Parcel sorting method and system

Abstract

The embodiment of the invention provides a parcel sorting method and system.The parcel sorting method is applied to control equipment, and the control equipment is applied to a sorting machine; a sorting task list is generated based on sorting vehicle identifiers, sorting grid identifiers and package identifiers corresponding to the to-be-sorted packages, and the to-be-sorted packages are scanned and determined through scanning equipment of a sorting machine according to the sorting grid identifiers and the package identifiers; determining a matching relationship between a to-be-matched grid associated with the sorting machine and a to-be-matched sorting vehicle in an annular conveyor belt according to conveyor belt information and grid information associated with the annular conveyor belt in the sorting machine at the grid detection moment, and generating a grid list based on the matching relationship; and matching the sorting task list with the lattice list to determine at least one target lattice, and controlling a target sorting vehicle corresponding to the at least one target lattice to sort the parcels. By establishing the dynamic mapping between the sorting tasks and the grids, the accuracy of parcel sorting can be improved.

Description

Technical Field

[0001] The embodiments of this specification relate to the field of computer technology, and more particularly to a package sorting method and system. Background Art

[0002] With the rapid development of the logistics industry, the workload for sectors like e-commerce and express delivery has surged. This industry faces challenges such as the need to sort a wide variety of goods and diverse sorting environments. As a highly automated and compatible sorting device, narrow-band sorters have gained widespread adoption. Narrow-band sorters are ring-shaped devices consisting of multiple "narrow-band trolleys" connected end-to-end, forming a main loop. These trolleys are driven by a power system and operate in a circular loop. Parcels pass through a supply belt line, where a scanning camera identifies their destination. Once inside the main loop, the trolley's electric rollers drive the belt to unload the parcels at the corresponding slot, completing the sorting process.

[0003] Existing technologies, with limited positioning accuracy, can only unload goods by continuously rotating multiple carts using a PLC outputting a high level. This method cannot accurately control the optimal rotational position of each cart, resulting in inconsistent unloading positions for goods within the same slot and inability to guarantee accurate parcel sorting. Therefore, a more effective parcel sorting method is urgently needed to address this issue. Summary of the Invention

[0004] In view of this, embodiments of this specification provide a parcel sorting method. One or more embodiments of this specification also relate to a parcel sorting system, a parcel sorting device, a parcel sorting equipment, a computer-readable storage medium, and a computer program product to address technical deficiencies in the prior art.

[0005] According to a first aspect of an embodiment of this specification, there is provided a parcel sorting method, which is applied to a control device, wherein the control device is applied to a sorting machine;

[0006] Generate a sorting task list based on the sorting vehicle identification, sorting slot identification and parcel identification corresponding to the parcel to be sorted, wherein the sorting slot identification and the parcel identification are determined by scanning the parcel to be sorted using the scanning device of the sorting machine;

[0007] At the slot detection moment, determining a matching relationship between the slots to be matched associated with the sorter and the sorting vehicles to be matched in the circular conveyor belt according to the conveyor belt information and slot information associated with the circular conveyor belt in the sorter, and generating a slot list based on the matching relationship;

[0008] At least one target slot is determined by matching the sorting task list with the slot list, and parcel sorting is performed by controlling a target sorting vehicle corresponding to the at least one target slot.

[0009] According to a second aspect of an embodiment of this specification, there is provided a parcel sorting system, comprising an operating terminal and a control terminal;

[0010] The operating terminal is used to send control instructions to the control terminal;

[0011] The control end is applied to generate a sorting task list based on the sorting vehicle identification, sorting slot identification and package identification corresponding to the package to be sorted in response to the control instruction, and the sorting slot identification and the package identification are determined by scanning the package to be sorted using the scanning device of the sorting machine; at the slot detection moment, the matching relationship between the to-be-matched slot associated with the sorting machine and the to-be-matched sorting vehicle in the circular conveyor belt is determined according to the conveyor belt information and slot information associated with the circular conveyor belt in the sorting machine, and a slot list is generated based on the matching relationship; by matching the sorting task list with the slot list, at least one target slot is determined, and the package is sorted by controlling the target sorting vehicle corresponding to the at least one target slot.

[0012] According to a third aspect of the embodiments of this specification, there is provided a parcel sorting device, which is applied to a control device, wherein the control device is applied to a sorting machine;

[0013] a generating module configured to generate a sorting task list based on a sorting vehicle identifier, a sorting slot identifier, and a parcel identifier corresponding to a parcel to be sorted, wherein the sorting slot identifier and the parcel identifier are determined by scanning the parcel to be sorted using a scanning device of the sorting machine;

[0014] a determination module configured to determine, at a slot detection moment, a matching relationship between a slot to be matched associated with the sorter and a sorting vehicle to be matched in the circular conveyor belt according to the conveyor belt information and slot information associated with the circular conveyor belt in the sorter, and generate a slot list based on the matching relationship;

[0015] The matching module is configured to determine at least one target slot by matching the sorting task list with the slot list, and to sort packages by controlling a target sorting vehicle corresponding to the at least one target slot.

[0016] According to a fourth aspect of the embodiments of this specification, a parcel sorting device is provided, comprising:

[0017] Control equipment and sorting machines;

[0018] The control device is used to store and execute computer programs or instructions associated with the sorting machine, and when the computer program or instructions are executed by the control device, the steps of the parcel sorting method are implemented.

[0019] According to a fifth aspect of the embodiments of this specification, a computer-readable storage medium is provided, which stores computer-executable instructions, and when the instructions are executed by a processor, the steps of the above-mentioned parcel sorting method are implemented.

[0020] According to a sixth aspect of the embodiments of this specification, a computer program product is provided, comprising a computer program or instructions, which implement the steps of the above-mentioned parcel sorting method when executed by a processor.

[0021] An embodiment of the present specification implements a parcel sorting method provided, which is applied to a control device, and the control device is applied to a sorting machine; a sorting task list is generated based on the sorting vehicle identification, sorting slot identification, and parcel identification corresponding to the parcel to be sorted, and the sorting slot identification and parcel identification are scanned and determined by the scanning device of the sorting machine for the parcel to be sorted; at the slot detection moment, the matching relationship between the to-be-matched slot associated with the sorting machine and the to-be-matched sorting vehicle in the circular conveyor belt is determined based on the conveyor belt information and slot information associated with the circular conveyor belt in the sorting machine, and a slot list is generated based on the matching relationship; at least one target slot is determined by matching the sorting task list with the slot list, and the parcel is sorted by controlling the target sorting vehicle corresponding to the at least one target slot. By establishing a dynamic mapping between the sorting task and the slot, the target slot for parcel sorting can be accurately determined at each slot detection moment during the operation of the circular conveyor belt of the sorting machine, thereby improving the accuracy of parcel sorting and reducing the probability of missorting parcels. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of a processing process of a parcel sorting method provided by an embodiment of this specification;

[0023] Figure 2 This is a flow chart of a parcel sorting method provided by one embodiment of this specification;

[0024] Figure 3 This is a module diagram of a parcel sorting method provided by one embodiment of this specification;

[0025] Figure 4 This is a schematic diagram of scanning camera position calibration for a parcel sorting method provided by one embodiment of this specification;

[0026] Figure 5 This is a schematic diagram of transmitter debugging of a parcel sorting method provided by one embodiment of this specification;

[0027] Figure 6 This is a schematic structural diagram of a parcel sorting system provided by one embodiment of this specification;

[0028] Figure 7This is a schematic structural diagram of a parcel sorting device provided by one embodiment of this specification;

[0029] Figure 8 This is a structural block diagram of a parcel sorting device provided in one embodiment of this specification. DETAILED DESCRIPTION

[0030] The following description sets forth many specific details to facilitate a thorough understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the scope of this specification. Therefore, this specification is not limited to the specific implementations disclosed below.

[0031] The terms used in one or more embodiments of this specification are for the purpose of describing specific embodiments only and are not intended to limit one or more embodiments of this specification. The singular forms "a," "the," and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0032] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0033] In addition, it should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0034] First, the terms involved in one or more embodiments of this specification are explained.

[0035] Dynamic positioning reference: The spatiotemporal dynamic reference coordinates established by the origin photoelectric and speed measurement photoelectric.

