Express sorting method

Abstract

The invention relates to an express sorting method, and relates to the field of express sorting, and the method comprises the steps: collecting a current position and a pre-distributed package placed on a sorting robot; determining a target shelf number based on the pre-delivery parcel and determining a single shelf parcel number corresponding to the target shelf number; performing descending sorting on the target shelf numbers based on the number of single shelf packages to obtain a target shelf number sequence; determining a current target shelf number based on the target shelf number sequence, and defining a pre-distributed package corresponding to the current target shelf number as a current pre-distributed package; obtaining a target shelf position of the current target shelf number; determining a current sorting path based on the current position and the target shelf position; the sorting robot is controlled to execute sorting operation; and when the current target goods shelf number does not exist, the sorting robot is controlled to return to the preset package position, and the sorting operation is executed again. The method has the function of intelligently planning the sorting path according to the parcel information, and the effect of greatly improving the sorting efficiency is achieved.

Description

Technical Field

[0001] This invention relates to the field of express delivery sorting, and more particularly to an express delivery sorting method. Background Technology

[0002] With the rapid development of e-commerce, new retail, and cross-border trade, global express delivery volume has experienced explosive growth. The traditional manual sorting model is facing efficiency bottlenecks. At the same time, consumers' demands for timely and accurate delivery continue to escalate, coupled with challenges such as rising labor costs, extreme weather, and frequent emergencies. Therefore, the logistics industry needs to restructure its sorting and last-mile delivery systems through intelligent technologies. Against this backdrop, intelligent sorting systems integrating the Internet of Things, artificial intelligence, and robotic process automation have become a key breakthrough for logistics companies to reduce costs, increase efficiency, and enhance their core competitiveness.

[0003] Current mainstream logistics sorting technologies, based on historical data and pre-defined service grids, can quickly and accurately complete express sorting tasks, reducing manual intervention and significantly improving sorting efficiency. Dynamic allocation of sorting robots based on package information enables dynamic optimization within a static framework; its core advantages lie in path determinism and simplified cross-regional collaboration.

[0004] In response to the above, when sorting robots are working, employees need to program the sorting order of packages and the number of packages placed on each shelf in advance. They cannot dynamically adjust the sorting path according to changes in the sorting process, which greatly increases the process and complexity of manual operation and increases labor costs. Summary of the Invention

[0005] To address the problem of the inability to dynamically adjust the sorting path based on changes in the sorting process, an express delivery sorting method is provided.

[0006] This invention provides a method for sorting express parcels, employing the following technical solution: A method for sorting express parcels, including: Step 1: Collect the current location and the pre-delivery packages placed on the sorting robot; Step 2: Determine the target shelf number based on the pre-delivered packages and determine the number of packages per shelf corresponding to the target shelf number; Step 3: Sort the target shelf numbers in descending order based on the number of packages per shelf to obtain the target shelf number sequence; Step 4: Determine the current target shelf number based on the target shelf number sequence, and define the pre-delivery package corresponding to the current target shelf number as the current pre-delivery package; Step 5: Obtain the location of the target shelf with the current target shelf number; Step 6: Determine the current sorting path based on the current location and the target shelf location; Step 7: Control the sorting robot to perform a sorting operation. The sorting operation is to move along the current sorting path until it reaches the shelf corresponding to the current target shelf number, unload the current pre-delivery package, and then update the target shelf number sequence and continue to execute steps 4 to 7 until the target shelf number sequence no longer exists. Step 8: If the current target shelf number does not exist, control the sorting robot to return to the preset package position and continue to execute steps 1 to 7.

[0007] By adopting the above technical solution, the current location of the sorting robot and the pre-delivery package information can be collected in real time. The target shelf number and the corresponding number of packages per shelf can be dynamically determined and sorted in descending order. This optimizes the sorting path, eliminates the need for manual allocation of sorting paths to reduce labor costs, and provides automatic adjustment of sorting paths to improve sorting efficiency.

[0008] Optionally, the method for collecting the current location and the pre-delivery package placed on the sorting robot includes: Step 100: When the current location is collected and the current location is the location of the package, accumulate the number of packages currently being carried; Step 101: Calculate the gap in the number of packages carried by subtracting the current number of packages carried from the preset number of packages at full capacity; Step 102: Based on the shortage of the number of packages to be carried, send a preset instruction to the preset terminal to continue carrying the packages; Step 103: When the current number of packages carried reaches the full load number of packages, the number of packages per shelf is re-determined.

[0009] By adopting the above technical solution, the carrying status of the sorting robot is monitored in real time to ensure that it is fully loaded. This design not only improves sorting efficiency but also effectively avoids sorting interruptions caused by the robot being fully loaded, further enhancing the smoothness and responsiveness of the overall logistics operation.

[0010] Optionally, a collaborative delivery method may also be included, which includes: Step 600: Real-time collection of the total number of currently carried delivery packages; Step 601: After controlling the sorting robot to move according to the current sorting path, the current target shelf number is re-determined; Step 602: Obtain the remaining number of packages by subtracting the number of fully loaded packages from the total number of packages currently being delivered; Step 603: Based on the current target shelf number and the remaining number of packages carried, send a preset collaborative delivery request to other sorting robots, and receive collaborative response requests from the other sorting robots. The current target shelf number corresponding to the other sorting robots is the same as the target shelf number corresponding to the current location. The collaborative delivery request includes the current location, the current target shelf number, and the remaining number of packages carried. The collaborative response request includes the sorting robots that can cooperate and the number of packages that can be sorted collaboratively. Step 604: Within a preset waiting time, the collaboration response request is received. Based on the number of items that can be collaboratively sorted and the number of remaining packages, the final collaborative robot is determined, and a preset collaborative sorting instruction is sent to the sorting robot corresponding to the final collaborative robot. The robot then waits to receive the packages unloaded by the final collaborative robot. Step 605: Execute the sorting operation when the package is unloaded by the final collaborative robot or when no collaborative response request is received from the final collaborative robot during the waiting collaboration time.

[0011] By adopting the above technical solution, sorting robots on the same path are allowed to cooperate in delivery. The final cooperating robot is determined based on the remaining number of packages carried and the number of packages that can be sorted collaboratively. The current sorting robot is controlled by the collaborative sorting command to replace the final cooperating robot in sorting the current delivery packages, thereby reducing its delivery time and realizing the relay transfer of packages. This collaborative method not only reduces the burden on individual sorting robots, but also improves the overall sorting efficiency, ensuring that sorting tasks can be completed efficiently and in an orderly manner.

[0012] Optionally, the method for determining the final collaborative robot based on the number of items that can be collaboratively sorted and the number of remaining packages to be carried, upon receiving the collaboration response request within a preset waiting collaboration time, includes: Step 6040: When there are multiple final collaborative robots, calculate the multiple relationship between the remaining number of carried packages and the number of packages that can be collaboratively sorted; Step 6041: Determine the number of executables based on the aforementioned multiple relationship; Step 6042: Determine the sorting distance of the collaborative robot based on the current sorting path of the final collaborative robot; Step 6043: Sort the collaborative robot sorting distances in ascending order to obtain the collaborative robot sorting distance sequence; Step 6044: Determine the final collaborative robot based on the sorting distance sequence of the collaborative robot and the number of executable robots.

