect (QPI), or a similar connection. The processor 401 executes instructions for controlling general types of data processing operations. In one embodiment, the controller hub 403 includes, but is not limited to, a graphics memory controller hub (GMCH) (not shown) and an input / output hub (IOH) (which may be on a separate chip) (not shown), where the GMCH includes a memory and a graphics controller and is coupled to the IOH.

[0117] The electronic device 400 may further include a coprocessor 402 and a memory 404 coupled to the controller hub 403. Alternatively, one or both of the memory and the GMCH may be integrated within the processor, the memory 404 and the coprocessor 402 are directly coupled to the processor 401 and the controller hub 403, and the controller hub 403 and the IOH are in a single chip.

[0118] The memory may be, for example, a dynamic random access memory (DRAM), a phase change memory (PCM), or a combination of the two. The memory may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. Instructions are stored in the computer-readable storage medium, specifically, temporary and permanent copies of the instructions are stored. The instructions may include: instructions that, when executed by at least one of the processors, cause the sorting device to implement the Figures 6 to 8 package sorting method as shown. When the instructions are run on a computer, the computer is caused to execute the package sorting method disclosed in any of the above embodiments or a combined embodiment to complete package sorting and avoid mis-sorting of packages.

[0119] In one embodiment, the coprocessor 402 is a dedicated processor, such as, for example, a high-throughput MIC (Many Integrated Core) processor, a network or communication processor, a compression engine, a graphics processor, a GPGPU (General-purpose computing on graphics processing units), or an embedded processor, etc. The optional nature of the coprocessor 402 is indicated by a dashed line in Figure 11 Figure.

[0120] In one embodiment, the electronic device 400 may further include a network interface (NIC, Network Interface Controller) 406. The network interface 406 may include a transceiver for providing a radio interface for the electronic device 400 to communicate with any other suitable device (such as a front-end module, an antenna, etc.). In various embodiments, the network interface 406 may be integrated with other components of the electronic device 400. The network interface 406 may implement the functions of the communication unit in the above embodiments.

[0121] The electronic device 400 may further include an input / output (I / O) device 405. The I / O 405 may include: a user interface designed to enable a user to interact with the electronic device 400; a peripheral component interface designed to enable peripheral components to also interact with the electronic device 400; and / or sensors designed to determine environmental conditions and / or location information related to the electronic device 400.

[0122] It should be noted that Figure 11 is merely exemplary. That is, although Figure 11 shows that the electronic device 400 includes multiple components such as a processor 401, a controller hub 403, a memory 404, etc., in actual applications, a device using the methods of the present application may include only a part of the components of the electronic device 400. For example, it may only include the processor 401 and a network interface 406. Figure 11 The nature of the optional components in

[0123] Now refer to Figure 12 , which shows a block diagram of a System on Chip (SoC) 500 according to an embodiment of the present application. In Figure 12 , similar components have the same reference numerals. Additionally, the dashed boxes are optional features of a more advanced SoC. In Figure 12 , the SoC includes: an interconnect unit 550, which is coupled to a processor 510; a system agent unit 580; a bus controller unit 590; an integrated memory controller unit 540; one or a group of coprocessors 520, which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a Static Random-Access Memory (SRAM) unit 530; and a Direct Memory Access (DMA) unit 560. In one embodiment, the coprocessor 520 includes a dedicated processor, such as, for example, a network or communication processor, a compression engine, a General-Purpose Computing on Graphics Processing Units (GPGPU), a high-throughput MIC processor, or an embedded processor, etc.

[0124] The Static Random-Access Memory (SRAM) unit 530 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. Instructions are stored in the computer-readable storage medium. Specifically, temporary and permanent copies of the instructions are stored. The instructions may include: when executed by at least one of the processors, causing the SoC to implement as Figures 6 to 8Instructions for the package sorting method shown. When the instructions are run on a computer, the computer is caused to execute the method disclosed in the above embodiments.