[0036] The strongest point of the infrared signal: the center point of the signal coverage model established by the emission duration and the vehicle speed.

[0037] Dynamic task mapping: dynamic data relationship between the real-time parcel target grid, the vehicle number, and the target grid location information.

[0038] Narrow-band sorting machines, as highly automated and highly compatible sorting equipment, have gained widespread adoption. These machines are ring-shaped devices, consisting of multiple narrow-band carts connected end-to-end to form a main loop, driven by a power system. Parcels pass through a supply belt, where a scanning camera identifies their destination. After entering the main loop, the cart's electric rollers unload the parcels from the belt at the corresponding slot. This embodiment establishes a dynamic task mapping, calculates the spatiotemporal relationship between the parcel's position between the cart and the slot in real time, and constructs a task list-to-slot mapping matrix. This simplifies the control logic of the narrow-band sorting machine and enables precise parcel sorting. Figure 1 FIG. 1 is a schematic diagram of a processing process of a parcel sorting method provided by an embodiment of this specification; Figure 1 As shown, a parcel sorting method is applied to a control device, which is applied to a sorting machine. A sorting task list is generated based on the sorting vehicle identification, sorting slot identification, and parcel identification corresponding to the parcel to be sorted. The sorting slot identification and parcel identification are scanned and determined by the scanning device of the sorting machine for the parcel to be sorted. At the slot detection moment, the matching relationship between the to-be-matched slot associated with the sorting machine and the to-be-matched sorting vehicle in the circular conveyor belt is determined based on the conveyor belt information and slot information associated with the circular conveyor belt in the sorting machine, and a slot list is generated based on the matching relationship. At least one target slot is determined by matching the sorting task list with the slot list, and the parcel is sorted by controlling the target sorting vehicle corresponding to the at least one target slot. By establishing a dynamic mapping between the sorting task and the slot, the target slot for parcel sorting can be accurately determined at each slot detection moment during the operation of the circular conveyor belt of the sorting machine, thereby improving the accuracy of parcel sorting and reducing the probability of missorting parcels.

[0039] In this specification, a parcel sorting method is provided. This specification also relates to a parcel sorting system, a parcel sorting device, a parcel sorting equipment, a computer-readable storage medium and a computer program product, which are described in detail one by one in the following embodiments.

[0040] See also Figure 2 , Figure 2 A flowchart of a parcel sorting method according to an embodiment of the present specification is shown, which specifically includes the following steps: The parcel sorting method is applied to a control device, and the control device is applied to a sorting machine.

[0041] Step 202: Generate a sorting task list based on the sorting vehicle identification, sorting slot identification and package identification corresponding to the package to be sorted, wherein the sorting slot identification and the package identification are determined by scanning the package to be sorted using the scanning device of the sorting machine.

[0042] Specifically, the parcels to be sorted are parcels that have been delivered to the circular conveyor belt of the sorting machine and are waiting to be sorted to the corresponding grid. Multiple sorting carts are arranged on the circular conveyor belt. When the parcels to be sorted are delivered to the circular conveyor belt, they are actually delivered to the sorting cart. The sorting cart identification is the sorting cart identification information of the sorting cart to which the parcel to be sorted is delivered. The sorting cart identification can be the ID or vehicle number of the sorting cart. The sorting grid identification and the parcel identification are identification information recorded on the parcel to be sorted. The sorting grid identification indicates the grid number of the grid to which the parcel to be sorted will be sorted, that is, the grid ID. The parcel identification indicates the parcel number of the parcel to be sorted, that is, the parcel ID. The sorting task list records the sorting cart identification, sorting grid identification and parcel identification corresponding to each task to be sorted. Each parcel to be sorted corresponds to a sorting task, which is represented in the sorting task list as a row of task records. The sorting slot identification and the package identification can be recorded in the package information list affixed to the package to be sorted. The sorting slot identification and the package identification of the package to be sorted can be obtained by scanning the package information list using the scanning device of the sorting machine.

[0043] Based on this, when using a sorting machine to sort packages, the scanning device of the sorting machine is used to scan the packages to be sorted to determine the sorting slot identifier and the package identifier, and then a sorting task list is generated based on the sorting vehicle identifier, sorting slot identifier and package identifier corresponding to the packages to be sorted. The sorting task list records at least one package record of the packages to be sorted.

[0044] In practice, the sorting mechanism of a sorting machine includes: a package supply belt: which scans and transports packages to narrow-belt carts (sorting carts). A scanning camera (scanning device): which identifies package information and triggers sorting tasks. A main loop power system: which drives the narrow-belt main loop (the sorting machine's circular conveyor belt). An origin detection photoelectric switch: installed in a fixed position on the main loop, used to locate cart No. 1. A main loop speed measurement photoelectric switch: which detects the number of carts passing through in real time. Narrow-belt carts: Each cart is equipped with an infrared receiver and a speed sensor, with cart No. 1 equipped with an origin sensor. A slot device: Each slot is equipped with an infrared transmitter to control the cart's movement. During actual parcel sorting, the package supply belt delivers a parcel to be sorted. If the leading edge of the parcel just blocks the scanning camera mounted above the supply belt, triggering the photoelectric switch, the parcel is scanned and the sorting slot identification and parcel identification are identified. The package supply belt rotates continuously, delivering the packages to be sorted to the sorting carts installed on the sorting machine's circular conveyor belt. The sorting carts move with the rotation of the sorting machine's circular conveyor belt until they reach the target compartment that matches the sorting compartment identifier. They then sort the packages to the target compartment, completing the parcel sorting.

[0045] Furthermore, after the scan of the parcel to be sorted is completed, the sorting vehicle identifier can be calculated based on the main ring position information to determine the sorting vehicle to which the parcel to be sorted will be delivered. The specific implementation is as follows:

[0046] At the scanning moment, the identification device corresponding to the sorting machine is used to scan the parcel to be sorted transmitted through the parcel supply belt line to obtain the sorting slot identification and the parcel identification; at the scanning moment, the main ring position information associated with the circular conveyor belt in the sorting machine and the scanning position information corresponding to the identification device are determined, and the main ring position information is determined based on the positioning reference information corresponding to the circular conveyor belt; and the sorting vehicle identification is calculated based on the main ring position information and the scanning position information.

[0047] Specifically, the scanning moment refers to the moment when the parcel to be sorted is transferred to the bottom of the identification device as the parcel supply belt moves, and the front edge of the parcel to be sorted triggers the photoelectric switch of the identification device. The positioning reference information corresponding to the circular conveyor belt is the current position of the main ring. The current position of the main ring is the position of the sorting vehicle 1 obtained by generating a rising edge when the origin sensor plate under the sorting vehicle 1 passes through the origin detection photoelectric switch of the circular conveyor belt. The current position of the main ring is the positioning reference of the circular conveyor belt. The current position of the main ring is expressed as the number of sorting vehicles plus the offset within one sorting vehicle, that is, the current position of the main ring is expressed as 1 vehicle 0mm. Based on the positioning reference information, when the current position of the main ring is expressed as 1 vehicle 0mm, the grid position of the grid arranged on the outside or inside of the circular conveyor belt can be obtained respectively. For example, the position of grid 3 is 12 vehicles 35mm. When the circular conveyor belt is continuously running, the main ring position information at the scanning moment can be calculated and represented based on the positioning reference information. For example, at the scanning moment, the main ring position information corresponding to the origin detection photoelectric switch of the circular conveyor belt is 152 cars 35 mm, and the scanning position information of the identification device corresponding to the origin detection photoelectric switch of the circular conveyor belt is 112 cars 35 mm.

[0048] Based on this, at the scanning moment, the sorting machine's corresponding identification device scans the parcels being transported along the parcel supply line to obtain the sorting slot identifier and parcel identifier. At the scanning moment, the main ring position information associated with the circular conveyor belt in the sorting machine and the scanning position information corresponding to the identification device are determined. The main ring position information is determined based on the positioning reference information corresponding to the circular conveyor belt. The sorting vehicle identifier is calculated based on the main ring position information and the scanning position information. That is, the position information of the sorting vehicle to which the parcel to be sorted is delivered is obtained by subtracting the scanning position information from the main ring position information. Based on the sorting vehicle position information, the sorting vehicle identifier can be determined, and the sorting vehicle number to which the parcel to be sorted is delivered can be obtained.