[0013] By adopting the above technical solution, when determining the final collaborative robot, the sorting efficiency is maximized by minimizing the difference between the remaining number of packages to be carried and the number of packages that can be sorted collaboratively. When multiple final collaborative robots with the same number of packages to be sorted collaboratively exist, considering that the remaining number of packages to be carried may accommodate the collaborative number of multiple final collaborative robots, the sorting distance sequence of the collaborative robots is used to calculate the multiple relationship between the remaining number of packages to be carried and the number of packages that can be sorted collaboratively. This ensures that the collaborative robot with the shortest distance and the highest efficiency is selected, thereby further improving the overall sorting efficiency.

[0014] Optionally, it also includes a method for determining the final collaborating robot upon receiving the collaborative delivery request from the other sorting robots, the method comprising: Step 606: When the current target shelf number is the same as the target shelf number corresponding to the current position of the requesting robot, determine the same starting shelf number; Step 607: Determine the same destination shelf number based on the same starting shelf number; Step 608: If the same destination shelf number exists, check the number of parcels on a single destination shelf based on the same destination shelf number; Step 609: Send a corresponding collaboration response request when the number of parcels on the destination shelf is not greater than the number of remaining parcels. Step 610: Upon receiving the collaborative sorting instruction from the other sorting robots, determine the final collaborative robot and, after completing the operation of the current target shelf number, unload the number of packages required for the final single shelf and re-determine the current target shelf number.

[0015] By adopting the above technical solution, the final sorting robot is determined through the same path. Once the final collaborative robot completes the operation corresponding to the current target shelf number and unloads the packages equal to the number of packages on the final shelf, the next current target shelf number can be determined to continue the sorting task. This collaborative mechanism not only improves sorting efficiency but also ensures the accuracy and response speed of the sorting process.

[0016] Optionally, it also includes a method for real-time obstacle avoidance during the sorting operation, the method comprising: Step 9: Obtain the other locations of the other sorting robots; Step 10: Calculate the relative distance based on the current location and the other locations; Step 110: Perform the sorting operation when the relative distance is greater than the preset reaction distance; Step 111: When the relative distance is less than the reaction distance, identify the risk robot and define the sorting distance corresponding to the risk robot as the risk sorting distance; Step 1110: Real-time collection of movement speed; Step 1111: Generate the predicted motion trajectory based on the current sorting path and the moving speed; Step 1112: Generate the predicted risk trajectory based on the risk robot; Step 1113: When the predicted movement trajectory and the risk predicted movement trajectory intersect, collect the current total priority of the package and the total priority of the risk package; Step 11130: When the total priority of the current package is lower than the total priority of the risk package, stop moving until the relative distance is greater than the reaction distance; Step 11131: Perform the sorting operation when the total priority of the current package is higher than the total priority of the risky package or when the risky robot does not exist.

[0017] By adopting the above technical solution, the location information of other sorting robots in the vicinity is monitored in real time during the sorting operation. By analyzing the movement trajectories of both robots and the priority of packages, obstacle avoidance is performed. This dynamic obstacle avoidance mechanism not only ensures the safety of the sorting operation, but also ensures the priority processing of high-time-sensitive packages through priority determination, achieving a balance between safety and efficiency.

[0018] Optionally, it also includes a sorting method for the other locations falling on the current sorting path, the method comprising: Step 1114: Define the other positions that fall on the current sorting path as obstacle positions, and define the moving speed corresponding to the obstacle position as obstacle moving speed; Step 1115: Define the current sorting path as a risk sorting path when the obstacle's movement speed is zero; Step 1116: Determine the intersection point of the paths based on the risk sorting path and the target shelf number sequence; Step 1117: If the path intersection point exists, obtain the distance between the current position and the path intersection point; Step 1118: Obtain the maximum safe distance based on the current position and the obstacle position; Step 1119: When there is a junction point distance that is less than the maximum safe distance, select the path junction point whose junction point distance is closest to the maximum safe distance, define the path junction point as the target junction point, and control the sorting robot to move towards the target junction point; Step 11190: When the obstacle's movement speed is greater than zero before reaching the target intersection point, output the risk sorting path again as the current sorting path; Step 11191: When the target intersection point is reached and the obstacle's moving speed is zero, determine the intersection point shelf number based on the target intersection point; Step 11192: Swap the positions of the intersection point shelf number and the current target shelf number in the target shelf number sequence and regenerate the target shelf number sequence, and perform steps 4 to 7 based on the regenerated target shelf number sequence.

[0019] By employing the above technical solution, the movement status of obstacles is continuously assessed when they exist on the current sorting path. If the obstacle is stationary, the path is replanned to ensure the smooth progress of the sorting task. This flexible path optimization method effectively prevents sorting process interruptions, ensures the continuity of the sorting process, and thus improves sorting efficiency.

[0020] Optionally, it also includes a method for regenerating the current sorting path when the target intersection point does not exist and the relative distance is less than the reaction distance, the method comprising: Step 11120: Determine the nearest target shelf number based on the current location; Step 11121: Use the current nearest target shelf number as the current target shelf number and update the current sorting path; Step 11122: Perform steps 4 through 7.

[0021] By adopting the above technical solution, when the sorting path is blocked by an obstacle and the target junction point cannot be found, the task of the shelf closest to the current location is processed first, and then the sorting operation is re-executed according to the target shelf number sequence. This emergency handling mechanism ensures the continuous operation of sorting and avoids the sorting process from being halted due to path blockage and the absence of a target junction point.

[0022] Optionally, it also includes a method for collecting the package information, the method comprising: Step 1000: Scan to obtain barcode information; Step 1001: Repeat scanning and accumulate the number of scans if the barcode information cannot be scanned; Step 1002: When the number of scans reaches a preset scan count threshold, an abnormal package is identified; Step 1003: Capture an image of the abnormal package surface; Step 1004: Extract features from the package image to obtain the barcode region; Step 1005: Obtain the barcode digital sequence based on the barcode region identification; Step 1006: Based on the barcode digital sequence, compare it with the barcodes in the preset barcode feature library using a preset algorithm to obtain similar barcodes; Step 1007: When the number of similar barcodes is greater than 1, the accuracy of the similar barcodes is verified through a preset verification mechanism.

[0023] By adopting the above technical solution, when collecting package information, if scanning fails due to barcode damage or improper placement, the barcode area is extracted by capturing an image of the package surface. Subsequently, a barcode recognition algorithm is used to extract the barcode's numerical sequence from this area. This numerical sequence is then compared with barcodes in a pre-set barcode feature library to identify similar barcodes. This design not only improves the accuracy of package information collection and solves the problem of package loss caused by blurry barcodes, but also enhances the accuracy and reliability of the sorting process.

