Sorting system

Abstract

The application provides a sorting system, comprising a package supply platform, an identification device, a plurality of code scanning cameras and a mechanical arm; the identification device is located above the package supply platform; the plurality of code scanning cameras are respectively arranged on the periphery of the package supply platform; the mechanical arm is configured to receive and suck the package to be sorted according to the information provided by the identification device, and sort the scanned package to different preset positions after the code scanning camera scans the code. The embodiment of the application can realize comprehensive capture of the identification information of the package by using the multi-angle distributed code scanning camera without changing the original placement posture of the package, and the mechanical arm can directly suck the target object guided by the identification device, thereby avoiding the problem that the identification must be completed by rotating or multiple grabbing of the mechanical arm in the traditional scheme.

Description

Technical Field

[0001] This application relates to the field of sorting technology, and more particularly to a sorting system. Background Technology

[0002] With the rapid development of the logistics industry, the number of logistics parcels is increasing. Consequently, the requirements for sorting these parcels are also becoming more stringent.

[0003] In related technologies, logistics parcels are sorted manually.

[0004] However, manual sorting is very inefficient. Utility Model Content

[0005] This application provides a sorting system to solve the technical problem of low efficiency in manual sorting.

[0006] This application provides a sorting system, including:

[0007] A parcel supply platform is used to provide parcels to be sorted.

[0008] An identification device is located above the package supply platform, and the identification device is used to identify the packages to be sorted;

[0009] Multiple barcode scanning cameras are respectively installed around the perimeter of the package supply platform;

[0010] A robotic arm is configured to receive and pick up the packages to be sorted based on the information provided by the identification device, and sort the scanned packages to different preset locations after scanning them with the barcode scanner.

[0011] This application embodiment achieves comprehensive capture of package identification information by using multi-angle distributed barcode scanning cameras without changing the original placement of the package. In conjunction with the identification device, it guides the robotic arm to directly pick up the target object, avoiding the problem in traditional solutions that require the robotic arm to rotate or grab multiple times to complete the identification.

[0012] As a result, the structure of the robotic arm is simplified, eliminating the need to integrate complex posture adjustment mechanisms, thus reducing manufacturing costs and maintenance difficulty;

[0013] At the same time, information collection and physical operations can be carried out in parallel, which can shorten the processing cycle of a single package and thus improve sorting efficiency.

[0014] In the sorting system described above, optionally, multiple barcode scanners correspond to different side walls of the package supply platform.

[0015] Through the above configuration, this embodiment of the application constructs an information perception network for the circumferential surface of the package by directionally arranging multiple barcode scanning cameras to correspond to different side walls of the package feeding platform. Since the barcode reading can be completed without relying on a robotic arm to grasp and flip the package, the need for complex gripping mechanisms is significantly reduced, minimizing the number of steps and time wasted. Furthermore, this configuration effectively improves the first-time recognition success rate, reducing repeated attempts or omissions caused by obstructed viewpoints, thereby improving overall sorting efficiency and system operational stability.

[0016] Optionally, the sorting system described above may also include a first barcode scanner, which is located above the package supply platform and is used to identify the packages to be sorted with the barcode located above it.

[0017] With the above setup, the first scanning camera can directly read the top information of the package while it is on the feeding platform, without the need for additional posture adjustment mechanisms or multiple grasping operations. Therefore, it effectively solves the problem of blind spots caused by the unpredictable orientation of the identification code, improves the sorting system's adaptability to randomly placed packages, shortens the overall sorting cycle, and enhances the automation and reliability of the sorting process.

[0018] In the sorting system described above, optionally, the first barcode scanner is arranged adjacent to the identification device.

[0019] The above setup enables the location detection and top QR code recognition of packages to be sorted to be completed under approximately the same conditions, reducing spatial misalignment and time delays caused by dispersed equipment deployment. Furthermore, without adding complex motion mechanisms, it improves the coordination and response consistency of the sensing system, thereby enhancing the accuracy and stability of the robotic arm's gripping and sorting decisions. This design simplifies the system structure, reduces maintenance costs, and provides a solid hardware foundation for multimodal sensing fusion in subsequent high-speed sorting scenarios.

[0020] Optionally, the sorting system described above may also include a plurality of second barcode scanning cameras, which are located on the periphery of the package feeding platform in the horizontal direction.