[0049] For example, consider a sorting machine consisting of a package supply line, scanning equipment, a ring conveyor, a main ring speed photoelectric switch, a narrow-belt trolley (sorting cart), and slots. Each slot is equipped with an infrared emitter to control the trolley's movements. During actual parcel sorting, the package supply line delivers the parcel to be sorted. The leading edge of the parcel just blocks the scanning camera mounted above the supply line, triggering the photoelectric switch. At this moment, the parcel is scanned and the scanning position information corresponding to the ring conveyor's origin detection photoelectric switch is recorded: 195 cars 65 mm. The sorting slot identification and parcel identification of the parcel to be sorted are identified. The package supply line rotates continuously, delivering the parcel to be sorted to the sorting cart mounted on the sorting machine's ring conveyor. At the moment of scanning, the main ring position information corresponding to the ring conveyor's origin detection photoelectric switch is 135 cars 65 mm. The system then calculates the sorting vehicle number to which the parcel will be delivered based on the scanned location information (195 vehicle 65mm) and the main ring location information (135 vehicle 65mm). Specifically, the number is calculated as follows: 135 vehicle 65mm - 195 vehicle 65mm = 140 vehicle. 140 is the sorting vehicle ID. Based on the corresponding sorting vehicle ID, sorting slot ID, and parcel ID, a row of data is generated: "Parcel to be sorted 1 - 140 vehicle - slot 3" and stored in the sorting task list.

[0050] In summary, the sorting vehicle identification is calculated based on the main ring position information and the scanning position information, and the sorting vehicle to which the sorting package will be delivered is accurately predicted, so that the sorting package can be accurately sorted in the future.

[0051] Furthermore, the representation of the test position information and the sorting vehicle position information can be determined based on the positioning reference information, and then the trigger position of the identification device can be calibrated. The specific implementation is as follows:

[0052] A test package is placed on the package supply belt line for transmission. When the leading edge of the test package triggers the photoelectric switch of the identification device, the test position information of the endless conveyor belt is determined; when the test package falls onto the test sorting vehicle on the endless conveyor belt as the endless conveyor belt runs, the position information of the sorting vehicle corresponding to the leading edge of the package is determined; and the trigger position information of the identification device is calculated based on the test position information and the sorting vehicle position information.

[0053] Specifically, the photoelectric switch is triggered when the leading edge of the test package reaches the position of the photoelectric switch. The test position information of the circular conveyor belt is represented by the positioning reference information, with the current position of the main ring serving as the positioning reference for the circular conveyor belt. The test sorting vehicle is the sorting vehicle to which the test package is delivered as the circular conveyor belt operates. The sorting vehicle position information corresponding to the leading edge of the package indicates that the test package has fallen onto the test sorting vehicle and has exceeded the distance from the test sorting vehicle. The trigger position information can be determined by subtracting the sorting vehicle position information from the test position information.

[0054] Based on this, a test package is placed on the package supply line for transport. When the leading edge of the test package triggers the photoelectric switch of the identification device, the test position information of the endless conveyor belt is determined based on the positioning reference information. If the test package falls onto the test sorting cart on the endless conveyor belt as the endless conveyor belt operates, the positioning reference information determines the sorting cart position information corresponding to the leading edge of the package. The trigger position information of the identification device is calculated based on the test position information and the sorting cart position information. That is, the trigger position information is determined by subtracting the sorting cart position information from the test position information.

[0055] Continuing with the previous example, a test package is placed on the package supply belt line and passed by the scanning camera, triggering the photoelectric switch. When the leading edge of the package passes the photoelectric switch, the current position of the main loop (Pmain loop, test position information) can be obtained. Then, wait for the package to land on the narrow belt trolley, immediately stop the operation, observe the trolley number on which the leading edge of the package lands, and use a steel ruler to measure the distance the leading edge of the package exceeds the edge of this trolley. Using this position (Ppackage, sorting trolley position information), the trigger position of the scanning camera can be calculated: Ptrigger (trigger position information) = Pmain loop - Ppackage. Place the test package. When the leading edge of the package blocks the scanning camera and triggers the photoelectric switch, record the main loop position at this time: Pmainloop = 198car45mm. Stop the main loop and measure the actual position of the package, Pparcel = 2car180mm. Calculate the camera trigger position Ptrigger by borrowing the vehicle number: 198car45mm - 2car180mm = 196car(-135)mm. The negative offset requires converting the vehicle number: 196-1 = 195car. 200mm-135mm = 65mm, so Ptrigger = 195car65mm.

[0056] In summary, the trigger position information of the recognition device is calculated based on the test position information and the sorting vehicle position information, and the trigger position calibration of the scanning device is achieved in combination with the positioning reference information.

[0057] Step 204: at the slot detection moment, according to the conveyor belt information and slot information associated with the circular conveyor in the sorter, determine the matching relationship between the slots to be matched associated with the sorter and the sorting vehicles to be matched in the circular conveyor, and generate a slot list based on the matching relationship.

[0058] Specifically, after generating a sorting task list based on the sorting vehicle identifier, sorting slot identifier, and package identifier corresponding to the package to be sorted, and the sorting slot identifier and package identifier are scanned and determined by the sorting machine's scanning equipment, a matching relationship between the to-be-matched slot associated with the sorting machine and the to-be-matched sorting vehicle in the circular conveyor belt can be determined at slot detection time based on the conveyor belt information and slot information associated with the circular conveyor belt in the sorting machine, and a slot list can be generated based on the matching relationship. The slot detection time can be the moment when the slot representation of the circular conveyor belt is recorded, that is, it can be any time during the operation of the circular conveyor belt. The conveyor belt information is the position of the origin detection photoelectric switch of the current circular conveyor belt based on the positioning reference information. The slot information refers to the slot position representation of each slot corresponding to the circular conveyor belt, recorded when the sorting vehicle 1 is at the origin detection photoelectric switch of the circular conveyor belt. The to-be-matched slot refers to each slot corresponding to the circular conveyor belt, and the to-be-matched sorting vehicle refers to each sorting vehicle in the circular conveyor belt. The slot list is used to store the correspondence between the sorting vehicles to be matched and the slots to be matched at the time of slot detection. A row in the slot list records a sorting vehicle to be matched and its corresponding slot to be matched.

[0059] Based on this, the sorting task list is generated based on the sorting vehicle identification, sorting slot identification, and package identification corresponding to the to-be-sorted package. After the sorting slot identification and package identification are scanned and confirmed by the scanning device of the sorting machine, the conveyor belt information and slot information associated with the circular conveyor belt in the sorting machine are collected at the slot detection time. Based on the conveyor belt information and slot information, the matching relationship between the to-be-matched slot associated with the sorting machine and the to-be-matched sorting vehicle in the circular conveyor belt is determined, and a slot list is generated based on the matching relationship. The slot number and the corresponding sorting vehicle position are recorded in the slot list.

[0060] In actual applications, the slot detection time can be determined based on the length of the sorting vehicle, the center point where the infrared light signal of the infrared transmitter installed at the slot is the strongest, and the operating speed of the circular conveyor belt. This ensures that the infrared transmitter installed at the slot and the receiver installed on the sorting vehicle are aligned at the time of slot detection. This ensures that the infrared light signal emitted by the infrared transmitter installed at the slot can be received by the receiver of the sorting vehicle corresponding to the slot, ensuring precise control of the sorting vehicle.

[0061] Furthermore, when determining the matching relationship between the to-be-matched grid and the to-be-matched sorting vehicle in the circular conveyor, since the grid information does not change with the movement of the circular conveyor, the matching relationship between the to-be-matched grid and the to-be-matched sorting vehicle in the circular conveyor can be determined based on the grid reference position information corresponding to the grid information. The specific implementation is as follows:

[0062] At the time of the slot detection, the conveyor belt information is calculated according to the positioning reference information corresponding to the circular conveyor belt in the sorting machine, and the slot information is determined based on the positioning reference information; the slot reference position information of the slot to be matched associated with the sorting machine is calculated based on the conveyor belt information and the slot information; and the matching relationship between the slot to be matched and the sorting vehicle to be matched in the circular conveyor belt is determined based on the slot reference position information.