[0125] An embodiment of the present application also provides a computer program product for implementing the package sorting method provided in the above embodiments.

[0126] Embodiments of the mechanisms disclosed in the present application can be implemented in hardware, software, firmware, or a combination of these implementation methods. Embodiments of the present application can be implemented as computer program modules or module code executed on a programmable system, which includes at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device.

[0127] The computer program module or module code can be applied to input instructions to perform the various functions described in the present application and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of the present application, the processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application specific integrated circuit (ASIC), or a microprocessor.

[0128] The module code can be implemented in a high-level modular language or an object-oriented programming language to communicate with the processing system. When needed, the module code can also be implemented in assembly language or machine language. In fact, the mechanisms described in the present application are not limited to the scope of any specific programming language. In any case, the language can be a compiled language or an interpreted language.

[0129] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried or stored on one or more transient or non-transitory machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, the instructions may be distributed via a network or via other computer-readable media. Thus, machine-readable media may include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), including but not limited to, floppy disks, optical disks, optical discs, magneto-optical discs, read only memory (ROM), random access memory (RAM), erasable programmable read only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic or optical cards, flash memory, or tangible machine-readable memories for transmitting information (e.g., carrier waves, infrared signals, digital signals, etc.) in the form of electrical, optical, acoustic, or other propagated signals using the Internet. Thus, machine-readable media include any type of machine-readable media suitable for storing or transmitting electronic instructions or information in a form readable by a machine (e.g., a computer).

[0130] Although the present invention has been illustrated and described with reference to certain preferred embodiments thereof, those of ordinary skill in the art should understand that the above description is a further detailed explanation of the present invention in connection with specific embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. Those skilled in the art can make various changes in form and detail, including making several simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A package sorting method is applied to a sorting device. The sorting device includes a track, a package supply table, a target bin, a return bin, and a first trolley. Along the conveying path of the first trolley, the track includes a loading section, a conveying section, and a sorting section. The package supply table is arranged at the loading section and is used to provide packages to the first trolley. The target bin is arranged at the sorting section and is used to receive the packages that are not mis-sorted conveyed by the first trolley. The return bin and the target bin are arranged at intervals in the sorting section, and the return bin is used to receive the mis-sorted packages conveyed by the first trolley. It is characterized in that, The package sorting method includes: When it is determined that the first trolley is in the parcel loading section, the first appearance information and barcode information of the package carried by the first trolley are determined. The barcode information of the package carried by the first trolley represents the target grid opening of the first trolley, and the first appearance information of the package carried by the first trolley represents the shape and / or size of the package carried by the first trolley in the parcel loading section; When it is determined that the first trolley is in the conveying section, the second appearance information of the package carried by the first trolley is determined. The second appearance information represents the shape and / or size of the package carried by the first trolley in the conveying section; When it is determined that the first appearance information and the second appearance information are inconsistent, the first trolley carrying the package is conveyed towards the return grid opening; When it is determined that the first appearance information and the second appearance information are consistent, the first trolley carrying the package continues to be conveyed towards the target grid opening.

2. The parcel sorting method according to claim 1, characterized in that, The sorting device includes a second trolley. The first trolley and the second trolley pass through the parcel loading section in sequence. The package sorting method includes: When it is determined that the second trolley is in the parcel loading section, the first appearance information and barcode information of the package carried by the second trolley are determined. The barcode information of the package carried by the second trolley represents the target grid opening of the second trolley, and the first appearance information of the package carried by the second trolley represents the shape or size of the package carried by the second trolley in the parcel loading section; When it is determined that the second appearance information of the package carried by the first trolley and the first appearance information of the package carried by the second trolley are consistent, both the first trolley and the second trolley are conveyed towards the return grid opening; When it is determined that the second appearance information of the package carried by the first trolley and the first appearance information of the package carried by the second trolley are inconsistent, the first trolley and the second trolley continue to be conveyed towards the target grid opening.

