Abnormality processing system and warehouse management system

Abstract

The utility model relates to the technical field of storage, and discloses an exception handling system and a storage management system.The exception handling system comprises a sorting device and a prompting device, and the sorting device comprises a support, a moving mechanism arranged on the support, a taking and placing mechanism, a controller and a sensor set; wherein a plurality of sensors in the sensor group are arranged at at least one position of the bracket, the moving mechanism and the pick-and-place mechanism, and the plurality of sensors are configured to detect an abnormal signal that the at least one position of the bracket, the moving mechanism and the pick-and-place mechanism is abnormal and / or detect that the to-be-sorted cargoes are abnormal in the sorting process; when at least one position of the support, the moving mechanism and the pick-and-place mechanism has an abnormal signal of sorting abnormity, the abnormal signal is sent to the controller, so that the controller sends a prompt signal to the prompt device based on the received abnormal signal, and the prompt device carries out abnormity prompt based on the prompt signal. By applying the exception handling system and the warehouse management system, the exception handling efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the warehouse technology field, and in particular to an exception processing system and a warehouse management system. BACKGROUND

[0002] In order to improve the sorting efficiency of goods, some warehouses use automated sorting devices to sort goods. The sorting device can quickly and accurately distribute goods to a designated location through identification, classification, and transportation functions.

[0003] In actual applications, the sorting device is usually composed of complex actuators. During the execution of the sorting task by these actuators, some exceptions may occur. If these exceptions cannot be detected and handled in a timely manner, the sorting device will not function properly, the goods will not be successfully sorted, and the operation of the sorting device and the sorting efficiency of the goods will be severely affected. Invention content

[0004] In view of the above problems, the present application provides an exception processing system and a warehouse management system to solve the problem that the existing technology cannot detect and handle exceptions during the sorting process of goods. Specifically, the embodiments of the present application disclose the following technical solutions:

[0005] In a first aspect, the embodiments of the present application provide an exception processing system, which includes a sorting device and a prompt device. The sorting device includes a support, a moving mechanism, a taking and placing mechanism, a controller, and a sensor group. The prompt device and the sensor group are in communication connection with the controller. The sensor group includes a plurality of sensors, which are arranged at at least one position of the support, the moving mechanism, and the taking and placing mechanism. The plurality of sensors are configured to detect at least one of an abnormal signal of an abnormality occurring at at least one position of the support, the moving mechanism, and the taking and placing mechanism and an abnormal signal of a sorting abnormality occurring at at least one position of the support, the moving mechanism, and the taking and placing mechanism during the sorting process of the goods to be sorted, and send the abnormal signal to the controller. The controller is configured to send a prompt signal to the prompt device based on the received abnormal signal. The prompt device is configured to perform an abnormality prompt based on the prompt signal.

[0006] In some embodiments, the taking and placing mechanism is movably arranged on the support, and the support is movably arranged on the moving mechanism; or the taking and placing mechanism is movably arranged on the moving mechanism, and the moving mechanism is movably arranged on the support; the taking and placing mechanism is configured to move to a specified position relative to the support and / or the moving mechanism to obtain the to-be-sorted goods, and move relative to the support and / or the moving mechanism to deliver the to-be-sorted goods into the target container on the target bin.

[0007] In some embodiments, the plurality of sensors includes at least one first sensor in communication connection with the controller, and the at least one first sensor is arranged on the taking and placing mechanism; the at least one first sensor is configured to send a storage abnormality signal to the controller when the taking and placing mechanism delivers the to-be-sorted goods into the target container, and the remaining storage of the target container is less than a storage threshold.

[0008] In some embodiments, the controller is further configured to set the target bin to a locked state to stop delivering goods into the target container when the storage abnormality signal is received.

[0009] In some embodiments, the plurality of sensors includes at least one second sensor in communication connection with the controller, and the at least one second sensor is arranged on the taking and placing mechanism; the at least one second sensor is configured to collect a time when the to-be-sorted goods reach a detection point during the process of the taking and placing mechanism delivering the to-be-sorted goods into the target container, and send a delivery timeout abnormality signal to the controller when the to-be-sorted goods delivery is timed out; wherein the abnormality signal includes the delivery timeout abnormality signal, and the delivery timeout abnormality signal carries a delivery timeout abnormality information code.

[0010] In some embodiments, the plurality of sensors includes at least one third sensor in communication connection with the controller, and the at least one third sensor is arranged on the taking and placing mechanism; the at least one third sensor is configured to collect first size information of the to-be-sorted goods during the process of the taking and placing mechanism delivering the to-be-sorted goods into the target container, and send a first size abnormality signal to the controller when the size of the to-be-sorted goods is greater than a first size threshold; wherein the abnormality signal includes the first size abnormality signal, and the first size abnormality signal carries a first size abnormality information code.

[0011] In some embodiments, the plurality of sensors includes a plurality of fourth sensors in communication with the controller, the plurality of fourth sensors are disposed on the bottom of the bracket, and the plurality of fourth sensors are oppositely disposed; the fourth sensor is configured to collect a transmission signal of the fourth sensor oppositely disposed to the fourth sensor to obtain shielding information of the fourth sensor, and send a sensor abnormal signal to the controller when the fourth sensor is not completely shielded; wherein the abnormal signal includes the sensor abnormal signal, and the sensor abnormal signal carries a sensor abnormal information code.

[0012] In some embodiments, the plurality of sensors includes at least one fifth sensor in communication with the controller, the at least one fifth sensor is disposed on the bottom of the bracket; the at least one fifth sensor is configured to detect whether the to-be-sorted goods falls from the pick-and-place mechanism during the process that the pick-and-place mechanism acquires the to-be-sorted goods and delivers the to-be-sorted goods into the target container, and send a goods falling abnormal signal to the controller when the to-be-sorted goods falls from the pick-and-place mechanism; wherein the abnormal signal includes the goods falling abnormal signal, and the goods falling abnormal signal carries a goods falling abnormal information code.

[0013] In some embodiments, the sorting device includes a workbench configured to acquire the to-be-sorted goods and transmit the to-be-sorted goods to the pick-and-place mechanism; the pick-and-place mechanism includes a delivery mechanism disposed on the moving mechanism and configured to deliver the to-be-sorted goods into the target container under the driving of the moving mechanism.