[0063] Specifically, the conveyor belt information represents the position of the origin detection photoelectric switch of the current circular conveyor belt, determined based on the positioning reference information, at the time of the slot detection. The slot reference position information represents the position information of each slot, expressed as the position of the sorting vehicle 1, when the sorting vehicle 1 is located at the origin detection photoelectric switch of the circular conveyor belt. For example, when the sorting vehicle 1 is located at the origin detection photoelectric switch of the circular conveyor belt, the sorting vehicle position information of the sorting vehicle 1 is 0mm for car 1, and the slot reference position information of slot 3 is 35mm for car 12. That is, slot 3 corresponds to car 12, and is offset by 35mm.

[0064] Based on this, at the time of slot detection, the conveyor belt information is calculated based on the positioning reference information corresponding to the circular conveyor belt in the sorter, and the slot information is determined based on the positioning reference information. The slot reference position information of the slot to be matched associated with the sorter is calculated based on the conveyor belt information and the slot information. The matching relationship between the slot to be matched and the sorting vehicle to be matched in the circular conveyor belt is determined based on the slot reference position information. That is, the position of each slot at the time of slot detection is represented by the slot reference position.

[0065] Continuing with the previous example, when the main ring's current position is 152 Car 35mm, calculate the cart number directly above slot 3 (P Slot = 12 Car 35mm): Slot 3 = 152 Car 35mm - 12 Car 35mm = 140 Car 0mm. Similarly, calculate the cart number directly above each slot to determine the matching relationship between the slot to be matched and the sorting cart to be matched.

[0066] In summary, the matching relationship between the grid to be matched and the sorting vehicle to be matched in the circular conveyor belt is determined based on the grid reference position information corresponding to the grid information, ensuring that the matching relationship between the grid to be matched and the sorting vehicle to be matched in the circular conveyor belt is accurate.

[0067] Step 206: Determine at least one target slot by matching the sorting task list with the slot list, and perform parcel sorting by controlling a target sorting vehicle corresponding to the at least one target slot.

[0068] Specifically, at the above-mentioned grid detection moment, the conveyor belt information and grid information associated with the circular conveyor belt in the sorting machine are used to determine the matching relationship between the grid to be matched associated with the sorting machine and the sorting vehicle to be matched in the circular conveyor belt, and after the grid list is generated based on the matching relationship, at least one target grid can be determined by matching the sorting task list and the grid list, and parcels can be sorted by controlling the target sorting vehicle corresponding to at least one target grid, wherein the at least one target grid refers to a grid that can receive parcels sorted by the sorting vehicle at the grid detection moment, that is, the parcels loaded by the target sorting vehicle corresponding to the target grid at the grid detection moment correspond to the target grid, and the parcels loaded by the target sorting vehicle need to be delivered to the target grid.

[0069] Based on this, at the aforementioned slot detection time, the matching relationship between the to-be-matched slots associated with the sorter and the to-be-matched sorting vehicles in the circular conveyor belt is determined based on the conveyor belt information and slot information associated with the circular conveyor belt. After a slot list is generated based on the matching relationship, the sorting task list and the slot list are matched to find the corresponding slot between the sorting vehicles and slots that exist in both the sorting task list and the slot list as the target slot. Once at least one target slot is determined through matching the sorting task list and the slot list, parcel sorting can be performed by controlling the target sorting vehicle corresponding to the at least one target slot.

[0070] In practice, the sorting task list stores sorting vehicles and their corresponding slots, while the slot list also stores sorting vehicles and their corresponding slots. If a sorting vehicle and its corresponding slot exist in both lists, the target slot that can receive the package delivered by the target sorting vehicle can be determined.

[0071] Furthermore, when matching the sorting task list and the slot list, data matching of the list row dimension is required. The specific implementation is as follows:

[0072] The sorting task list and the grid list are matched. When the target grid row information in the grid list and the target sorting task row information in the sorting task list correspond to at least one group of matching grid sorting vehicles, the at least one target grid is determined based on the at least one group of matching grid sorting vehicles; the transmitter corresponding to the at least one target grid is controlled to transmit a sorting signal, and when the target sorting vehicle corresponding to the at least one target grid receives the sorting signal, the sorting vehicle belt is rotated to sort the packages.

[0073] Specifically, the target grid row information in the grid list refers to a row in the grid list that contains grid information and the sorting vehicle information corresponding to the grid information. The target sorting task row information in the sorting task list refers to a row in the sorting task list that contains grid information and the sorting vehicle information corresponding to the grid. At least one set of matching grid sorting vehicles means that by matching the grid list and the sorting task list, at least one set of grid-sorting vehicle correspondences is found. At least one set of grid-sorting vehicle correspondences is at least one set of matching grid sorting vehicles. The transmitter corresponding to the target grid can be an infrared transmitter for emitting infrared light signals. When the infrared receiver of the target sorting vehicle receives the infrared light signal, the sorting vehicle belt can be controlled to rotate to sort the parcels into the target grid.

[0074] Based on this, the sorting task list and the slot list are matched. If the target slot row information in the slot list and the target sorting task row information in the sorting task list correspond to at least one group of matching slot sorting vehicles, at least one target slot is determined based on the at least one group of matching slot sorting vehicles. A transmitter corresponding to the at least one target slot is controlled to transmit a sorting signal. If the target sorting vehicle corresponding to the at least one target slot receives the sorting signal, the sorting vehicle belt rotates to sort the parcels. The sorting vehicle belt of the target sorting vehicle rotates to sort the parcels loaded in the target sorting vehicle to the target slot corresponding to the current position of the target sorting vehicle.

[0075] Continuing with the previous example, the sorting task list records the task number, cart number, and the corresponding bin number of the cart, namely, package 1-140-3; package 2-156-5; package 3-15-1; package 4-27-3; and package 5-40-3. The bin list records the bin number and cart position above the bin, namely, cart 1-143, 150 mm; cart 2-143, 150 mm; cart 3-140, 0 mm; cart 4-140, 0 mm; and cart 5-136, 50 mm. By matching the sorting task list with the bin list, a matching bin sorting cart is identified: cart 140, bin 3. Bin 3 is then designated as the target bin, and cart 140 as the target sorting cart. The infrared emitter corresponding to the target bin is controlled to emit an infrared light signal. When the target sorting cart 140 corresponding to the target bin receives the sorting signal, the cart's belt rotates to sort package 1.

[0076] To summarize, when matching the sorting task list and the slot list, data matching is performed on the list row dimension to determine the target sorting vehicle that can deliver the package, and then control the target sorting vehicle to complete the accurate sorting of the package.

[0077] Furthermore, considering that the sorting vehicle has a certain length and the transmitter installed at the sorting grid has a certain limit on the duration of transmitting the signal, it is necessary to determine the signal duration of the transmitter for the sorting vehicle to ensure that the corresponding sorting vehicle can receive the signal when the transmitter transmits the signal. The specific implementation is as follows:

[0078] An auxiliary sorting vehicle corresponding to the transmitter is determined from among multiple sorting vehicles corresponding to the sorting machine, and sorting vehicle length information of the auxiliary sorting vehicle is determined; the transmitter is controlled to dynamically transmit a light source signal within the length range of the sorting vehicle length information, and an operating state of the auxiliary sorting vehicle is determined according to the light source signal reception information of the auxiliary sorting vehicle; a first critical point position and a second critical point position associated with the auxiliary sorting vehicle are determined according to the operating state and the sorting vehicle length information, and the signal duration information is calculated based on the first critical point position and the second critical point position.

[0079] Specifically, an auxiliary sorting vehicle refers to a sorting vehicle that currently has a corresponding position with the transmitter. The sorting vehicle length information refers to the length of the sorting vehicle. When there are three auxiliary sorting vehicles, the operating states of the auxiliary sorting vehicles include: all vehicles are not rotating, all vehicles are rotating, and some vehicles are rotating. The first critical point position of the auxiliary sorting vehicle refers to the critical point position on the left side of the optical signal transmission range, and the second critical point position refers to the critical point position on the right side of the optical signal transmission range. Signal continuity information refers to the length range of the sorting vehicle corresponding to when the transmitter transmits the signal.