[0024] Optionally, when there are more than one similar barcode, the method for verifying the accuracy of the similar barcodes through the verification mechanism includes: Step 10070: Obtain information on similar barcodes from the barcode feature library as relevant data sources; Step 10071: Obtain abnormal package information of the barcode number sequence; Step 10072: Determine the correct barcode when the abnormal package information is matched with the relevant data source; Step 10073: Scan the correct barcode to obtain the correct package information; Step 10074: When the abnormal package information does not match the relevant data source, a preset manual processing signal is issued.

[0025] By employing the above technical solution, when faced with multiple similar barcodes, the selection range can be further narrowed by comparing the barcode information of the abnormal package with relevant data sources for similar barcodes in the barcode feature database. If the current weight matches a certain weight range, the barcode corresponding to that weight range can be determined as the correct barcode, and package information can be obtained by scanning accordingly. This method effectively reduces misjudgments caused by barcode similarity. If the current barcode information does not match any relevant data sources, it is transferred to manual processing to ensure that each package is properly handled.

[0026] In summary, the present invention has at least one of the following beneficial technical effects: By allowing sorting robots on the same path to collaborate in delivery, and determining the final collaborating robot based on the remaining number of packages carried and the number that can be collaboratively sorted, a relay delivery of packages is achieved, effectively reducing the workload of individual sorting robots and thus improving sorting efficiency. During the sorting process, the relative distance between sorting robots can be monitored in real time. Once a potential collision risk is detected, the system determines whether a collision is possible based on the predicted movement trajectories of both robots. If the predicted trajectories intersect, the priority of the packages determines which robot will continue the sorting operation. This ensures the delivery of high-priority packages while effectively preventing sorting interruptions due to collisions, further improving the smoothness of the sorting operation. When collecting package information, if scanning fails due to barcode damage or improper placement, the barcode area is extracted by capturing an image of the package surface. Then, optical character recognition (OCR) is used to extract the barcode's numerical sequence from this area. This numerical sequence is compared with barcodes in a pre-set barcode feature library using the KMP algorithm to find similar barcodes. Finally, the correct barcode is determined by matching identifiable information from the numerical sequence with information from similar barcodes. This not only improves the efficiency of package information collection but also effectively solves package identification errors caused by barcode issues, thereby enhancing the accuracy and reliability of the overall sorting operation. Attached Figure Description

[0027] Figure 1 This is a flowchart of a courier sorting method according to an embodiment of this application; Figure 2 This is a flowchart of the collaborative delivery method in the embodiments of this application; Figure 3 This is a schematic diagram illustrating how, upon receiving a collaborative sorting instruction from another sorting robot, the final collaborating robot is determined, and after completing the operation of the current target shelf number, the number of packages on the final single shelf is unloaded, and the current target shelf number is re-determined. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0029] This invention discloses a method for sorting express parcels. (Refer to...) Figure 1 One express delivery sorting method includes: Step 1: Collect the current location and the pre-delivery package placed on the sorting robot.

[0030] The current location is the current position of the sorting robot. GPS positioning allows for real-time, precise location information of the sorting robot. Pre-delivery packages are pre-selected based on priority rules. Data is collected by scanning the barcode of each package; each scanned barcode identifies a pre-delivery package. Priority rules are based on delivery time, adjusting package priority accordingly: the shorter the delivery time, the higher the priority.

[0031] Step 2: Determine the target shelf number based on the pre-delivered packages and determine the number of packages per shelf corresponding to the target shelf number.

[0032] The target shelf number is a pre-defined number for each shelf. The number of packages per shelf is the number of delivery packages corresponding to each target shelf number. The barcode information of the pre-delivered packages determines the shelf number where each package should be placed and calculates the number of packages that need to be placed on each target shelf number. In this way, the sorting robot can clearly define its sorting task—that is, which packages need to be placed on which shelves.

[0033] Step 3: Sort the target shelf numbers in descending order based on the number of packages per shelf to obtain the target shelf number sequence.

[0034] The target shelf number sequence is a sequence of target shelf numbers arranged in array form. To prioritize delivery based on the number of packages, the target shelf numbers are sorted in descending order according to the number of packages per shelf. This ensures that the target shelf number with the most packages per shelf is at the first position, allowing the next target shelf to be found simply by searching for the first position in the target shelf number sequence.

[0035] Step 4: Determine the current target shelf number based on the target shelf number sequence, and define the pre-delivery package corresponding to the current target shelf number as the current pre-delivery package.

[0036] The current target shelf number is the number of the shelf currently being prepared for delivery. The first target shelf number in the target number sequence is used as the current target shelf number. Based on this current target shelf number, the pre-delivery packages that need to be sorted onto that shelf can be identified; these are the current pre-delivery packages.

[0037] Step 5: Obtain the location of the target shelf with the current target shelf number.

[0038] The target shelf location is the specific storage location of the shelf corresponding to the current target shelf number in the logistics warehouse.

[0039] By obtaining the target shelf location by pre-recording the shelf location corresponding to each shelf number in the logistics warehouse, the sorting robot can accurately deliver the currently pre-delivered package to the designated shelf, thereby ensuring the accuracy of the sorting operation.

[0040] Step 6: Determine the current sorting path based on the current location and the target shelf location.

[0041] The current sorting path is the optimal route for the sorting robot to move from its current position to the target shelf location. By generating multiple paths between the current position and the target shelf location, and selecting the shortest path to determine the optimal path, the sorting robot can complete the delivery task in the most efficient way.

[0042] Step 7: Control the sorting robot to perform sorting operations and unload the currently pre-delivered packages, then update the target shelf number sequence and continue to execute steps 4 to 7 until the target shelf number sequence no longer exists.

[0043] The sorting operation involves moving along the current sorting path until reaching the shelf corresponding to the current target shelf number.

[0044] During the sorting operation, the sorting robot moves strictly according to the preset sorting path until it accurately reaches the shelf location corresponding to the current target shelf number. Upon arrival, the robot precisely unloads the current pre-delivery package, ensuring it is correctly placed on the designated shelf. The sorting robot then immediately updates the target shelf number sequence. After the update, the robot repeats steps 4 through 7 to continue the next sorting task until all tasks in the target shelf number sequence have been completed.

[0045] Step 8: If the current target shelf number does not exist, control the sorting robot to return to the preset package location and continue to execute steps 1 to 7.

[0046] The package location is a pre-defined position for storing packages awaiting sorting. When there is no current target shelf number, meaning all tasks in the target shelf number sequence have been completed, the sorting robot automatically returns to the package location to prepare for the next round of sorting. This design ensures that the sorting robot can quickly return to the starting point after completing a round of sorting, preparing for the next sorting operation.

[0047] The methods for collecting the current location and placing pre-delivery packages on the sorting robot include: Step 100: When the current location is collected and the current location is the location of the package, accumulate the number of packages currently being carried.

[0048] The current number of packages carried refers to the number of packages currently being carried by the sorting robot. To improve the delivery efficiency of the sorting robots, when the robot is located at the package location, before starting the sorting task, the number of packages it is currently carrying is accumulated. This is done by scanning the barcode information of each package. This step ensures that the workload of each sorting robot is accurately monitored, preventing the robots from being idle or having insufficient load capacity.