[0014] In some embodiments, the plurality of sensors includes at least one sixth sensor in communication with the controller, the at least one sixth sensor is disposed on the workbench; the at least one sixth sensor is configured to collect second size information of the to-be-sorted goods during the process that the workbench acquires the to-be-sorted goods and transmits the to-be-sorted goods to the delivery mechanism, and send a second size abnormal signal to the controller when the goods size of the to-be-sorted goods is greater than a second size threshold; wherein the abnormal signal includes the second size abnormal signal, and the second size abnormal signal carries a second size abnormal information code.

[0015] In some embodiments, the plurality of sensors comprises at least one seventh sensor, the seventh sensor is communicatively connected with the controller, the at least one seventh sensor is arranged on the delivery mechanism; the at least one seventh sensor is configured to collect the position of the to-be-sorted goods during the process that the workbench transports the to-be-sorted goods to the delivery mechanism, and send a docking abnormal signal to the controller when the to-be-sorted goods are not transported to the delivery mechanism within a first transport time; wherein the abnormal signal comprises the docking abnormal signal, and the docking abnormal signal carries a docking abnormal information code.

[0016] In some embodiments, the workbench comprises a conveying line configured to transport goods, the at least one sensor comprises at least one eighth sensor, the eighth sensor is communicatively connected with the controller, and the at least one eighth sensor is arranged on the workbench; the at least one eighth sensor is configured to detect the number of goods on any conveying section of the conveying line during the process that the conveying line transports the to-be-sorted goods to the delivery mechanism, and send a number of goods abnormal signal to the controller when the number of goods on any conveying section of the conveying line is greater than a number threshold; wherein the abnormal signal comprises the number of goods abnormal signal, and the number of goods abnormal signal carries a number of goods abnormal information code.

[0017] In some embodiments, the workbench comprises a conveying line configured to transport goods, the plurality of sensors comprises at least one ninth sensor, the ninth sensor is communicatively connected with the controller, and the at least one ninth sensor is arranged on the workbench; the at least one ninth sensor is configured to send a transport timeout abnormal signal to the controller when the conveying line fails to transport the to-be-sorted goods to a target position on the conveying line by a second transport time; wherein the abnormal signal comprises the transport timeout abnormal signal, and the transport timeout abnormal signal carries a transport timeout abnormal information code.

[0018] In some embodiments, the controller sends a control signal to the workbench based on the abnormal signal, the control signal is configured to control the workbench to transport the to-be-sorted goods to an initial position, the initial position being the position of the to-be-sorted goods on the workbench when the workbench obtains the to-be-sorted goods.

[0019] In some embodiments, the system further comprises an emergency stop button, and the controller is further configured to control the sorting device to stop running in response to the user pressing the emergency stop button when the workbench fails to transport the to-be-sorted goods to the initial position.

[0020] In some embodiments, the prompting device comprises any one or more of a signal light, a display device, and a speaker, wherein: the signal light is configured to light based on the prompting signal; the display device is configured to display abnormal prompting information based on the prompting signal; and the speaker is configured to play abnormal prompting sound based on the prompting signal.

[0021] In a second aspect, the embodiments provide a warehouse management system comprising the abnormality processing system as described above.

[0022] In summary, according to the abnormality processing system and the warehouse management system provided by the embodiments of the present application, the plurality of sensors arranged at at least one position of the support, the moving mechanism and the taking and placing mechanism of the sorting device can detect the abnormal signal of the at least one position of the support, the moving mechanism and the taking and placing mechanism, and / or the abnormal signal of the sorting abnormality of the at least one position of the support, the moving mechanism and the taking and placing mechanism of the goods to be sorted in the sorting process, and send the abnormal signal to the controller. Based on the received abnormal signal, the controller sends a prompting signal to the prompting device, so that the prompting device performs abnormal prompting based on the prompting signal. The abnormality monitoring of the sorting device and the sorting process of the goods to be sorted can be realized, the normal operation of the sorting device is guaranteed, and thus the sorting efficiency of the goods is improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings are included to provide a further understanding of the application, and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the application and, together with the description, serve to explain the principles of the application. In the drawings:

[0024] Figure 1 FIG. 1 shows a structural schematic diagram of an abnormality processing system provided by an embodiment of the present application;

[0025] Figure 2 FIG. 2 shows a bottom view of a sorting device provided by an embodiment of the present application;

[0026] Figure 3 FIG. 3 shows a structural diagram of a sorting device provided by an embodiment of the present application;

[0027] Figure 4 FIG. 4 shows a partial schematic diagram of a workbench provided by an embodiment of the present application;

[0028] Figure 5 FIG. 5 shows a partial schematic diagram of a delivery mechanism provided by an embodiment of the present application;

[0029] Figure 6 FIG. 6 shows a partial schematic diagram of another workbench provided by an embodiment of the present application;

[0030] Figure 7 FIG. 7 shows a schematic diagram of abnormal prompting information provided by an embodiment of the present application. Detailed Implementation

[0031] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein.

[0032] This application provides an anomaly handling system that can monitor anomalies in the sorting process of the sorting device and the goods to be sorted, ensuring the normal operation of the sorting device and improving the sorting efficiency of the goods. The anomaly handling system provided in this application embodiment will be described below with reference to the accompanying drawings.

[0033] Figure 1 This is a schematic diagram of an exception handling system provided in an embodiment of this application, such as... Figure 1 As shown, the anomaly handling system 100 may include a sorting device 110 and a prompting device 120. The sorting device 110 includes a support 111, a moving mechanism 112, a picking and placing mechanism 113, a controller 114, and a sensor group 115. The prompting device 120 and the sensor group 115 are respectively communicatively connected to the controller 114.

[0034] The sorting device 110 refers to equipment used for automated sorting of goods, which can identify the acquired goods and allocate them to designated locations. For example, operators or upstream conveyors can place goods on the sorting device 110, allowing the sorting device 110 to identify the goods. Then, the moving mechanism 112 transports the goods to the location of the shelf, which can be a storage rack with multiple compartments, each containing a container for storing goods. After the goods are transported to the location of the shelf, the picking and placing mechanism 113 delivers the goods to the containers in the corresponding compartments, thereby completing the sorting of the goods.

[0035] In this embodiment, the sorting device 110 may have different structures, but in terms of component composition, the sorting device 110 has at least a support 111, a moving mechanism 112, a pick-and-place mechanism 113, a controller 114, and a sensor group 115. The support 111, the moving mechanism 112, and the pick-and-place mechanism 113 are physical structures on the sorting device 110, and the controller 114 and the sensor group 115 are computing devices on the sorting device 110.