[0080] Based on this, the auxiliary sorting vehicle corresponding to the transmitter is determined among the multiple sorting vehicles corresponding to the sorting machine, and the sorting vehicle length information of the auxiliary sorting vehicle is determined. The transmitter is controlled to dynamically transmit the light source signal within the length range of the sorting vehicle length information, and the three operating states of the auxiliary sorting vehicle are determined based on the light source signal reception information of the auxiliary sorting vehicle, that is, all the carts in the auxiliary sorting vehicle do not rotate, all the carts rotate, and some of the carts rotate. The first critical point position and the second critical point position of the associated auxiliary sorting vehicle are determined based on the operating state and the sorting vehicle length information, and the signal continuity information is calculated based on the first critical point position and the second critical point position. The first critical point position and the second critical point position are the two signal transmission critical point positions when all the carts rotate.

[0081] Continuing with the previous example, we use a specific infrared transmitter to operate the carts. Specifically, at a specific offset (in mm) within a cart, the PLC (Programmable Logic Controller) outputs a high level to the infrared transmitter, maintaining this high level for 50 mm. By adjusting the offset value within a cart (ranging from 0 to 199 mm), we can observe three possible operating states: none of the carts move, all of the carts move, and some of the carts move. If none of the carts move, this indicates that no infrared receiver was above the infrared transmitter while the PLC outputted a high level for 50 mm. If all the carts move, this indicates that an infrared receiver was above the infrared transmitter while the PLC outputted a high level for 50 mm. The fact that some of the carts are rotating indicates that during the 50mm continuous high-level output of the PLC, an infrared receiver is at the critical point of the optical signal transmission range. Within the range of 0-199mm, there are two critical points, namely, 10mm and 160mm, corresponding to the first and second critical points respectively. The point within the range where all carts are rotating and at the exact center of these two critical points is the point where the infrared light signal is the "strongest". Calculating the offset within a cart at this point gives the offset within a cart at the current grid position. At 10mm and 160mm, only some of the carts are operating at the critical points. Within the range of 10mm to 160mm, all carts are rotating. Within the ranges of 160mm to 199mm and 0mm to 10mm, no carts are rotating. After calculation, the strongest point (signal continuity information) is (10mm+160mm) / 2=85mm.

[0082] In summary, the signal continuity information is calculated based on the first critical point position and the second critical point position to ensure that when the transmitter transmits a signal, the corresponding sorting vehicle can receive the signal, thereby achieving precise control of the sorting vehicle.

[0083] An embodiment of the present specification implements a parcel sorting method provided, which is applied to a control device, and the control device is applied to a sorting machine; a sorting task list is generated based on the sorting vehicle identification, sorting slot identification, and parcel identification corresponding to the parcel to be sorted, and the sorting slot identification and parcel identification are scanned and determined by the scanning device of the sorting machine for the parcel to be sorted; at the slot detection moment, the matching relationship between the to-be-matched slot associated with the sorting machine and the to-be-matched sorting vehicle in the circular conveyor belt is determined based on the conveyor belt information and slot information associated with the circular conveyor belt in the sorting machine, and a slot list is generated based on the matching relationship; at least one target slot is determined by matching the sorting task list with the slot list, and the parcel is sorted by controlling the target sorting vehicle corresponding to the at least one target slot. By establishing a dynamic mapping between the sorting task and the slot, the target slot for parcel sorting can be accurately determined at each slot detection moment during the operation of the circular conveyor belt of the sorting machine, thereby improving the accuracy of parcel sorting and reducing the probability of missorting parcels.

[0084] The following combined Figure 3 Taking the application of the parcel sorting method provided in this specification in parcel sorting using a narrowband sorting machine as an example, the parcel sorting method is further described. Figure 3 A module diagram of a parcel sorting method provided by an embodiment of this specification is shown, specifically including:

[0085] With the rapid development of the logistics industry, the tasks of e-commerce, express delivery and other industries have increased sharply. The industry is facing problems such as sorting multiple types of goods and diverse sorting environments. Narrow-band sorting machines, as a highly automated and compatible sorting equipment, have been widely used. Narrow-band sorting machines are a type of ring-shaped equipment that consists of multiple "narrow-band trolleys" connected end to end to form a ring-shaped main ring (ring conveyor belt), which is driven by a power system to operate in a circular manner. The parcel passes through the supply belt line, and the destination is identified by a scanning camera (identification device). After entering the main ring, the parcel is driven by the electric roller of the trolley (sorting car) at the corresponding grid. The narrow-band sorting machine includes a supply belt line, a scanning camera, a main ring power system, an origin detection photoelectric switch, a main ring speed measurement photoelectric switch, a narrow-band trolley and a grid device.

[0086] like Figure 3 As shown, the narrow-band sorter control can be realized by combining modules such as dynamic reference positioning, reverse calibration of scanning camera trigger position, determination of grid position and dynamic task mapping.

[0087] Dynamic reference positioning: The main ring power system drives the rotation of the main ring, which consists of multiple narrowband trolleys. A main ring speed photoelectric switch and an origin detection photoelectric switch are fixed in the main ring. A speed sensor is installed under each trolley, and an origin sensor is installed under narrowband trolley No. 1. As the main ring rotates, each narrowband trolley passes the main ring speed photoelectric switch, generating a rising edge that is used to count the number of narrowband trolleys that have passed. When the origin sensor under narrowband trolley No. 1 passes the origin detection photoelectric switch, generating a rising edge, the position of narrowband trolley No. 1 is determined, as well as the positions of all narrowband trolleys relative to the origin photoelectric switch. The position of narrowband trolley No. 1, also known as the current main ring position, serves as the reference for the entire narrowband positioning process. The position is expressed as the number of trolleys + the offset within each trolley (in mm), representing the distance traveled from the current position to the origin detection photoelectric switch. The number of trolleys can range from 1 to the total number of trolleys. The offset within a trolley = (current time - the time of the most recent speed measurement photoelectric rising edge) × main loop speed. If the length of the narrow-band trolley is 200mm, the offset within a trolley ranges from 0 to 199mm. The position representation is, for example: 45mm for 3 cars. The main loop running direction is thus defined as the positive direction, and the position of the origin detection photoelectric switch is 0mm for 1 car. All key positions of the narrow-band sorting machine, such as the scanning camera trigger position and the grid position, are represented by the above method. For example: assuming that the total number of narrow-band trolleys is 200 and the trolley length is 200mm, then the scanning camera trigger position is 65mm for 195 cars, the grid position No. 1 is 85mm for 8 cars, the grid position No. 3 is 35mm for 12 cars, and so on.

[0088] Reverse calibration of the scanning camera trigger position: When debugging the narrow-band sorting machine, the scanning camera trigger position (P trigger) can be reverse calibrated in the form of self-learning. Figure 4 As shown in (a), the actual physical meaning of the scanning camera trigger position is: when the leading edge of the package just blocks the scanning camera trigger photoelectric switch, the leading edge of the origin sensor under cart No. 1 just blocks the origin detection photoelectric switch. Then, the cart number where the leading edge of the package will land and the distance beyond the edge of this cart are the scanning camera trigger position. In actual operation, a test package can be placed on the package supply belt line, allowing it to pass through the scanning camera trigger photoelectric switch. When the leading edge of the package passes the photoelectric switch, the current position of the main loop (Pmain Loop) can be obtained. Then, wait for the package to land on the narrow belt cart, immediately stop the operation, observe the cart number where the leading edge of the package lands, and use a steel ruler to measure the distance the leading edge of the package exceeds the edge of this cart. Using this position (Ppackage), the scanning camera trigger position can be calculated: Ptrigger = Pmain Loop - Ppackage. Place the test package. When the leading edge of the package blocks the scanning camera trigger photoelectric switch, record the main loop position at this time: Pmain Loop = 198car 45mm; stop the main loop operation, as shown in Figure 2. Figure 4As shown in (b), the measured package actually falls at Ppackage = 2car180mm. The camera trigger position Ptrigger is calculated by borrowing the vehicle number: 198car45mm - 2car180mm = 196car(-135)mm. The negative offset requires converting the vehicle number: 196-1 = 195car. 200mm-135mm = 65mm, so Ptrigger = 195car65mm.