[0049] Step 101: Calculate the gap in the number of packages carried by subtracting the current number of packages carried from the preset number of packages at full capacity.

[0050] The maximum number of packages a sorting robot can carry in a single sorting task is determined by its maximum capacity. The package carrying capacity gap is the number of packages the sorting robot needs to carry to reach full capacity, given the current number of packages. Since the sorting robot's carrying capacity is limited, the packages being sorted are all small items; therefore, the maximum number of packages the robot can carry (i.e., the full load) is set based on the package quantity. By calculating the package carrying capacity gap, the system can determine whether to allocate more packages to the current sorting robot to maximize sorting efficiency. If the package carrying capacity gap is greater than zero, it indicates that the sorting robot still has the capacity to carry more packages, and it will continue selecting packages. If the package carrying capacity gap is equal to zero, it indicates that the sorting robot is full, and it will no longer select new packages but will begin the sorting task.

[0051] Step 102: Send a preset instruction to continue carrying packages to a preset terminal based on the shortage of packages carried.

[0052] The terminal refers to the central control system that receives and processes the "continue carrying" instructions sent by the sorting robot. The "continue carrying" instruction is a request sent by the sorting robot to the central control system to continue carrying packages. This instruction includes the target shelf number and the missing package quantity. This information clearly informs the terminal of its current working status and needs, ensuring that the sorting robot can fill the missing package quantity.

[0053] Step 103: When the current number of packages carried reaches the full capacity, redetermine the number of packages per shelf.

[0054] When the current number of packages reaches the maximum load capacity, it means the sorting robot has completed its maximum loading limit for the current sorting task. At this point, the sorting robot will pause loading packages and recalculate the number of packages needed for delivery to each target shelf based on the currently loaded package information; that is, it will redetermine the number of packages per shelf. After redetermining the number of packages per shelf, the sorting robot will continue the sorting operation according to the original target shelf number sequence and sorting path until all packages are correctly placed on their corresponding shelves.

[0055] Reference Figure 2 It also includes collaborative delivery methods, which include: Step 600: Collect the total number of currently carried delivery packages in real time.

[0056] The current total number of packages to be delivered is the total number of packages that the sorting robot is currently sorting. The data is collected by subtracting the number of packages per shelf from the total number of packages at full capacity after each sorting operation on a target shelf is completed. Real-time monitoring of this data provides support for subsequent collaborative delivery decisions.

[0057] Step 601: After controlling the sorting robot to move along the current sorting path, re-determine the current target shelf number.

[0058] After the sorting robot completes the sorting operation of the current sorting path, it needs to find the next shelf number to be delivered based on the target shelf number sequence. Therefore, it needs to redetermine the current target shelf number to sort the package corresponding to the shelf number.

[0059] Step 602: Calculate the remaining number of packages to be carried by subtracting the number of fully loaded packages from the total number of packages to be delivered.

[0060] The remaining number of packages to carry represents the number of packages the sorting robot can currently carry. By calculating the difference between the fully loaded number of packages and the total number of packages currently being delivered, the robot's current load capacity can be accurately assessed.

[0061] Step 603: Based on the current target shelf number and the remaining number of packages, send a preset collaborative delivery request to other sorting robots, and receive the corresponding collaborative response requests from other sorting robots.

[0062] The current target shelf number corresponding to other sorting robots is the same as the target shelf number corresponding to the current location. The collaborative delivery request includes the current location, the current target shelf number, and the number of remaining packages. The collaborative response request includes the sorting robots that can collaborate and the number of packages that can be sorted collaboratively.

[0063] Other sorting robots refer to other sorting equipment located in the same work area as the current sorting robot. A collaborative delivery request is an assistance request sent by the current sorting robot to other sorting equipment. This request includes information that allows other sorting robots to determine if they meet the collaboration requirements. Specifically, it informs other robots that the robot is currently on shelf A and is about to move to shelf B, and the number of packages it can help carry to shelf B. A collaborative response request is a response returned by other sorting robots after receiving the collaboration request. Specifically, it replies with the robot's robot ID, the route it intends to take after completing sorting operations on shelf A (which is the same route as the current robot), and the number of packages to be delivered to shelf B. Through this interaction mechanism, task collaboration between robots is achieved, thereby optimizing overall sorting efficiency.

[0064] Step 604: Receive a collaboration response request within the preset waiting collaboration time. Determine the final collaborative robot based on the number of items that can be collaboratively sorted and the number of remaining packages. Send a preset collaborative sorting instruction to the sorting robot corresponding to the final collaborative robot and wait to receive the packages unloaded by the final collaborative robot.

[0065] The waiting time for collaboration refers to the maximum manually set response time after the current sorting robot issues a collaboration request. This maximum waiting time is set to ensure sufficient time to collect multiple collaboration responses while avoiding excessive waiting time from impacting overall sorting efficiency. The final collaborating robot is the sorting robot selected to participate in collaborative delivery after screening. The collaborative sorting instruction is the instruction containing collaboration information sent by the sorting robot after the final collaborating robot is determined. Based on the matching degree between the number of robots that can be collaboratively sorted and the remaining number of packages carried, the sorting robot with the closest collaborating sorting quantity and not exceeding the remaining number of packages carried is selected as the final collaborating robot. The current sorting robot will send a collaborative sorting instruction to this robot, clearly indicating the number of packages requiring assistance in delivery and the specific handover location. Simultaneously, the current sorting robot will enter a waiting state until it receives the packages unloaded by the final collaborating robot.

[0066] Step 605: Execute the sorting operation when the package is unloaded by the final collaborative robot or when no collaborative response request is received from the final collaborative robot within the waiting time.

[0067] The sorting robot will flexibly adjust its working mode according to the actual situation. Upon successfully receiving a package unloaded by the collaborative robot, it will immediately update the total number of packages to be delivered and recalculate the remaining number of packages to carry for sorting. If no collaboration response request is received within the waiting time, it means that no suitable collaborative robot is available, and the sorting robot will then complete the remaining sorting tasks independently.

[0068] The method for determining the final collaborative robot based on the number of items that can be collaboratively sorted and the remaining number of packages carried within a preset waiting time for a collaborative response request includes: Step 6040: When there are multiple final collaborative robots, calculate the ratio between the remaining number of packages to the number of packages that can be collaboratively sorted.

[0069] The ratio refers to the ratio of the remaining number of packages to the number of packages that can be collaboratively sorted. This ratio is calculated by dividing the remaining number of packages by the number of packages that can be collaboratively sorted. When multiple collaborative robots exist, it means that the difference between the number of packages that can be collaboratively sorted and the remaining number of packages is the same for all sorting robots, and there may be a situation where the remaining number of packages can accommodate multiple collaborative robots simultaneously. In this case, it is necessary to calculate the ratio to further select the final collaborative robots.

[0070] Step 6041: Determine the number of executables based on the multiple relationship.