[0036] For example, the support 111 is movably disposed on the moving mechanism 112, and a movable picking and placing mechanism 113 can be disposed on the support 111. In this way, the support 111 and the picking and placing mechanism 113 can move, and the picking and placing mechanism 113 can pick up and transport goods during the movement.

[0037] For another example, the support 111 can be fixedly arranged at a certain position, and a movable mechanism 112 can be arranged on the support 111, and the movable mechanism 112 can be arranged with a movable taking and placing mechanism 113. During the movement of the movable mechanism 112, the taking and placing mechanism 113 moves to obtain goods and carry the goods.

[0038] The controller 114 is a core processing module of the sorting device 110, which is responsible for coordinating and managing the entire sorting process. For example, the controller 114 can control the operation of the sorting device 110 through various control programs and respond to the operation of the operator.

[0039] The sensor group 115 is a device for real-time detection and feedback of abnormal conditions of the sorting device 110 during the execution of the goods sorting task. The sensor group 115 can include multiple sensors, and the multiple sensors can be composed of one or more types of sensors, each sensor being responsible for the same or different detection tasks.

[0040] The prompt device 120 is a device for prompting the occurrence of an abnormality of the sorting device during the execution of the goods sorting task. Different abnormal situations can be prompted by different prompt devices 120. For example, the prompt device 120 can be a signal lamp, and the signal lamp has different light colors, which can be used to indicate different abnormal situations.

[0041] It should be noted that at least part of the prompt device 120 can be integrated into the sorting device, or the prompt device 120 can be arranged independently of the sorting device. The installation position of the prompt device 120 is not limited in the embodiments of the present disclosure.

[0042] The prompt device 120 and the sensor group 115 are in communication connection with the controller 114. The prompt device 120 can include one or more devices, such as a signal lamp, a display device, and a loudspeaker. According to the type of the device of the prompt device 120, the connection between the prompt device 120 and the controller 114 can be physical connection or wireless connection. For example, when the prompt device 120 is a signal lamp or a loudspeaker, the connection between the prompt device 120 and the controller 114 is physical connection, and when the prompt device 120 is a display device, the connection can be wireless connection or physical connection.

[0043] In a warehouse environment, the sensor group 115 and the controller 114 can be in wireless connection or physical connection according to the job requirements and actual conditions, which are not limited in the embodiments.

[0044] In some embodiments, one or more devices can be combined to prompt when an abnormality occurs, that is, one or more devices output prompt information at the same time.

[0045] In some embodiments, the sensor group 115 includes a plurality of sensors, and the plurality of sensors are arranged at at least one position of the support 111, the moving mechanism 112 and the taking-and-placing mechanism 113, and the plurality of sensors are configured to detect at least an abnormal signal of an abnormality of the at least one position of the support 111, the moving mechanism 112 and the taking-and-placing mechanism 113 and / or an abnormal signal of a sorting abnormality of the at least one position of the support 111, the moving mechanism 112 and the taking-and-placing mechanism 113 in the sorting process of the goods to be sorted, and send the abnormal signal to the controller 114.

[0046] For example, the sensors can be arranged at the corresponding positions of the support 111, the moving mechanism 112 and the taking-and-placing mechanism 113 respectively to detect the state of the goods to be sorted when passing through each component of the sorting device 110 in the sorting process, and send the corresponding abnormal signal to the controller 114 when an abnormality is detected.

[0047] In some embodiments, the abnormal signal can carry an abnormal information code. The abnormal information code is a code for indicating a fault or abnormal condition in the sorting process, and the abnormal information code can be used by the operator and the controller 114 to quickly identify the fault and the abnormality so as to take corresponding processing measures.

[0048] In some embodiments, the controller 114 is configured to send a prompt information to the prompt device 120 based on the received abnormal signal. For example, the controller 114 can determine the type of the abnormality of the sorting device 110 or the goods to be sorted in the sorting process according to the received abnormal signal, and then send the prompt information to the prompt device 120 according to the type of the abnormality so as to prompt the user to understand and handle the abnormal condition through the prompt device 120.

[0049] The prompt device 120 is configured to perform abnormality prompting based on the prompt signal. For example, the prompt device 120 can be a signal lamp, which can control the signal lamp to light up according to the prompt signal, and different prompt signals can control the signal lamp to light up in different colors or manners, for example, the prompt signal can instruct the signal lamp to flash when the abnormal signal indicates that the sorting device 110 is abnormal, and the prompt signal can instruct the signal lamp to be a red light that is always on when the abnormal signal indicates that the goods to be sorted are abnormal in the sorting process.

[0050] In some embodiments, in the specific structure of the sorting device 110, the taking and placing mechanism 113 is movably arranged on the support 111, and the support 111 is movably arranged on the moving mechanism 112; or, the taking and placing mechanism 113 is movably arranged on the moving mechanism 112, and the moving mechanism 112 is movably arranged on the support 111. The taking and placing mechanism 113 is configured to move to a designated position relative to the support 111 and / or the moving mechanism 112 to obtain the goods to be sorted, and move relative to the support 111 and / or the moving mechanism 112 to deliver the goods to be sorted into the target container on the target bin.

[0051] For example, the moving mechanism 112 can be a movable structure itself, such as a robot or a mechanical structure with a movable device, the support 111 is movably arranged on the moving mechanism 112, and the taking and placing mechanism 113 is movably arranged on the support 111, for example, the taking and placing mechanism 113 can be a mechanical arm or other goods placing device, and the taking and placing mechanism 113 is movably mounted on the support 111. In this way, the taking and placing mechanism 113 can move with the moving mechanism 112 and the support 111 during the movement of the moving mechanism 112 and the support 111, and take and place the goods.

[0052] For another example, the support 111 can be a fixedly arranged rack structure on the ground, the taking and placing mechanism 113 is movably arranged on the moving mechanism 112, and the moving mechanism 112 is movably arranged on the support 111. Similarly, the taking and placing mechanism 113 can take and place the goods during the movement of the moving mechanism 112.

[0053] Based on the above structure, a plurality of sensors are arranged at at least one position of the support 111, the moving mechanism 112 and the taking and placing mechanism 113 to detect whether the at least one position of the support 111, the moving mechanism 112 and the taking and placing mechanism 113 is abnormal during the operation or the sorting of the goods.

[0054] Through the above structure, the sensors can be arranged based on the specific structure and position of each component in the sorting device, so as to detect whether each component in the sorting device is abnormal during the operation or the sorting of the goods, and realize the abnormal monitoring of the sorting device and the sorting process.