3. The parcel sorting method according to claim 2, wherein After it is determined that the second appearance information of the package carried by the first trolley and the first appearance information of the package carried by the second trolley are inconsistent and the first trolley and the second trolley continue to be conveyed towards the target grid opening, the package sorting method further includes: When it is determined that the second trolley is in the conveying section, the second appearance information of the package carried by the second trolley is determined. The second appearance information of the package carried by the second trolley represents the shape or size of the package carried by the second trolley in the conveying section; When it is determined that the first appearance information and the second appearance information of the package carried by the second trolley are inconsistent, the second trolley carrying the package is conveyed towards the return grid opening; When it is determined that the first appearance information and the second appearance information of the package carried by the second trolley are consistent, the second trolley carrying the package continues to be conveyed towards the target grid opening; When it is determined that the second appearance information of the package carried by the second trolley and the second appearance information of the package carried by the first trolley are consistent, the first trolley and the second trolley are conveyed towards the return grid opening; When it is determined that the second appearance information of the package carried by the second trolley and the second appearance information of the package carried by the first trolley are inconsistent, the first trolley and the second trolley continue to be conveyed towards the target grid opening.

4. A sorting device, characterized in that, It includes a track, a package supply table, a target grid opening, a return grid opening and a first trolley. Along the conveying path of the first trolley, the track includes a loading section, a conveying section and a sorting section. The package supply table is arranged at the loading section and is used to provide packages to the first trolley. The target grid opening is arranged at the sorting section and is used to receive the packages correctly sorted by the first trolley. The return grid opening and the target grid opening are arranged at intervals at the sorting section, and the return grid opening is used to receive the mis-sorted packages conveyed by the first trolley. The sorting device further includes a main control system, and the main control system is communicatively connected to the trolley on the track and executes the package sorting method according to any one of claims 1 to 3.

5. The sorting device according to claim 4, characterized in that, The sorting device further includes: A first image recognition system, communicatively connected to the main control system. The first image recognition system is arranged at the conveying section and includes a first vision camera for determining the barcode information and the first appearance information of the packages provided by the package supply table. A second image recognition system, arranged between the first image recognition system and the target grid opening. The second image recognition system includes a second vision camera for determining the second appearance information of the packages. The main control system receives the first appearance information and the second appearance information and is used to determine whether the second appearance information is consistent with the first appearance information. When the second appearance information is inconsistent with the first appearance information, the main control system sends a return instruction to the first trolley carrying the package, and the first trolley carrying the package conveys towards the return grid opening. When the second appearance information is consistent with the first appearance information, the main control system does not send the return instruction to the first trolley carrying the package, and the first trolley carrying the package continues to convey towards the target grid opening.

6. The sorting device according to claim 5, characterized in that, It includes a detection device, arranged at the conveying section. The detection device is communicatively connected to the first vision camera and is used to determine that the first trolley arrives at the position of the first vision camera, triggering the first vision camera to capture the barcode information and the first appearance information. The detection device is communicatively connected to the second vision camera and is used to determine that the first trolley arrives at the position of the second vision camera, triggering the second vision camera to capture the second appearance information.

7. The sorting device according to claim 6, characterized in that, The detection device includes at least one of a photoelectric sensor, an infrared sensor or a pressure sensor.

8. The sorting device according to claim 5, wherein, The track includes a return section. Along the conveying path, the sorting section is arranged between the return section and the conveying section. The sorting device includes a grayscale meter, arranged at the return section. The grayscale meter is communicatively connected to the main control system and is used to determine that the first trolley on the return section is not carrying a package, sending an allowable package receiving instruction to the main control system, and the first trolley moves to the loading section to carry a package.

9. A computer storage medium, characterized in that, It includes a memory and a processor. The memory is suitable for storing computer instructions, and the processor is suitable for executing the package sorting method according to any one of claims 1 to 3 when running the computer instructions.

10. A computer program product, characterized in that, including a computer program / instructions which, when executed by a processor, implement the parcel sorting method according to any one of claims 1 to 3.

Images