[0071] The executable quantity refers to the final number of collaborating robots that the current sorting robot can handle simultaneously. By analyzing the multiple relationships, the final number of collaborating robots that the current sorting robot can take on can be accurately calculated, thus allowing for the rational allocation of collaborative tasks. When the multiple relationship is an integer, it means that the remaining number of packages being carried can be divided by the collaborating sorting quantity, and the final number of collaborating robots is this multiple. When the multiple relationship is not an integer, it will be rounded down to ensure that the number of collaborating packages does not exceed the actual processing capacity of the sorting robot.

[0072] Step 6042: Determine the sorting distance of the collaborative robot based on the current sorting path of the final collaborative robot.

[0073] Sorting distance refers to the distance between the current sorting robot and the shelf location corresponding to the current target shelf number. It is calculated by using the current sorting robot as a reference point to determine the distance between the reference point and the corresponding shelf location.

[0074] Step 6043: Sort the collaborative robot sorting distances in ascending order to obtain the collaborative robot sorting distance sequence.

[0075] Collaborative robot sorting distance sequence refers to a list in which each collaborative robot is arranged in order of distance from the target shelf, from closest to furthest.

[0076] Step 6044: Determine the final collaborative robot based on the collaborative robot sorting distance sequence and the number of executable robots.

[0077] Because the collaborative robot sorting distance sequence can prioritize the sorting robot to select the collaborative robot closest to its shelf, thereby shortening the package handover time and improving the overall collaborative efficiency, the current sorting robot selects the robot number of the collaborative sorting robot distance sequence based on the number of available robots to determine the final collaborative robot.

[0078] This includes a method for determining the final collaborating robot when receiving a collaborative delivery request from other sorting robots, the method comprising: Step 606: When the current target shelf number is the same as the target shelf number corresponding to the current position of the requesting robot, determine the same starting shelf number.

[0079] The same starting shelf number refers to the number of the target shelf corresponding to the current location of the requesting robot being the same as the target shelf number of the current sorting robot. When the same starting shelf number is determined, it indicates that the two sorting robots have the same delivery starting point, which can quickly screen out potential collaborative sorting equipment. This creates favorable conditions for subsequent collaborative delivery and effectively avoids invalid collaborative attempts between sorting robots with different starting points.

[0080] Step 607: Determine the same destination shelf number based on the same starting shelf number.

[0081] The same destination shelf number refers to the shelf number that two sorting robots need to deliver to the same next target shelf based on the same starting point or with an additional number. By matching the same destination shelf number, the current sorting robot can quickly identify sorting robots with the same delivery task, providing a precise matching basis for subsequent collaborative delivery task allocation.

[0082] Step 608: If the same destination shelf number exists, check the number of parcels on the single destination shelf based on the same destination shelf number.

[0083] The number of packages per shelf at the destination refers to the total number of packages that the target shelf needs to receive. Specifically, find the number of packages per shelf corresponding to the target shelf number as the number of packages per shelf at the destination. If two sorting robots have the same destination shelf number, it means they meet the path conditions for collaboration. Therefore, check the number of packages per shelf at the destination to see if the two sorting robots meet the matching condition for the number of packages they need to collaborate.

[0084] Step 609: Send the corresponding collaboration response request when the number of parcels on the final shelf is not greater than the number of remaining parcels.

[0085] If the number of packages on the final shelf is not greater than the remaining number of packages to be carried, it means that the requesting robot has sufficient carrying capacity to complete the collaborative delivery request. At this time, the sorting robot will immediately generate a collaborative response request and send it to the requesting robot.

[0086] Step 610: Upon receiving a collaborative sorting instruction from other sorting robots, determine the final collaborative robot and, after completing the operation for the current target shelf number, unload the number of packages required for the final single shelf and re-determine the current target shelf number.

[0087] When a sorting robot receives a collaborative sorting instruction from another sorting robot, and the current sorting robot has already been identified as the final collaborating robot by the requesting robot, the current sorting robot must also identify the corresponding requesting robot as the final collaborating robot. After completing the operation for the current target shelf number, the current sorting robot should unload the package specified in the process of confirming collaboration with the final collaborating robot. (See reference...) Figure 3 As shown, since the packages specified for collaboration are the next batch of packages that the current sorting robot needs to sort, and these packages have already been transferred to the final collaborative robot for processing, there is no need to proceed to the next target shelf in the target shelf number sequence. At this point, the current target shelf number should be redefined, and the current sorting path should be generated based on the current target shelf number to execute the sorting operation.

[0088] This also includes a method for real-time obstacle avoidance during sorting operations, which includes: Step 9: Obtain the other locations of the other sorting robots.

[0089] Other locations refer to the real-time locations of other sorting robots within the work area. These other locations are determined by receiving real-time location information from other sorting robots.

[0090] Step 10: Calculate the relative distance based on the current location and other locations.

[0091] Relative distance refers to the distance between the current sorting robot and other sorting robots. By calculating the distance between the current position and other positions, the relative distance can be obtained, and based on the relative distance, the risk of collision can be determined in a timely manner.

[0092] Step 110: Perform the sorting operation when the relative distance is greater than the preset reaction distance.

[0093] Reaction distance refers to the critical safety distance value preset by humans based on the robot's braking performance and the safety requirements of the working environment.

[0094] The robot's braking performance ensures that it can stop moving in time to avoid collisions by setting a maximum reaction distance. When the relative distance is greater than the reaction distance, it indicates that the sorting robot is within the safe operating range and can perform the sorting task normally.

[0095] Step 111: When the relative distance is less than the reaction distance, identify the risk robot and define the sorting distance corresponding to the risk robot as the risk sorting distance.

[0096] A risk robot is another sorting robot that poses a collision risk to the current sorting robot. If the relative distance is less than the reaction distance, it indicates a collision risk between the current robot and other robots, and therefore that other robot should be identified as a risk robot.

[0097] Step 1110: Real-time collection of movement speed.

[0098] Movement speed refers to the speed at which a sorting robot moves while performing a task. The movement speed is determined by recording the robot's position at past and current times, thus calculating the distance it has traveled during that period.

[0099] Step 1111: Generate the predicted motion trajectory based on the current sorting path and moving speed.

[0100] The predicted trajectory refers to the route a sorting robot will take over a future period of time, calculated based on its current path planning and current speed. By predicting the trajectory, it is possible to identify potential path intersections or collision risks in advance, providing data support for obstacle avoidance.

[0101] Step 1112: Generate the predicted motion trajectory of the risk based on the risk robot.

[0102] The risk-predicted trajectory refers to the future movement route calculated by the risk robot based on its current path planning and movement speed. The process for generating the risk-predicted trajectory is the same as that for generating the predicted trajectory, so it will not be elaborated on here.

[0103] Step 1113: Collect the current total priority and the risk package total priority when the expected movement trajectory and the risk expected movement trajectory intersect.

[0104] The current total package priority refers to the total priority of the packages carried by the current sorting robot. The risk package total priority refers to the total priority of the packages carried by the risky sorting robot. The current sorting robot obtains its total package priority by summing the priorities of the packages it carries. The risky robot obtains its total package priority in the same way as the current sorting robot. When the predicted trajectory and the risky predicted trajectory intersect, it indicates a collision risk between the two sorting robots. In this case, by comparing the current total package priority and the risky total package priority, the robot ensures that the delivery of high-priority packages is not affected and makes the optimal obstacle avoidance decision.