[0055] In some embodiments, the plurality of sensors can include at least one first sensor in communication connection with the controller 114, and the at least one first sensor is arranged on the taking and placing mechanism 113. The first sensor can be any one or more of a diffuse reflection sensor, an ultrasonic sensor, a radar sensor, etc., and the first sensor can be wirelessly connected or physically connected with the controller 114 according to technical requirements and system design.

[0056] The at least one first sensor is configured to send a storage abnormality signal to the controller 114 before the taking and placing mechanism 113 delivers the to-be-sorted goods into the target container and when the remaining storage of the target container is less than the storage threshold. The abnormality signal can include the storage abnormality signal, and the storage abnormality signal carries a storage abnormality information code. The storage abnormality information code is a unique code for identifying a storage abnormality, and an operator or the controller 114 can quickly determine the abnormality type of the sorting device and the to-be-sorted goods in the sorting process through the storage abnormality information code.

[0057] For example, a diffuse reflection sensor can be installed at the end of the taking and placing mechanism 113, so that when the taking and placing mechanism 113 reaches the detection position (a position within the detection range) of the target container in the target bin, the diffuse reflection sensor emits an infrared / visible light beam, receives the reflected light reflected back when the light beam encounters the surface of the goods, and determines the remaining storage in the target container according to the intensity and receiving time of the reflected light, and sends a storage abnormality signal to the controller 114 when the remaining storage is less than the storage threshold.

[0058] In some embodiments, the remaining storage of the target container can also be detected by an ultrasonic sensor, for example, by installing the ultrasonic sensor at the end of the taking and placing mechanism 113, so that it can measure the time from the emission of the sound wave to the return of the sound wave after encountering the surface of the goods in the target container, and then calculate the height from the surface of the goods to the bottom of the container to obtain the remaining storage of the target container.

[0059] It should be noted that in order to improve the accuracy of detecting the remaining storage of the container, a plurality of sensors can be provided on the sorting device, i.e., the remaining storage of the container in the bin is detected by fusing a plurality of sensors, and the types and numbers of sensors are not limited in the present embodiment.

[0060] Through the above arrangement, the first sensor provided on the taking and placing mechanism 113 can be used to detect the remaining storage of the container in the bin, so as to determine whether the goods can continue to be delivered into the container, and to judge the feasibility of the goods delivery.

[0061] Since the target container can not be able to store goods when the remaining storage is less than the storage threshold, in some embodiments, the controller 114 is further configured to set the target bin to a locked state to stop delivering goods into the target container when the storage abnormality signal is received.

[0062] That is, the residual storage detected by the first sensor can obtain the residual storage of the target container in the target bin, and the state of the target bin is set accordingly. In the locked state, the sorting device 110 will not deliver goods to the target container in the target bin, and in the unlocked state, the sorting device 110 can deliver goods to the target container in the target bin. In this way, the delivery of goods can be controlled according to the residual storage of the container in the bin, and the abnormal work caused by continuing to deliver goods to the container when the container is full can be avoided.

[0063] In some embodiments, the plurality of sensors can include at least one second sensor in communication with the controller 114. The second sensor can be wirelessly connected to the controller 114, or can be physically connected. For example, the second sensor can be a mirror reflection sensor, an ultrasonic sensor, a radar sensor, a vision sensor, etc.

[0064] The at least one second sensor is arranged on the taking and placing mechanism 113, and is configured to collect the time when the to-be-sorted goods reach a detection point during the process of the taking and placing mechanism 113 delivering the to-be-sorted goods to the target container, and send a delivery timeout exception signal to the controller 114 in the case of delivery timeout of the to-be-sorted goods.

[0065] The exception signal includes the delivery timeout exception signal, and the delivery timeout exception signal carries a delivery timeout exception information code. The delivery timeout exception information code is a unique code for identifying the delivery timeout exception.

[0066] For example, the taking and placing mechanism 113 can be a mechanical arm, and the at least one second sensor is arranged on the mechanical arm. The mechanical arm is controlled by the controller 114 to take, place and move the goods. During the process of the mechanical arm delivering the to-be-sorted goods to the target container, the second sensor arranged thereon, such as a mirror reflection sensor, can record the time when the to-be-sorted goods reach a certain position, i.e. a detection point, and determine whether the to-be-sorted goods are delivered overtime by comparing the time length between the time when the to-be-sorted goods reach the detection point and the time when the mechanical arm obtains the to-be-sorted goods with a preset delivery time length. In the case of determining that the to-be-sorted goods are delivered overtime, a delivery timeout exception signal is sent to the controller 114.

[0067] In some embodiments, image data collected by a vision sensor can also be used to record the time when the to-be-sorted goods reach each detection point, so as to determine whether the to-be-sorted goods are delivered overtime. Alternatively, an ultrasonic sensor can be used to measure the time when the to-be-sorted goods reach a certain detection point and the time length of staying at the detection point, so as to determine whether the to-be-sorted goods are delivered overtime.

[0068] Correspondingly, in order to detect accuracy, a plurality of sensors can be arranged on the taking and placing mechanism 113, that is, whether the goods delivery process is overdue is detected in a manner of fusion of a plurality of sensors. The types and number of sensors are not limited in the embodiment.

[0069] By arranging the second sensor, the monitoring of the goods delivery process can be realized, which helps to ensure the normal operation of the sorting device and the efficiency of goods sorting.

[0070] In some embodiments, the plurality of sensors can include at least one third sensor in communication connection with the controller 114. The third sensor and the controller 114 can be wirelessly connected or physically connected. For example, the third sensor can be a mirror reflection sensor, a laser sensor, a vision sensor, etc.

[0071] The at least one third sensor is arranged on the taking and placing mechanism 113, and the at least one third sensor is configured to collect first size information of the goods to be sorted in the process of delivering the goods to be sorted into the target container by the taking and placing mechanism 113, and send a first size abnormal signal to the controller 114 when the size of the goods to be sorted is greater than a first size threshold.

[0072] The abnormal signal includes the first size abnormal signal, and the first size abnormal signal carries a first size abnormal information code. The first size abnormal information code is a unique code identifying the size abnormality of the goods. The first size threshold can be set according to the actual structure of the sorting device, the size of the container placed on the grid, etc., which is not limited in the embodiment.