[0089] Determine the grid position: The grid position is composed of the number of carts + the offset within a cart. You can first obtain the offset within a cart, and then obtain the number of carts. Figure 5 As shown, an infrared transmitter is installed at each grid, and an infrared receiver is installed on each trolley. When the trolley's electric roller needs to drive the belt, the PLC's output point outputs a high level to the infrared transmitter. The infrared transmitter emits a cone of infrared light, which transmits the operation signal to the infrared receiver. The infrared receiver transmits the operation signal to the trolley driver, which then controls the trolley's electric roller to drive the belt. Since the main ring rotates continuously, if the PLC continuously outputs a high level to the infrared transmitter, the infrared transmitter will continuously send the operation signal. At this time, all infrared receivers passing the current infrared transmitter will receive the operation signal, and the trolley's electric roller will continuously operate. Therefore, the PLC must calculate the trolley number of the infrared receiver passing above each infrared transmitter, and control the timing and duration of the high level output of the PLC output point to accurately transmit the operation signal to the specified infrared receiver, so that the electric roller of the specified trolley can operate. Assuming a cart is 200 mm long and the main loop travels at 2 meters per second, it can be calculated that the time it takes to pass a cart is 100 milliseconds. Measurements show that the optimal infrared light emission time for the infrared emitter is 25 milliseconds, meaning that it covers mechanical errors while ensuring reliable signal transmission over a distance of 50 mm. This also ensures that the infrared light does not reach the infrared receivers of adjacent carts. Based on this principle, it is necessary to find the center point where the infrared light signal is the strongest for each infrared emitter.

[0090] In practice, you can use a designated infrared transmitter to operate the carriages. Specifically, at a specified offset (in mm) within a carriage, the PLC outputs a high level to the infrared transmitter, maintaining the high level for 50 mm. By adjusting the offset value within a carriage (ranging from 0 to 199 mm), you can observe three possible carriage operating states: none of the carriages are moving, all of the carriages are moving, and some of the carriages are moving. If none of the carriages are moving, this indicates that no infrared receivers were above the infrared transmitters during the 50 mm high output from the PLC. If some of the carriages are moving, this indicates that one of the infrared receivers was at the edge of the optical signal transmission range during the 50 mm high output from the PLC. Within the 0-199 mm range, there are two critical points. The point in the center of these two critical points, within the range where all carriages are moving, is the point where the infrared light signal is strongest. Calculating the offset within the carriage at this point provides the offset within the carriage at the current grid position. For example: at 10mm and 160mm are the critical points where only a part of the carriages are running, and within the range of 10mm to 160mm all the carriages are turning, and within the range of 160mm to 199mm and 0mm to 10mm all the carriages are not turning. After calculation, the strongest point is (10mm+160mm) / 2=85mm.

[0091] Determine the number of carts at the slot position: Based on the offset within a cart at the slot position (e.g., 85mm), first estimate the approximate location of slot 1. Specifically, estimate how many carts are located along the main loop's direction of travel from the origin photoelectric switch. If the distance is 10 carts, slot 1 can be temporarily positioned 85mm from 10 carts. Use this position to unload a test package. Place a test package on the package supply belt, pass the scanning camera, and trigger the photoelectric switch. Wait for the package to land on a narrow-belt cart. Observe whether the cart's movement toward slot 1 aligns with the cart occupied by the package. If the cart is moving forward of the cart occupying the parcel, the slot position's cart number should be increased; if it is moving backward of the cart occupying the parcel, the slot position's cart number should be decreased. The number of carts increased or decreased represents the deviation. For example, the slot position of slot No. 1 can temporarily position 10 cars 85mm. The package passes through the scanning camera, triggers the photoelectric switch, and then falls on the narrow-band trolley. When the goods are unloaded at slot No. 1, the running trolley is 2 cars behind the trolley occupied by the package. The position of slot No. 1 = 10 cars 85mm - 2 cars = 8 cars 85mm.

[0092] Dynamic task mapping: The real-time cart position (Pcart) directly above the slot infrared emitter can be calculated from the current main loop position (Pmainloop) and the slot position (Pslot): Pcart = Pmainloop - Pslot. Pcart is the real-time cart number directly above the slot infrared emitter + the offset within a cart. After a package passes through the scanning camera, both the target slot and the cart number occupied by the package are determined. When the cart number occupied by the package reaches the target slot infrared emitter, the PLC sends a 50mm high signal to drive the cart's electric roller according to the control logic of the strongest infrared light signal point. When the cart number occupied by the package leaves the target slot infrared emitter, the PLC sends a low signal to stop the cart's electric roller. From this we can conclude that as long as all the cart numbers occupied by all current parcel tasks are listed to form a list of carts with tasks, and the list of carts with tasks is updated in real time, and then the cart number directly above the infrared emitter of each grid is calculated in real time, precise control can be achieved by constructing a double-layer mapping relationship, and it can be determined whether the infrared emitter of the current grid requires the PLC to output a high level to drive operation.

[0093] Mapping tasks, carts, and target slots: Data on cart numbers and target slots for all tasks is collected in real time. The cart number for a package is calculated based on the current position of the main loop: N packages = (P main loop - P trigger) / 200 mm. This generates a dynamic task list: List tasks = {(N package 1, target slot A), (N package 2, target slot B), ...}.

[0094] Slot-cart mapping: Calculate the cart number directly above each slot in real time: N slot = (P main ring - P slot) / 200mm. Create a slot mapping table: Map slot = {Slot A: N slot A, Slot B: N slot B, ...}.

[0095] Set up the control decision matrix: Execute the judgment for each grid: If there is N packages X∈List task, and N packages X=N grids Y, then trigger the corresponding infrared emitter. Control logic expression:

[0096] In practice, when the main loop's current position is 152 cars 35mm, the number of the cart directly above slot 3 (P slot = 12 cars 35mm) is calculated: N slot 3 = 152 cars 35mm - 12 cars 35mm = 140 cars 0mm. The task list (Table 1) and slot list (Table 2) are matched, and the package task (140 cars, slot 3) is found. The PLC then begins outputting a high level, which continues until the main loop position reaches 152 cars 85mm. The PLC then stops outputting a high level, which lasts for 50mm, controlling the cart above slot 3 to complete the parcel sorting. This closed-loop mapping of spatiotemporal coordinates achieves precise coupling between the sorting task and the device's physical location. Compared to traditional polling detection methods, this simplifies the control logic and significantly reduces the signal false trigger rate.

[0097] Task No. Occupied car number Target slogan Package 1 140 3 Package 2 156 5 Package 3 15 1 Package 4 27 3 Package 5 40 3

[0098] Table 1

[0099]

[0100]

[0101] Table 2

[0102] In summary, this manual establishes a dynamic positioning benchmark, establishes the current position of the main ring through the origin photoelectric switch and the speed photoelectric switch, defines the position as a combination of the trolley number and the offset, and the offset calculation formula is (current time-speed photoelectric rising edge time) × main ring speed. The physical position is converted into the "trolley number + offset" time-space coordinate, and the positioning accuracy is within ±5mm through real-time calibration of the photoelectric signal. Through reverse calibration self-learning, that is, the formula of P trigger = P main ring - P package, the camera trigger position is automatically generated, manual measurement errors are eliminated, and the debugging time is effectively shortened. In addition, infrared emission window control, 50mm pulse width and speed matching algorithm are performed, and the critical point search is combined to determine the optimal signal strength area, which greatly improves the signal coverage accuracy and sorting accuracy. When sorting packages, a dynamic task mapping is established, and the time-space relationship between the trolley and the grid position occupied by the package is calculated in real time. The task list-grid mapping matrix is ​​constructed, which simplifies the control logic and significantly reduces the signal false trigger rate.