[0105] Step 11130: Stop moving when the total priority of the current package is lower than the total priority of the risk package until the relative distance is greater than the reaction distance.

[0106] When the overall priority of the current package is lower than that of the risky package, it indicates that the delivery task of the risky robot is more important. In this case, the current sorting robot should proactively stop moving to avoid interfering with the execution of the high-priority task. When the relative distance is greater than the reaction distance, it means that the two sorting robots have moved out of the collision risk zone, and the current sorting robot can resume moving to continue performing its sorting task, thus avoiding unnecessary waiting.

[0107] Step 11131: Perform sorting operation when the total priority of the current package is higher than the total priority of the risky packages or when there is no risky robot.

[0108] If the current total priority of the package is higher than the total priority of the risky package or there is no risky robot, it means that the current sorting robot has a higher task priority or there is no collision risk. The current sorting robot will maintain the original sorting path and continue to perform the task.

[0109] This also includes a sorting method for locations falling on the current sorting path from other positions, the method comprising: Step 1114: Define other locations that fall on the current sorting path as obstacle locations, and define the movement speed corresponding to the obstacle location as the obstacle movement speed.

[0110] Step 1115: Define the current sorting path as a risk sorting path when the obstacle movement speed is zero.

[0111] Risk sorting path refers to the path where a stationary obstacle is detected in the current sorting path.

[0112] When the obstacle's movement speed is zero, it indicates that the obstacle is stationary, which may paralyze the sorting path containing the obstacle and prevent the sorting robot on that path from performing sorting operations. Therefore, the current sorting path is considered a risky sorting path.

[0113] Step 1116: Determine the intersection point of the paths based on the risk sorting path and the target shelf number sequence.

[0114] A path intersection point is a node where the risk sorting path and the corresponding sorting paths of each shelf location in the target shelf number sequence may intersect. It is determined by comparing the risk sorting path with the sorting paths of each shelf location in the target shelf number sequence to find all possible intersection points.

[0115] Step 1117: If a path intersection point exists, obtain the distance between the current position and the path intersection point.

[0116] Intersection distance refers to the distance from the current location to the intersection point of the path. It is calculated by obtaining the location information of the current sorting robot and the intersection point, and then using this distance as the intersection distance. The existence of a path intersection point indicates a potential obstacle risk on the current sorting path.

[0117] Step 1118: Calculate the maximum safe distance based on the current location and the obstacle location.

[0118] The maximum safe distance refers to the maximum permissible distance for safe operation of the sorting equipment without collision with the obstacle, based on the current position and the obstacle's position. The maximum safe distance is calculated by obtaining the current position information of the sorting robot and the obstacle.

[0119] Step 1119: When there is an intersection point distance less than the maximum safe distance, select the path intersection point whose intersection point distance is closest to the maximum safe distance, define the path intersection point as the target intersection point, and control the sorting robot to move towards the target intersection point.

[0120] When the distance to the intersection point is less than the maximum safe distance, it means that the sorting robot can adjust its path based on that point before colliding with the obstacle. Filtering based on the closest point to the maximum safe distance allows the sorting robot sufficient time to wait for the obstacle to disappear before continuing to execute the sorting path selected by the priority rules.

[0121] Step 11190: If the obstacle's movement speed is greater than zero before reaching the target intersection point, output the risk sorting path again as the current sorting path.

[0122] If the obstacle's moving speed is greater than zero before reaching the target intersection point, it means the obstacle has started moving. At this time, the current sorting robot has not yet reached the target intersection point. During the movement of the current sorting path, it will not collide with the obstacle, meaning the risk has been eliminated. Therefore, the risky sorting path can be used as the current sorting path, allowing the sorting robot to continue to perform the sorting task according to the original plan, thereby improving the overall sorting efficiency and avoiding unnecessary path adjustments and time waste.

[0123] Step 11191: When the target intersection point is reached and the obstacle movement speed is zero, determine the intersection point shelf number based on the target intersection point.

[0124] The junction shelf number refers to the target shelf number corresponding to the target junction point. When the robot reaches the target junction point and the obstacle's movement speed is zero, it means that the obstacle is still stationary and is obstructing the current sorting robot's path. In this case, subsequent operations need to be performed based on the junction shelf number.

[0125] Step 11192: Swap the positions of the intersection shelf number and the current target shelf number in the target shelf number sequence and regenerate the target shelf number sequence, and perform steps 4 to 7 based on the regenerated target shelf number sequence.

[0126] Because the current sorting path is blocked by an obstacle, it is necessary to replan the current sorting path based on the target shelf number corresponding to the intersection shelf number. That is, to swap the current target shelf number and the intersection shelf number in the target shelf sequence, and temporarily suspend the current sorting path corresponding to the current target shelf number to perform the sorting operation on the shelf corresponding to the intersection shelf number, so as to ensure that the sorting task is not interrupted.

[0127] This also includes a method for regenerating the current sorting path when there is no target intersection point and the relative distance is less than the reaction distance. This method includes: Step 11120: Determine the nearest target shelf number based on the current location.

[0128] The nearest target shelf number refers to the number of the target shelf closest to the current sorting robot's position. The positions of the target shelves are obtained sequentially from the target shelf number sequence. The distance between the current sorting robot and the target shelf is calculated based on the target shelf position and the current sorting robot's position. The target shelf number corresponding to the smallest target shelf distance is selected as the current target shelf number.

[0129] If the current sorting path is blocked and there is no target intersection point, it means that the current sorting robot cannot reach the target shelf along the original path. If the relative distance is less than the reaction distance, it means that the current sorting robot can no longer wait for the obstacle to disappear. At this time, the current sorting robot needs to replan its path based on the nearest target shelf number.

[0130] Step 11121: Use the current nearest target shelf number as the current target shelf number and update the current sorting path.

[0131] Since performing the sorting operation on the nearest shelf takes the least amount of time to complete the sorting operation and continue to execute the sorting path set according to priority rules and package quantity, the current target shelf number is used as the current target shelf number and the current sorting path is updated. The current sorting path is generated with the nearest target shelf number to execute the sorting operation. This saves time and continues to maintain the package priority policy.

[0132] Step 11122: Perform steps 4 through 7.

[0133] After completing the sorting operation on the nearest target shelf, the sorting operation is restarted according to the original target shelf number sequence. This allows the sorting robot to continue to complete subsequent sorting tasks according to the established process after the above-mentioned special circumstances, ensuring the continuity and efficiency of the entire express sorting process.

[0134] This also includes a method for collecting package information, which includes: Step 1000: Scan to obtain barcode information.

[0135] Barcode information refers to the express delivery information contained in the barcode affixed to the surface of the package, such as the recipient's address, recipient's name, tracking number, origin, destination, weight, and dimensions. By scanning the barcode, basic data about the package can be collected quickly and accurately, providing a basis for subsequent sorting operations.

[0136] Step 1001: Repeat scanning and accumulate the number of scans if the barcode information cannot be scanned.