[0073] Taking the third sensor as a mirror reflection sensor as an example, a plurality of mirror reflection sensors can be arranged at different positions of the taking and placing mechanism 113, and each mirror reflection sensor corresponds to a size detection point. Thus, in the transmission process of the goods to be sorted, the first size information is calculated by using the receiving time of the reflected light of the goods to be sorted received by each mirror reflection sensor, the distance between the mirror reflection sensors, etc., and it is determined whether the size of the goods to be sorted is greater than the first size threshold. When the size of the goods is greater than the first size threshold, the first size abnormal signal is sent to the controller 114.

[0074] In some embodiments, when the first size information of the goods to be sorted is collected, a vision sensor can also be installed on the taking and placing mechanism 113, a two-dimensional image of the goods to be sorted is captured by the vision sensor, and then the first size information of the goods to be sorted is obtained based on the analysis of the geometric features in the image by a computer vision algorithm.

[0075] In some embodiments, a plurality of types of sensors can also be installed on the taking and placing mechanism 113, and the first size information of the goods to be sorted is collected in a manner of fusion of the plurality of sensors.

[0076] By setting the third sensor, the size of the goods can be detected to determine whether it can be sorted by the sorting device and delivered to the container on the grid opening, which can improve the delivery success rate of the goods.

[0077] In some embodiments, the plurality of sensors can include a plurality of fourth sensors in communication with the controller 114, which can be wireless or physical connection. For example, the fourth sensor can be a photoelectric sensor, a laser displacement sensor, etc.

[0078] The plurality of fourth sensors is arranged at the bottom of the support 111, and the plurality of fourth sensors are arranged opposite to each other. The fourth sensor is configured to collect the transmission signal of the fourth sensor arranged opposite to the fourth sensor to obtain the shielding information of the fourth sensor, and send a sensor abnormal signal to the controller 114 when the fourth sensor is not completely shielded. The abnormal signal includes a sensor abnormal signal, and the sensor abnormal signal carries a sensor abnormal information code. The sensor abnormal information code is a unique code for identifying sensor abnormalities. According to the sensor abnormal information code, the operator can quickly understand the abnormality of the device itself.

[0079] For example, Figure 2 A bottom view of a sorting device provided by the present embodiment is shown, as shown in Figure 2 As shown, a plurality of photoelectric sensors, i.e. photoelectric sensor 1, photoelectric sensor 2, photoelectric sensor 3, photoelectric sensor 4, photoelectric sensor 5 and photoelectric sensor 6, are arranged at the bottom of the support 111 of the sorting device 110. The two photoelectric sensors arranged opposite to each other will not receive the photoelectric signal of the opposite photoelectric sensor due to the blocking of the rack at the bottom of the support 111. However, when the rack position is offset or the sensor position is not correct, the photoelectric sensors arranged opposite to each other will receive each other's photoelectric signal.

[0080] Therefore, by arranging a plurality of fourth sensors at the bottom of the support 111, the shielding information between the two fourth sensors arranged opposite to each other can be determined to determine whether the sensor or the structure of the sorting device is abnormal.

[0081] In some embodiments, the plurality of sensors can include at least one fifth sensor in communication with the controller 114, which can be wireless or physical connection. For example, the fifth sensor can be a mirror reflection sensor, a vision sensor, an ultrasonic sensor, a radar sensor, etc.

[0082] The at least one fifth sensor is arranged at the bottom of the bracket 111, and the at least one fifth sensor is configured to detect whether the to-be-sorted goods falls off from the taking and placing mechanism 113 in the process that the taking and placing mechanism 113 obtains the to-be-sorted goods and delivers the to-be-sorted goods into the target container, and send a goods falling abnormality signal to the controller 114 when the to-be-sorted goods falls off from the taking and placing mechanism 113.

[0083] The abnormality signal includes the goods falling abnormality signal, and the goods falling abnormality signal carries a goods falling abnormality information code. The goods falling abnormality information code is a unique code for identifying the goods falling abnormality. In some cases, the at least one fifth sensor can generate different goods falling abnormality signals according to the position of the goods falling, and the different goods falling abnormality signals can correspond to different goods falling abnormality information codes.

[0084] For example, at least one mirror reflection sensor can be installed at the bottom of the bracket 111. In the process that the taking and placing mechanism 113 obtains the to-be-sorted goods and delivers the to-be-sorted goods into the target container, the mirror reflection sensor can judge whether the goods falls off by emitting a light beam and receiving reflected light. For example, when the light beam is blocked by the goods on the ground after the mirror reflection sensor emits the light beam, the received reflected light is weakened or interrupted, it can be determined that the goods falls off, and the goods falling abnormality signal is sent to the controller 114.

[0085] In some embodiments, when detecting whether the to-be-sorted goods falls off, the position of the to-be-sorted goods can also be detected by the visual sensor arranged at the bottom of the bracket 111. When it is determined that the position of the to-be-sorted goods is on the ground, it is determined that the to-be-sorted goods falls off.

[0086] By arranging the fifth sensor, whether the goods falls off during the sorting process can be detected, and the negative impact caused by the goods falling off and unable to be handled in time can be avoided.

[0087] Further, Figure 3 A schematic diagram of a sorting device provided by the embodiment is shown, as shown in Figure 3 The sorting device 110 can include a workbench 116, which is configured to obtain to-be-sorted goods and transmit the to-be-sorted goods to the taking and placing mechanism 113. For example, an operator or a robot can place the to-be-sorted goods on the workbench 116, or a conveying line can be arranged upstream of the sorting device 110 to place the to-be-sorted goods on the workbench 116.

[0088] The taking and placing mechanism 113 includes a delivery mechanism, such as Figure 2The delivery mechanism 1131 shown is disposed on the moving mechanism 112 and is used to deliver the goods to be sorted into the target container under the drive of the moving mechanism 112.

[0089] like Figure 3 As shown, the moving mechanism 112 can move horizontally on the support 111, and the delivery mechanism 1131 can move vertically on the moving mechanism 112. After the workbench 116 obtains the goods to be sorted, it can be transferred to the end of the workbench 116 along direction M, where the delivery mechanism 1131 connects to the goods, placing them on the delivery mechanism 1131. The delivery mechanism 1131, driven by the moving mechanism 112, then delivers the goods to the target container (not shown in the figure).

[0090] In some embodiments, the plurality of sensors may include at least one sixth sensor that is communicatively connected to the controller 114, such as by establishing a wireless or physical connection. For example, the sixth sensor may be a specular reflector, an ultrasonic sensor, a vision sensor, etc.