[0103] Corresponding to the above method embodiment, this specification also provides a parcel sorting system embodiment, Figure 6 FIG1 shows a schematic diagram of a parcel sorting system provided by an embodiment of this specification. Figure 6As shown, the parcel sorting system 600 includes an operating terminal 610 and a control terminal 620; the operating terminal 610 is used to send a control instruction to the control terminal 620; the control terminal 620 generates a sorting task list based on the sorting vehicle identification, sorting grid identification and parcel identification corresponding to the parcel to be sorted in response to the control instruction, and the sorting grid identification and the parcel identification are determined by scanning the parcel to be sorted using the scanning device of the sorting machine; at the grid detection moment, the matching relationship between the to-be-matched grid associated with the sorting machine and the to-be-matched sorting vehicle in the circular conveyor belt is determined according to the conveyor belt information and grid information associated with the circular conveyor belt in the sorting machine, and a grid list is generated based on the matching relationship; by matching the sorting task list with the grid list, at least one target grid is determined, and parcel sorting is performed by controlling the target sorting vehicle corresponding to the at least one target grid.

[0104] In practical applications, the sorting system includes an operating terminal and a control terminal. The operating terminal is used to send control instructions to the control terminal. The control terminal generates a sorting task list based on the sorting vehicle identification, sorting slot identification, and package identification corresponding to the package to be sorted in response to the control instruction. The sorting slot identification and package identification are scanned and determined by the scanning equipment of the sorting machine for the package to be sorted. At the slot detection moment, the matching relationship between the to-be-matched slot associated with the sorting machine and the to-be-matched sorting vehicle in the circular conveyor belt is determined based on the conveyor belt information and slot information associated with the circular conveyor belt in the sorting machine, and a slot list is generated based on the matching relationship. At least one target slot is determined by matching the sorting task list with the slot list, and the target sorting vehicle corresponding to the at least one target slot is controlled to sort the package. At least one target slot is determined by matching the sorting task list with the slot list, and the target sorting vehicle corresponding to the at least one target slot is controlled to sort the package. By establishing a dynamic mapping between sorting tasks and slots, the target slot for parcel sorting can be accurately determined at each slot detection moment during the operation of the sorting machine's circular conveyor belt, thereby improving the accuracy of parcel sorting and reducing the probability of parcel missorting.

[0105] The above is a schematic diagram of a parcel sorting system according to this embodiment. It should be noted that the technical solution of this parcel sorting system and the technical solution of the parcel sorting method described above are based on the same concept. For details not described in detail in the technical solution of the parcel sorting system, please refer to the description of the technical solution of the parcel sorting method described above.

[0106] Corresponding to the above method embodiment, this specification also provides a parcel sorting device embodiment, Figure 7 FIG1 shows a schematic diagram of the structure of a parcel sorting device provided by an embodiment of this specification. Figure 7As shown, the parcel sorting device is applied to a control device, and the control device is applied to a sorting machine. The device includes:

[0107] A generating module 702 is configured to generate a sorting task list based on a sorting vehicle identifier, a sorting slot identifier, and a parcel identifier corresponding to a parcel to be sorted, wherein the sorting slot identifier and the parcel identifier are determined by scanning the parcel to be sorted using a scanning device of the sorting machine;

[0108] The determination module 704 is configured to determine, at the slot detection moment, a matching relationship between the slots to be matched associated with the sorter and the sorting vehicles to be matched in the circular conveyor belt according to the conveyor belt information and slot information associated with the circular conveyor belt in the sorter, and generate a slot list based on the matching relationship;

[0109] The matching module 706 is configured to determine at least one target slot by matching the sorting task list with the slot list, and to sort packages by controlling a target sorting vehicle corresponding to the at least one target slot.

[0110] In an optional embodiment, the generating module 702 is further configured to:

[0111] At the scanning moment, the identification device corresponding to the sorting machine is used to scan the parcel to be sorted transmitted through the parcel supply line to obtain the sorting slot identifier and the parcel identifier;

[0112] Determine, at the scanning moment, main ring position information associated with the endless conveyor in the sorting machine and scanning position information corresponding to the identification device, wherein the main ring position information is determined based on positioning reference information corresponding to the endless conveyor;

[0113] The sorting vehicle identifier is calculated based on the main ring position information and the scanning position information.

[0114] In an optional embodiment, the determining module 704 is further configured to:

[0115] Calculating the conveyor belt information according to the positioning reference information corresponding to the endless conveyor belt in the sorting machine at the time of the slot detection, and determining the slot information based on the positioning reference information;

[0116] Calculate the grid reference position information of the grid to be matched associated with the sorting machine based on the conveyor belt information and the grid information;

[0117] A matching relationship between the to-be-matched slot and the to-be-matched sorting vehicle in the endless conveyor belt is determined based on the slot reference position information.

[0118] In an optional embodiment, the matching module 706 is further configured to:

[0119] Matching the sorting task list and the slot list, and when the target slot row information in the slot list and the target sorting task row information in the sorting task list correspond to at least one group of matching slot sorting vehicles, determining the at least one target slot based on the at least one group of matching slot sorting vehicles;

[0120] The transmitter corresponding to the at least one target slot is controlled to transmit a sorting signal, and when the target sorting vehicle corresponding to the at least one target slot receives the sorting signal, the sorting vehicle belt is rotated to sort the packages.

[0121] In an optional embodiment, the generating module 702 is further configured to:

[0122] Placing a test package on the package supply belt line for transmission, and determining test position information of the endless conveyor belt when the leading edge of the test package triggers the photoelectric switch of the identification device;

[0123] When the test package falls onto the test sorting vehicle on the endless conveyor belt as the endless conveyor belt moves, determining the sorting vehicle position information corresponding to the leading edge of the package;

[0124] The trigger position information of the identification device is calculated based on the test position information and the sorting vehicle position information.

[0125] In an optional embodiment, the matching module 706 is further configured to:

[0126] Determine an auxiliary sorting vehicle corresponding to the transmitter among a plurality of sorting vehicles corresponding to the sorting machine, and determine sorting vehicle length information of the auxiliary sorting vehicle;

[0127] Controlling the transmitter to dynamically transmit a light source signal within the length range of the sorting vehicle length information, and determining the operating status of the auxiliary sorting vehicle according to the light source signal reception information of the auxiliary sorting vehicle;

[0128] A first critical point position and a second critical point position associated with the auxiliary sorting vehicle are determined according to the operating state and the sorting vehicle length information, and the signal duration information is calculated based on the first critical point position and the second critical point position.

[0129] One embodiment of the present specification provides a parcel sorting device, which is applied to a control device, and the control device is applied to a sorting machine; a sorting task list is generated based on the sorting vehicle identification, sorting slot identification, and parcel identification corresponding to the parcel to be sorted, and the sorting slot identification and parcel identification are scanned and determined by the scanning device of the sorting machine for the parcel to be sorted; at the slot detection moment, the matching relationship between the to-be-matched slot associated with the sorting machine and the to-be-matched sorting vehicle in the circular conveyor belt is determined based on the conveyor belt information and slot information associated with the circular conveyor belt in the sorting machine, and a slot list is generated based on the matching relationship; at least one target slot is determined by matching the sorting task list with the slot list, and parcel sorting is performed by controlling the target sorting vehicle corresponding to the at least one target slot. By establishing a dynamic mapping between the sorting task and the slot, the target slot for parcel sorting can be accurately determined at each slot detection moment during the operation of the circular conveyor belt of the sorting machine, thereby improving the accuracy of parcel sorting and reducing the probability of missorting parcels.

[0130] The above is a schematic diagram of a parcel sorting device according to this embodiment. It should be noted that the technical solution of this parcel sorting device and the technical solution of the parcel sorting method described above are based on the same concept. For details not described in detail in the technical solution of the parcel sorting device, please refer to the description of the technical solution of the parcel sorting method described above.

[0131] Figure 8 The following is a block diagram of a parcel sorting device 800 according to one embodiment of the present disclosure. The components of the parcel sorting device 800 include, but are not limited to, a sorter 810 and a controller 820. The controller 820 is connected to the sorter 810 via a bus 830, and a database 850 is used to store data.