[0137] The number of scans refers to the number of times the barcode information of the same package is scanned. During the scanning process, if the barcode information cannot be successfully scanned in one go due to reasons such as improper barcode placement, blurry barcode, or scanning equipment malfunction, the sorting robot will perform a repeated scanning operation and automatically accumulate the number of scans.

[0138] Step 1002: Identify abnormal packages when the number of scans reaches a preset scan count threshold.

[0139] An abnormal package refers to a package whose barcode cannot be scanned. When the number of scans reaches a critical threshold, it indicates that the barcode information cannot be obtained after multiple scans, suggesting the barcode is damaged. Therefore, it is identified as an abnormal package for subsequent operations. If the number of scans does not reach the critical threshold but barcode information is obtained, the package information is determined based on this barcode information.

[0140] Step 1003: Capture an image of the package surface of the abnormal package.

[0141] Package images refer to image information of the surface of abnormal packages, including the package's appearance, possible markings, damage, etc. They are captured by taking pictures of the abnormal packages using a high-resolution camera.

[0142] Step 1004: Extract features from the package image to obtain the barcode region.

[0143] The barcode area refers to the region on the package surface where the barcode is located. By extracting features from the package image and using image processing algorithms and feature recognition technology, the potential location of the barcode can be identified, providing a target area for subsequent attempts to retrieve barcode information. Since abnormal packages may fail to scan barcode information due to incorrect scanning location, it is necessary to re-scan the barcode location area to avoid incorrect judgments.

[0144] Step 1005: Obtain the barcode digital sequence based on barcode region recognition.

[0145] A barcode number sequence refers to the sequence of numbers contained on a barcode that represents detailed information about a package. It is a string of numbers obtained after optical character recognition (OCR) performs digital recognition on the barcode area.

[0146] Step 1006: Based on the barcode digital sequence, compare it with the barcodes in the preset barcode feature library using a preset algorithm to obtain similar barcodes.

[0147] A barcode feature library is a pre-designed database used to store barcode information. The algorithm refers to the KMP algorithm. Similar barcodes are those with a high degree of similarity to the corresponding barcode number sequence. When a barcode is scanned, it is matched against pre-entered barcode information in the barcode feature library. This allows for further narrowing down the range of similar barcodes if no matching barcode can be found. Barcodes with high similarity obtained by comparing common prefixes or suffixes with the barcode number sequence of anomaly-wrapped items using the KMP algorithm are considered unmatched barcodes in the barcode feature library.

[0148] Step 1007: When the number of similar barcodes is greater than 1, the accuracy of the similar barcodes is verified through a preset verification mechanism.

[0149] The verification mechanism refers to a cross-validation mechanism that compares similar barcodes to identify identical information. Accuracy refers to the degree of matching between similar barcodes and the actual package information. When there are more than one similar barcode, it means that multiple potentially matching barcodes have been obtained through comparison, making it difficult to directly determine the accurate barcode corresponding to the abnormal package. Therefore, it is necessary to verify the accuracy of the similar barcodes to determine the most accurate similar barcode, thereby accurately identifying the barcode that truly corresponds to the abnormal package and ensuring that subsequent sorting operations can proceed correctly.

[0150] Among them, the methods for verifying the accuracy of similar barcodes through a verification mechanism when there are more than 1 similar barcodes include: Step 10070: Obtain information on similar barcodes from the barcode feature library as relevant data sources.

[0151] Relevant data sources refer to a series of data extracted from the barcode feature database that correspond to similar barcodes, such as recipient address, recipient name, tracking number, origin, destination, weight, and dimensions. This information is the foundational data for subsequent verification, providing a multi-dimensional reference for judging the matching degree between similar barcodes and abnormal packages. The acquisition method involves scanning similar barcodes to obtain the corresponding package information, and then extracting data such as recipient address, recipient name, tracking number, origin, destination, weight, and dimensions based on this package information as relevant data sources.

[0152] Step 10071: Obtain abnormal package information for the barcode number sequence.

[0153] Abnormal package information refers to identifiable information found in the scanned barcode sequence. This abnormal package information is used to compare with relevant data sources to determine the correct barcode.

[0154] Step 10072: Determine the correct barcode when the abnormal package information is matched with the relevant data source.

[0155] A correct barcode is the barcode that corresponds to the relevant data source that matches the abnormal package information. By comparing the abnormal package information with relevant data, if the abnormal package information matches the relevant data source, it means that an accurate barcode matching the abnormal package information has been found, and this barcode is the correct barcode.

[0156] Step 10073: Scan the correct barcode to obtain the correct package information.

[0157] Correct package information refers to the information in the correct barcode. When a correct barcode is obtained, the detailed package information corresponding to this barcode, such as the recipient's address, recipient's name, tracking number, origin, destination, weight, and dimensions, can be used to accurately include abnormal packages in the normal sorting process, avoiding package backlog or incorrect sorting due to barcode scanning issues.

[0158] Step 10074: Issue a preset manual processing signal when the abnormal package information does not match the relevant data source.

[0159] Manual processing signals refer to signals sent by the sorting robot to pre-set employee mobile terminals. When the information of an abnormal package does not match the relevant data source, it means that the barcode of the abnormal package cannot be accurately identified using existing methods and data sources. In this case, manual processing can conduct a more in-depth inspection of the package, such as carefully checking whether there are other markings on the package surface, or inquiring with the sender or recipient, thereby finding the accurate information of the abnormal package, ensuring the smooth progress of the sorting work, and avoiding abnormal packages from affecting the overall efficiency and accuracy of express sorting.

[0160] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for sorting express parcels, characterized in that, include: Step 1: Collect the current location and the pre-delivery packages placed on the sorting robot; Step 2: Determine the target shelf number based on the pre-delivered packages and determine the number of packages per shelf corresponding to the target shelf number; Step 3: Sort the target shelf numbers in descending order based on the number of packages per shelf to obtain the target shelf number sequence; Step 4: Determine the current target shelf number based on the target shelf number sequence, and define the pre-delivery package corresponding to the current target shelf number as the current pre-delivery package; Step 5: Obtain the location of the target shelf with the current target shelf number; Step 6: Determine the current sorting path based on the current location and the target shelf location; Step 7: Control the sorting robot to perform a sorting operation. The sorting operation is to move along the current sorting path until it reaches the shelf corresponding to the current target shelf number, unload the current pre-delivery package, and then update the target shelf number sequence and continue to execute steps 4 to 7 until the target shelf number sequence no longer exists. Step 8: If the current target shelf number does not exist, control the sorting robot to return to the preset package position and continue to execute steps 1 to 7.

2. A method for sorting express parcels according to claim 1, characterized in that, The method for collecting the current location and placing the pre-delivery package on the sorting robot includes: Step 100: When the current location is collected and the current location is the location of the package, accumulate the number of packages currently being carried; Step 101: Calculate the gap in the number of packages carried by subtracting the current number of packages carried from the preset number of packages at full capacity; Step 102: Based on the shortage of the number of packages to be carried, send a preset instruction to the preset terminal to continue carrying the packages; Step 103: When the current number of packages carried reaches the full load number of packages, the number of packages per shelf is re-determined.