[0091] The aforementioned at least one sixth sensor is disposed on the workbench, and the aforementioned at least one sixth sensor is configured to collect the second size information of the goods to be sorted during the process of acquiring the goods to be sorted on the workbench and transferring the goods to be sorted to the delivery mechanism, and to send a second size abnormality signal to the controller 114 when the size of the goods to be sorted is greater than the second size threshold.

[0092] The abnormal signals include a second-size abnormality signal, which carries a second-size abnormality information code. This second-size abnormality information code is an identifier for abnormal cargo dimensions and differs from the first-size abnormality information code. The second-size threshold can be set according to the structure of the workbench, for example, in... Figure 3 In the sorting device shown, oversized goods cannot pass through the transparent cover on the workbench. Therefore, the second size threshold can be set to the size of the workbench.

[0093] For example, when collecting the second dimension information of the goods to be sorted, at least one mirror reflection sensor can be set on the workbench, such as... Figure 4 As shown, a mirror reflection sensor 1 can be set at the upper right corner of the entrance of the transparent cover on the workbench, so that the second size information of the goods to be sorted can be collected before the goods to be sorted pass through the transparent cover, and when the size of the goods to be sorted is greater than the second size threshold, a second size abnormality signal is sent to the controller 114.

[0094] In some embodiments, the second size information of the to-be-sorted goods can also be determined by setting an ultrasonic sensor or the like on the workbench to measure the edge of the to-be-sorted goods, and then the second size abnormal signal is sent to the controller 114 when the size of the to-be-sorted goods is greater than the second size threshold.

[0095] Through the sixth sensor described above, it can be judged whether the size of the goods meets the transmission condition when the goods are transmitted on the workbench, and the size verification before the goods are delivered is realized, so as to improve the success rate of the goods delivery.

[0096] In order to locate the link when the goods appear abnormal in the sorting process, in some embodiments, the plurality of sensors can include at least one seventh sensor which is in communication connection with the controller 114, such as wireless connection or physical connection and the like. For example, the seventh sensor can be a mirror reflection sensor, an ultrasonic sensor, a radar sensor and a vision sensor and the like.

[0097] The at least one seventh sensor described above is arranged on the delivery mechanism, and the at least one seventh sensor is configured to collect the goods position of the to-be-sorted goods in the process that the workbench transmits the to-be-sorted goods to the delivery mechanism, and send the connection abnormal signal to the controller 114 when the to-be-sorted goods are not transmitted to the delivery mechanism within the first transmission time.

[0098] Among them, the abnormal signal includes the connection abnormal signal, the connection abnormal signal carries the connection abnormal information code, and the connection abnormal information code is a unique code identifying the connection abnormality. The first transmission time can be set according to the average transmission time of the goods, which can be the maximum time required for the workbench to obtain the goods to the goods being transmitted to the delivery mechanism.

[0099] For example, when the workbench obtains the to-be-sorted goods, the workbench can record the acquisition time and synchronously give the controller 114, and the controller 114 synchronously gives the seventh sensor with the acquisition time, so that the seventh sensor can detect whether the to-be-sorted goods are transmitted to the delivery mechanism within the first transmission time, continue to transmit the to-be-sorted goods to the delivery mechanism under the control of the controller 114, and send the connection abnormal signal to the controller 114 when the to-be-sorted goods are not transmitted to the delivery mechanism within the first transmission time.

[0100] Reference Figure 5 As shown, a plurality of mirror reflection sensors can be arranged on the delivery mechanism, such as Figure 6 The mirror reflection sensor 1, the mirror reflection sensor 2 and the mirror reflection sensor 3 shown in the figure can be used to detect the time when the to-be-sorted goods arrive at the corresponding position of the delivery mechanism on the conveying line, and then determine whether the to-be-sorted goods are transmitted to the delivery mechanism within the first transmission time.

[0101] In some embodiments, the time at which two adjacent goods are received by the delivery mechanism can be the same, that is, at time t1, goods 1 are transmitted to the delivery mechanism, at time t2, goods 2 are transmitted to the delivery mechanism, and the time required for any two adjacent goods to be transmitted to the delivery mechanism is the first transmission time, that is, t2-t1 (t2>t1), so that the delivery mechanism can determine whether the to-be-sorted goods are transmitted to the delivery mechanism within the first transmission time according to the receiving time of the last goods and the receiving time of the to-be-sorted goods.

[0102] In some embodiments, the corresponding to-be-sorted goods can also be detected by any one or more of an ultrasonic sensor, a radar sensor, and a visual sensor within the first transmission time.

[0103] Through the above-mentioned seventh sensor, it is possible to detect whether the delivery mechanism receives goods abnormally, such as timeout, and complete abnormal detection of the delivery mechanism and the workbench.

[0104] In some embodiments, the workbench includes a conveying line for transmitting goods, and the at least one sensor includes at least one eighth sensor, which is in communication with the controller 114, which can be wireless connection or physical connection, etc. For example, the eighth sensor can be a mirror reflection sensor, an ultrasonic sensor, a radar sensor, a visual sensor, etc.

[0105] The above-mentioned at least one eighth sensor is arranged on the workbench. The above-mentioned at least one eighth sensor is configured to detect the number of goods on any conveying section of the conveying line during the process of transmitting the to-be-sorted goods to the delivery mechanism by the conveying line, and send a goods quantity abnormal signal to the controller 114 when the number of goods on any conveying section of the conveying line is greater than the quantity threshold. Wherein, the abnormal signal includes the goods quantity abnormal signal, and the goods quantity abnormal signal carries the goods quantity abnormal information code.

[0106] That is, the conveying line of the workbench can be composed of one or more conveying sections. At the same time, a conveying line can only be used to transmit a limited number of goods, so when the eighth sensor detects that the number of goods on any conveying section of the conveying line is greater than the quantity threshold, a goods quantity abnormal signal can be generated.

[0107] For example, as shown in Figure 6 When detecting the number of goods on each conveying section of the conveying line, the eighth sensor arranged on the workbench can be used, such as the mirror reflection sensor 4 and the mirror reflection sensor 5 shown in Figure 6 When it is determined that the number of goods on any conveying section is greater than the quantity threshold, a goods quantity abnormal signal can be sent to the controller 114.

[0108] In some embodiments, the number of goods in each conveying section can also be detected by setting any one or more of ultrasonic sensors, radar sensors, visual sensors, etc. on the workbench, and when it is determined that the number of goods in any conveying section is greater than the number threshold, a number of goods abnormal signal can be sent to the controller 114.