[0132] The parcel sorting device 800 also includes an access device 840 that enables the parcel sorting device 800 to communicate via one or more networks 860. Examples of such networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 840 may include one or more of any type of wired or wireless network interface (e.g., a network interface card (NIC)), such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a Worldwide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, or a near field communication (NFC) interface.

[0133] In one embodiment of the present specification, the above components of the parcel sorting device 800 and Figure 8 Other components not shown in the figure may also be connected to each other, for example, via a bus. Figure 8 The block diagram of the parcel sorting device is for illustrative purposes only and is not intended to limit the scope of this specification. Those skilled in the art may add or replace other components as needed.

[0134] Parcel sorting device 800 can be any type of stationary or mobile parcel sorting device, including a mobile computer or mobile parcel sorting device (e.g., a tablet computer, personal digital assistant, laptop computer, notebook computer, netbook computer, etc.), a mobile phone (e.g., a smartphone), a wearable parcel sorting device (e.g., a smartwatch, smart glasses, etc.), or other types of mobile devices, or a stationary parcel sorting device such as a desktop computer or personal computer (PC). Parcel sorting device 800 can also be a mobile or stationary server.

[0135] The controller 820 is configured to execute the following computer-executable instructions, which, when executed by the processor, implement the steps of the above-mentioned parcel sorting method.

[0136] The above is a schematic diagram of a parcel sorting device according to this embodiment. It should be noted that the technical solution of this parcel sorting device and the technical solution of the parcel sorting method described above are based on the same concept. For details not described in detail in the technical solution of the parcel sorting device, please refer to the description of the technical solution of the parcel sorting method described above.

[0137] An embodiment of the present specification further provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the above-mentioned parcel sorting method.

[0138] The above is a schematic diagram of a computer-readable storage medium according to this embodiment. It should be noted that the technical solution of this storage medium and the technical solution of the aforementioned parcel sorting method are based on the same concept. For details not described in detail in the technical solution of the storage medium, please refer to the description of the technical solution of the aforementioned parcel sorting method.

[0139] An embodiment of the present specification further provides a computer program product, comprising a computer program or instructions, which implement the steps of the above-mentioned parcel sorting method when executed by a processor.

[0140] The above is a schematic diagram of a computer program product according to this embodiment. It should be noted that the technical solution of this computer program product and the technical solution of the aforementioned parcel sorting method are based on the same concept. For details not described in detail in the technical solution of the computer program product, please refer to the description of the technical solution of the aforementioned parcel sorting method.

[0141] The foregoing description of this specification describes specific embodiments. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0142] The computer instructions include computer program code, which may be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of patent practice. For example, in some regions, according to patent practice, computer-readable media does not include electric carrier signals and telecommunication signals.

[0143] It should be noted that for the aforementioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of this specification are not limited by the order of the actions described, because according to the embodiments of this specification, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of this specification.

[0144] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0145] The preferred embodiments disclosed above are intended only to help illustrate this specification. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made based on the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that those skilled in the art can better understand and utilize this specification. This specification is limited only by the claims and their full scope and equivalents.

Claims

1. A parcel sorting method, applied to a control device, wherein the control device is applied to a sorting machine; Generate a sorting task list based on the sorting vehicle identification, sorting slot identification and parcel identification corresponding to the parcel to be sorted, wherein the sorting slot identification and the parcel identification are determined by scanning the parcel to be sorted using the scanning device of the sorting machine; At the slot detection moment, determining a matching relationship between the slots to be matched associated with the sorter and the sorting vehicles to be matched in the circular conveyor belt according to the conveyor belt information and slot information associated with the circular conveyor belt in the sorter, and generating a slot list based on the matching relationship; At least one target slot is determined by matching the sorting task list with the slot list, and parcel sorting is performed by controlling a target sorting vehicle corresponding to the at least one target slot.

2. The parcel sorting method according to claim 1, before generating the sorting task list based on the sorting vehicle identifier, sorting slot identifier, and parcel identifier corresponding to the parcel to be sorted, further comprising: At the scanning moment, the identification device corresponding to the sorting machine is used to scan the parcel to be sorted transmitted through the parcel supply line to obtain the sorting slot identifier and the parcel identifier; Determine, at the scanning moment, main ring position information associated with the endless conveyor in the sorting machine and scanning position information corresponding to the identification device, wherein the main ring position information is determined based on positioning reference information corresponding to the endless conveyor; The sorting vehicle identifier is calculated based on the main ring position information and the scanning position information.

3. The parcel sorting method according to claim 2, wherein, at the time of slot detection, determining the matching relationship between the slot to be matched associated with the sorting machine and the sorting vehicle to be matched in the circular conveyor belt based on the conveyor belt information and slot information associated with the circular conveyor belt in the sorting machine comprises: Calculating the conveyor belt information according to the positioning reference information corresponding to the endless conveyor belt in the sorting machine at the time of the slot detection, and determining the slot information based on the positioning reference information; Calculate the grid reference position information of the grid to be matched associated with the sorting machine based on the conveyor belt information and the grid information; A matching relationship between the to-be-matched slot and the to-be-matched sorting vehicle in the endless conveyor belt is determined based on the slot reference position information.

4. The parcel sorting method according to claim 1, wherein the matching of the sorting task list with the slot list to determine at least one target slot, and controlling a target sorting vehicle corresponding to the at least one target slot to perform parcel sorting, comprises: Matching the sorting task list and the slot list, and when the target slot row information in the slot list and the target sorting task row information in the sorting task list correspond to at least one group of matching slot sorting vehicles, determining the at least one target slot based on the at least one group of matching slot sorting vehicles; The transmitter corresponding to the at least one target slot is controlled to transmit a sorting signal, and when the target sorting vehicle corresponding to the at least one target slot receives the sorting signal, the sorting vehicle belt is rotated to sort the packages.

5. The parcel sorting method according to claim 2, wherein the trigger position calibration of the identification device comprises: Placing a test package on the package supply belt line for transmission, and determining test position information of the endless conveyor belt when the leading edge of the test package triggers the photoelectric switch of the identification device; When the test package falls onto the test sorting vehicle on the endless conveyor belt as the endless conveyor belt moves, determining the sorting vehicle position information corresponding to the leading edge of the package; The trigger position information of the identification device is calculated based on the test position information and the sorting vehicle position information.

6. The parcel sorting method according to claim 4, wherein determining the signal continuity information of a transmitter installed at any sorting slot associated with the sorting machine comprises: Determine an auxiliary sorting vehicle corresponding to the transmitter among a plurality of sorting vehicles corresponding to the sorting machine, and determine sorting vehicle length information of the auxiliary sorting vehicle; Controlling the transmitter to dynamically transmit a light source signal within the length range of the sorting vehicle length information, and determining the operating status of the auxiliary sorting vehicle according to the light source signal reception information of the auxiliary sorting vehicle; A first critical point position and a second critical point position associated with the auxiliary sorting vehicle are determined according to the operating state and the sorting vehicle length information, and the signal duration information is calculated based on the first critical point position and the second critical point position.

7. A parcel sorting system, comprising an operating terminal and a control terminal; The operating terminal is used to send control instructions to the control terminal; The control end is applied to generate a sorting task list based on the sorting vehicle identification, sorting slot identification and package identification corresponding to the package to be sorted in response to the control instruction, and the sorting slot identification and the package identification are determined by scanning the package to be sorted using the scanning device of the sorting machine; at the slot detection moment, the matching relationship between the to-be-matched slot associated with the sorting machine and the to-be-matched sorting vehicle in the circular conveyor belt is determined according to the conveyor belt information and slot information associated with the circular conveyor belt in the sorting machine, and a slot list is generated based on the matching relationship; by matching the sorting task list with the slot list, at least one target slot is determined, and the package is sorted by controlling the target sorting vehicle corresponding to the at least one target slot.

8. A parcel sorting device comprising: Control equipment and sorting machines; The control device is used to store and execute computer programs or instructions associated with the sorting machine, and when the computer program or instructions are executed by the control device, the steps of the parcel sorting method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium storing a computer program or instructions, wherein when the computer program or instructions are executed by a processor, the steps of the parcel sorting method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program or instructions, which, when executed by a processor, implements the steps of the parcel sorting method according to any one of claims 1 to 6.

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