3. A method for sorting express parcels according to claim 1, characterized in that, It also includes collaborative delivery methods, which include: Step 600: Real-time collection of the total number of currently carried delivery packages; Step 601: After controlling the sorting robot to move according to the current sorting path, the current target shelf number is re-determined; Step 602: Obtain the remaining number of packages by subtracting the number of fully loaded packages from the total number of packages currently being delivered; Step 603: Based on the current target shelf number and the remaining number of packages carried, send a preset collaborative delivery request to other sorting robots, and receive collaborative response requests from the other sorting robots. The current target shelf number corresponding to the other sorting robots is the same as the target shelf number corresponding to the current location. The collaborative delivery request includes the current location, the current target shelf number, and the remaining number of packages carried. The collaborative response request includes the sorting robots that can cooperate and the number of packages that can be sorted collaboratively. Step 604: Within a preset waiting time, the collaboration response request is received. Based on the number of items that can be collaboratively sorted and the number of remaining packages, the final collaborative robot is determined, and a preset collaborative sorting instruction is sent to the sorting robot corresponding to the final collaborative robot. The robot then waits to receive the packages unloaded by the final collaborative robot. Step 605: Execute the sorting operation when the package is unloaded by the final collaborative robot or when no collaborative response request is received from the final collaborative robot during the waiting collaboration time.

4. A method for sorting express parcels according to claim 3, characterized in that, The method for determining the final collaborative robot based on the number of items that can be collaboratively sorted and the number of remaining packages carried during the waiting collaboration period includes: Step 6040: When there are multiple final collaborative robots, calculate the multiple relationship between the remaining number of carried packages and the number of packages that can be collaboratively sorted; Step 6041: Determine the number of executables based on the aforementioned multiple relationship; Step 6042: Determine the sorting distance of the collaborative robot based on the current sorting path of the final collaborative robot; Step 6043: Sort the collaborative robot sorting distances in ascending order to obtain the collaborative robot sorting distance sequence; Step 6044: Determine the final collaborative robot based on the sorting distance sequence of the collaborative robot and the number of executable robots.

5. A method for sorting express parcels according to claim 3, characterized in that, It also includes a method for determining the final collaborating robot when receiving the collaborative delivery request from the other sorting robots, the method comprising: Step 606: When the current target shelf number is the same as the target shelf number corresponding to the current position of the requesting robot, determine the same starting shelf number; Step 607: Determine the same destination shelf number based on the same starting shelf number; Step 608: If the same destination shelf number exists, check the number of parcels on a single destination shelf based on the same destination shelf number; Step 609: Send a corresponding collaboration response request when the number of parcels on the destination shelf is not greater than the number of remaining parcels. Step 610: Upon receiving the collaborative sorting instruction from the other sorting robots, determine the final collaborative robot and, after completing the operation of the current target shelf number, unload the number of packages required for the final single shelf and re-determine the current target shelf number.

6. A method for sorting express parcels according to claim 1, characterized in that, It also includes a method for real-time obstacle avoidance during the sorting operation, the method comprising: Step 9: Obtain the other locations of the other sorting robots; Step 10: Calculate the relative distance based on the current location and the other locations; Step 110: Perform the sorting operation when the relative distance is greater than the preset reaction distance; Step 111: When the relative distance is less than the reaction distance, identify the risk robot and define the sorting distance corresponding to the risk robot as the risk sorting distance; Step 1110: Real-time collection of movement speed; Step 1111: Generate the predicted motion trajectory based on the current sorting path and the moving speed; Step 1112: Generate the predicted risk trajectory based on the risk robot; Step 1113: When the predicted movement trajectory and the risk predicted movement trajectory intersect, collect the current total priority of the package and the total priority of the risk package; Step 11130: When the total priority of the current package is lower than the total priority of the risk package, stop moving until the relative distance is greater than the reaction distance; Step 11131: Perform the sorting operation when the total priority of the current package is higher than the total priority of the risky package or when the risky robot does not exist.

7. A method for sorting express parcels according to claim 6, characterized in that, It also includes a sorting method for other locations falling on the current sorting path, the method comprising: Step 1114: Define the other positions that fall on the current sorting path as obstacle positions, and define the moving speed corresponding to the obstacle position as obstacle moving speed; Step 1115: Define the current sorting path as a risk sorting path when the obstacle's movement speed is zero; Step 1116: Determine the intersection point of the paths based on the risk sorting path and the target shelf number sequence; Step 1117: If the path intersection point exists, obtain the distance between the current position and the path intersection point; Step 1118: Obtain the maximum safe distance based on the current position and the obstacle position; Step 1119: When there is a junction point distance that is less than the maximum safe distance, select the path junction point whose junction point distance is closest to the maximum safe distance, define the path junction point as the target junction point, and control the sorting robot to move towards the target junction point; Step 11190: When the obstacle's movement speed is greater than zero before reaching the target intersection point, output the risk sorting path again as the current sorting path; Step 11191: When the target intersection point is reached and the obstacle's moving speed is zero, determine the intersection point shelf number based on the target intersection point; Step 11192: Swap the positions of the intersection point shelf number and the current target shelf number in the target shelf number sequence and regenerate the target shelf number sequence, and perform steps 4 to 7 based on the regenerated target shelf number sequence.

8. A method for sorting express parcels according to claim 7, characterized in that, It also includes a method for regenerating the current sorting path when the target intersection point does not exist and the relative distance is less than the reaction distance, the method comprising: Step 11120: Determine the nearest target shelf number based on the current location; Step 11121: Use the current nearest target shelf number as the current target shelf number and update the current sorting path; Step 11122: Perform steps 4 through 7.

9. A method for sorting express parcels according to claim 1, characterized in that, It also includes methods for collecting package information, which include: Step 1000: Scan to obtain barcode information; Step 1001: Repeat scanning and accumulate the number of scans if the barcode information cannot be scanned; Step 1002: When the number of scans reaches a preset scan count threshold, an abnormal package is identified; Step 1003: Capture an image of the abnormal package surface; Step 1004: Extract features from the package image to obtain the barcode region; Step 1005: Obtain the barcode digital sequence based on the barcode region identification; Step 1006: Based on the barcode digital sequence, compare it with the barcodes in the preset barcode feature library using a preset algorithm to obtain similar barcodes; Step 1007: When the number of similar barcodes is greater than 1, the accuracy of the similar barcodes is verified through a preset verification mechanism.

10. A method for sorting express parcels according to claim 9, characterized in that, The method for verifying the accuracy of the similar barcodes through the verification mechanism when the number of similar barcodes is greater than 1 includes: Step 10070: Obtain information on similar barcodes from the barcode feature library as relevant data sources; Step 10071: Obtain abnormal package information of the barcode number sequence; Step 10072: Determine the correct barcode when the abnormal package information is matched with the relevant data source; Step 10073: Scan the correct barcode to obtain the correct package information; Step 10074: When the abnormal package information does not match the relevant data source, a preset manual processing signal is issued.

Images