[0109] Through the eighth sensor, the number of goods in each conveying section on the workbench can be detected to ensure that the goods are successfully transported and delivered, thereby improving the success rate of goods delivery.

[0110] In some embodiments, the workbench includes a conveying line for transporting goods, and the plurality of sensors includes at least one ninth sensor in communication with the controller 114, which can be a wireless connection or a physical connection, etc. The at least one ninth sensor is disposed on the workbench. For example, the ninth sensor can be a mirror reflection sensor, an ultrasonic sensor, a radar sensor, a visual sensor, etc.

[0111] The at least one ninth sensor is configured to send a transmission timeout abnormal signal to the controller 114 when the conveying line fails to transport the goods to be sorted to the target position on the conveying line by the second transmission time.

[0112] Wherein, the abnormal signal includes the transmission timeout abnormal signal, and the transmission timeout abnormal signal carries a transmission timeout abnormal information code, which is a unique code for identifying the transmission timeout abnormality. The target position on the conveying line can be any position on the conveying line in the conveying direction of the conveying line, which can be used to verify the transmission position and speed of the goods, etc. The second transmission time can be customized according to the length, speed, etc. of the conveying line.

[0113] For example, the position of the goods to be sorted on the conveying line can be detected by using the mirror reflection sensor 4 and the mirror reflection sensor 5 as shown in Figure 6

[0114] In order to improve the detection accuracy, a plurality of sensors can also be provided on the workbench to improve the detection of whether the goods to be sorted are transported to the target position on the conveying line within the second transmission time.

[0115] Through the above-mentioned ninth sensor, it can be detected whether the conveying time of the conveying line is overtime, and the running condition of the conveying line can be checked, which is helpful to ensure the normal operation of the sorting device.

[0116] ​In some embodiments, the controller 114 can also send a control signal to the workbench based on the abnormal signal. The control signal is configured to control the workbench to transport the to-be-sorted goods to an initial position, which is the position of the to-be-sorted goods on the workbench when the workbench obtains the to-be-sorted goods.

[0117] For example, in the sorting device 110 as shown in FIG. 1, when the abnormal signal is received, the controller 114 can control the workbench to transport the to-be-sorted goods to the initial position, i.e., the position at the end of the M direction, such as controlling the conveying line on the workbench to reverse the conveying direction to transport the to-be-sorted goods to the initial position. After reaching the initial position, the to-be-sorted goods can be delivered or arranged by an operator or a robot. Figure 3

[0118] In some embodiments, the abnormal processing system can also include an emergency stop button, and the controller 114 can also control the sorting device 110 to stop running in response to the user pressing the emergency stop button when the workbench cannot transport the to-be-sorted goods to the initial position.

[0119] The emergency stop button can be provided on the sorting device, and the controller 114 can receive the user's control operation when the workbench cannot transport the to-be-sorted goods to the initial position, so as to control the sorting device to stop running immediately when the user presses the emergency stop button, so as to avoid further abnormal situations.

[0120] In some embodiments, the prompting device 120 includes any one or more of a signal lamp, a display device, and a loudspeaker, wherein the signal lamp is configured to light based on the prompt signal. For example, the signal lamp can be controlled to be always on or flashing according to the prompt signal when the prompt signal is received.

[0121] The display device is configured to display abnormal prompt information based on the prompt signal. The display device can be a display device in communication connection with the controller 114 of the sorting device 110, which can display the abnormal prompt information in the corresponding interface according to the prompt signal. The abnormal prompt information can include specific abnormal types and corresponding prompt information, such as text information.

[0122] Figure 7 An exemplary diagram of the abnormal prompt information provided by the present embodiment is shown in FIG. 2, which shows that the abnormal prompt information in the abnormal prompt interface includes task number, sorting device ID, target bin, working state, abnormal reason, and abnormal processing, etc. The operator can choose to remotely control the corresponding delivery device to re-deliver the goods with abnormality by selecting the "remote delivery" mode. Figure 7

[0123] ​​The loudspeaker is configured to play an abnormal prompt sound based on the prompt signal. The loudspeaker can be arranged in the vicinity of the position of the operator in the storage area, so that the operator can hear the abnormal prompt sound in time, and then process the abnormal situation, such as manual on-site processing or processing by dispatching a robot.

[0124] According to the abnormal processing system provided in the embodiment, the operation of the sorting device can be monitored, various abnormal situations in the working process of the sorting device can be effectively identified, and a prompt can be output in time so as to process the abnormal situation, thereby ensuring efficient operation of the sorting device and improving the sorting efficiency of goods.

[0125] The embodiment further provides a storage management system, which comprises the abnormal processing system described above. By using the abnormal processing system, the sorting device in the storage management system can be detected for abnormality, and the operation of the sorting device can be understood by the operator, thereby ensuring normal operation of the sorting device.

[0126] Those skilled in the art can understand that the modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment. The modules or units or components in the embodiment can be combined into one module or unit or component, and furthermore can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of the features and / or processes or units are mutually exclusive.

[0127] It should be noted that the above embodiments explain the present application but do not limit the present application, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not constitute a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of both hardware and software, specifically a suitably programmed computer. In a unit claim enumerating several means, the several means can be embodied by one and the same item of hardware. The use of the words first, second and third, etc. does not imply any order. These words can be understood as names. The steps of the above-described embodiments, unless otherwise specified, are not to be understood as being necessarily limited in execution order.

Claims

1. An exception handling system, characterized by, The system comprises a sorting device and a prompt device, the sorting device comprises a support, a moving mechanism, a taking and placing mechanism, a controller and a sensor group, the prompt device and the sensor group are respectively in communication connection with the controller, wherein: The sensor group comprises a plurality of sensors, the plurality of sensors are arranged at at least one position of the support, the moving mechanism and the taking and placing mechanism, and the plurality of sensors are at least configured to detect an abnormal signal of an abnormality of at least one position of the support, the moving mechanism and the taking and placing mechanism and / or an abnormal signal of a sorting abnormality of at least one position of the support, the moving mechanism and the taking and placing mechanism in a sorting process of the goods to be sorted, and send the abnormal signal to the controller; The controller is configured to send a prompt signal to the prompt device based on the received abnormal signal; The prompt device is configured to perform abnormal prompt based on the prompt signal.

2. The system of claim 1, wherein, The taking and placing mechanism is movably arranged on the support, and the support is movably arranged on the moving mechanism; or the taking and placing mechanism is movably arranged on the moving mechanism, and the moving mechanism is movably arranged on the support; The taking and placing mechanism is configured to move to a specified position relative to the support and / or the moving mechanism to obtain the goods to be sorted, and move relative to the support and / or the moving mechanism to deliver the goods to be sorted into a target container on a target grid.

3. The system of claim 2, wherein, The plurality of sensors comprises at least one first sensor, the first sensor is in communication connection with the controller, and the at least one first sensor is arranged on the taking and placing mechanism; The at least one first sensor is configured to send a storage abnormal signal to the controller before the taking and placing mechanism delivers the goods to be sorted into the target container, and when a remaining storage of the target container is less than a storage threshold; The abnormal signal comprises the storage abnormal signal, and the storage abnormal signal carries a storage abnormal information code.

4. The system of claim 3, wherein, The controller is further configured to set the target grid to a locked state to stop delivering goods into the target container when the storage abnormal signal is received.

5. The system of claim 2, wherein, The plurality of sensors comprises at least one second sensor, the second sensor is in communication connection with the controller, and the at least one second sensor is arranged on the taking and placing mechanism; The at least one second sensor is configured to collect a time when the goods to be sorted reaches a detection point in a process of delivering the goods to be sorted into the target container, and send a delivery timeout abnormal signal to the controller in a case that the goods to be sorted is delivered overtime; The abnormal signal comprises the delivery timeout abnormal signal, and the delivery timeout abnormal signal carries a delivery timeout abnormal information code.

6. The system of claim 2, wherein, The plurality of sensors comprises at least one third sensor, the third sensor is in communication connection with the controller, and the at least one third sensor is arranged on the taking and placing mechanism; The at least one third sensor is configured to collect first size information of the to-be-sorted goods in the process that the taking and placing mechanism delivers the to-be-sorted goods into the target container, and send a first size abnormal signal to the controller when the size of the to-be-sorted goods is greater than a first size threshold. The abnormal signal includes the first size abnormal signal, and the first size abnormal signal carries a first size abnormal information code.

7. The system of claim 2, wherein, The plurality of sensors includes a plurality of fourth sensors in communication with the controller, the plurality of fourth sensors are arranged at the bottom of the support, and the plurality of fourth sensors are oppositely arranged respectively. The fourth sensor is configured to collect a transmission signal of the fourth sensor oppositely arranged with the fourth sensor to obtain shielding information of the fourth sensor, and send a sensor abnormal signal to the controller when the fourth sensor is not completely shielded. The abnormal signal includes the sensor abnormal signal, and the sensor abnormal signal carries a sensor abnormal information code.

8. The system of claim 2, wherein, The plurality of sensors includes at least one fifth sensor in communication with the controller, and the at least one fifth sensor is arranged at the bottom of the support. The at least one fifth sensor is configured to detect whether the to-be-sorted goods falls from the taking and placing mechanism in the process that the taking and placing mechanism obtains the to-be-sorted goods and delivers the to-be-sorted goods into the target container, and send a goods falling abnormal signal to the controller when the to-be-sorted goods falls from the taking and placing mechanism. The abnormal signal includes the goods falling abnormal signal, and the goods falling abnormal signal carries a goods falling abnormal information code.

9. The system of claim 2, wherein, The sorting device includes a workbench configured to obtain the to-be-sorted goods and transmit the to-be-sorted goods to the taking and placing mechanism. The taking and placing mechanism includes a delivery mechanism arranged on the moving mechanism and configured to deliver the to-be-sorted goods into the target container under the driving of the moving mechanism.

10. The system of claim 9, wherein, The plurality of sensors includes at least one sixth sensor in communication with the controller, and the at least one sixth sensor is arranged on the workbench. The at least one sixth sensor is configured to collect second size information of the to-be-sorted goods in the process that the workbench obtains the to-be-sorted goods and transmits the to-be-sorted goods to the delivery mechanism, and send a second size abnormal signal to the controller when the size of the to-be-sorted goods is greater than a second size threshold. The abnormal signal includes the second size abnormal signal, and the second size abnormal signal carries a second size abnormal information code.

11. The system of claim 9, wherein, The plurality of sensors includes at least one seventh sensor in communication with the controller, and the at least one seventh sensor is arranged on the delivery mechanism. The at least one seventh sensor is configured to collect a position of the to-be-sorted goods during the process that the workbench transports the to-be-sorted goods to the delivery mechanism, and send an abnormal connection signal to the controller when the to-be-sorted goods are not transported to the delivery mechanism within a first transport time. The abnormal signal includes the abnormal connection signal, and the abnormal connection signal carries an abnormal connection information code.

12. The system of claim 9, wherein, The workbench includes a conveying line configured to transport goods, and the at least one sensor includes at least one eighth sensor in communication connection with the controller, and the at least one eighth sensor is arranged on the workbench. The at least one eighth sensor is configured to detect the number of goods on any conveying section of the conveying line during the process that the conveying line transports the to-be-sorted goods to the delivery mechanism, and send a number abnormal signal to the controller when the number of goods on any conveying section of the conveying line is greater than a number threshold. The abnormal signal includes the number abnormal signal, and the number abnormal signal carries a number abnormal information code.

13. The system of claim 9, wherein, The workbench includes a conveying line configured to transport goods, and the plurality of sensors includes at least one ninth sensor in communication connection with the controller, and the at least one ninth sensor is arranged on the workbench. The at least one ninth sensor is configured to send a transport timeout abnormal signal to the controller when the conveying line fails to transport the to-be-sorted goods to a target position on the conveying line by a second transport time. The abnormal signal includes the transport timeout abnormal signal, and the transport timeout abnormal signal carries a transport timeout abnormal information code.

14. The system of any one of claims 9-13, wherein, The controller sends a control signal to the workbench based on the abnormal signal, and the control signal is configured to control the workbench to transport the to-be-sorted goods to an initial position, which is the position of the to-be-sorted goods on the workbench when the workbench obtains the to-be-sorted goods.

15. The system of claim 14, wherein, The system further includes an emergency stop button, and the controller is further configured to control the sorting device to stop running in response to a user pressing the emergency stop button when the workbench fails to transport the to-be-sorted goods to the initial position.

16. The system of claim 1, wherein, The prompting device includes any one or more of a signal lamp, a display device, and a loudspeaker, wherein: The signal lamp is configured to light based on the prompting signal; The display device is configured to display abnormal prompt information based on the prompting signal; The loudspeaker is configured to play abnormal prompt sound based on the prompting signal.

17. A warehouse management system, characterized by An abnormal processing system as claimed in any one of claims 1 to 16.

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