[0021] The second barcode scanner is used to identify the package to be sorted if the barcode is located on the periphery.

[0022] With the above settings, this application embodiment realizes multi-angle, non-contact automatic identification of packages before sorting. It can complete the reading of key information without relying on the robotic arm to flip the package, which can effectively simplify the sorting process, reduce the requirements for the degree of freedom of the robotic arm, and reduce the complexity of the equipment and the risk of failure.

[0023] In the sorting system described above, optionally, the package feeding platform has multiple sides connected sequentially in the horizontal direction;

[0024] The number of the second barcode scanning cameras is less than or equal to the number of the sides.

[0025] With the above settings, this embodiment of the application controls the number of second barcode scanners while ensuring the package recognition rate, thereby reducing the overall cost and integration complexity.

[0026] In the sorting system described above, optionally, the identification device is a depth camera, which is used to obtain the horizontal position of the package to be sorted on the feeding platform and the height of the package to be sorted, so as to obtain the position information of the package to be sorted and send it to the robotic arm.

[0027] Through the above settings, the embodiments of this application achieve comprehensive positioning of the packages to be sorted in three-dimensional space, which can improve the accuracy and safety of the robotic arm's picking action. It is suitable for actual logistics scenarios where packages are irregularly shaped, densely placed, or stacked, and can enhance the reliability and intelligence level of the sorting system.

[0028] In the sorting system described above, optionally, the robotic arm includes:

[0029] Fixed components;

[0030] The movable component can rotate relative to the fixed component;

[0031] A suction component is disposed at the end of the movable component; the suction component includes a fixed end and multiple suction ends, the multiple suction ends being evenly distributed along the end surface of the movable component, and the suction ends being used to provide negative pressure air to suction the packages to be sorted; wherein,

[0032] A portion of the suction ends may be retractable relative to the remaining portion of the suction ends to perform multiple suctions on the packages to be sorted.

[0033] With the above-described configuration, this embodiment utilizes a retractable suction component with graded adsorption capabilities, enabling the robotic arm to adapt to packages of different sizes and shapes to be sorted. Partial suction ends can achieve light-touch positioning upon initial contact and fully extend for adsorption after confirming stable posture, significantly reducing the risk of packages shifting or falling off during the grasping process.

[0034] Meanwhile, the even distribution of multiple suction ends ensures balance during the adsorption process, preventing the package from flipping or tilting due to localized force concentration.

[0035] In the sorting system described above, optionally, the suction component includes a first suction end and a second suction end, wherein the second suction end is located outside the first suction end;

[0036] The first suction end can be extended or retracted relative to the second suction end.

[0037] With the above settings, this embodiment of the application can detect the position of the package first through the retractable first suction end, achieve positioning and initial adsorption by using the small area adsorption of the inner ring, and then complete stable gripping by the large area adsorption of the outer ring.

[0038] The above method can effectively solve the technical problem that traditional single-plane suction cups are prone to suction failure or displacement when facing randomly oriented packages, thus improving the continuity and reliability of sorting operations.

[0039] In the sorting system described above, optionally, the contact area between the first suction end and the package to be sorted is smaller than the contact area between the second suction end and the package to be sorted.

[0040] With the above configuration, the small-area first suction end reduces pressure concentration on the package surface, preventing damage to fragile packaging; at the same time, the small-area first suction end is advantageous for handling smaller packages. The large-area second suction end ensures stability during handling.

[0041] In this way, the coordinated operation of the aforementioned suction end can improve the success rate and operational reliability of the robotic arm in adsorption under complex working conditions.

[0042] In the sorting system described above, optionally, the ratio between the contact area between the first suction end and the package to be sorted and the contact area between the suction component and the package to be sorted is in the range of 1 / 10 to 1 / 3.

[0043] Through the above settings, effective control of the multi-stage adsorption behavior of the suction component is achieved, solving the problem of balancing positioning accuracy and adsorption stability in traditional single adsorption structures. This improves the robotic arm's adaptability to irregular packages under complex working conditions, reduces the sorting failure rate caused by mis-suction or displacement, and optimizes vacuum energy consumption distribution, enhancing the safety and reliability of the sorting system. Optionally, in the above sorting system, the number of second suction ends can be multiple, with each second suction end positioned around the periphery of the first suction end.

[0044] Multiple second suction ends are arranged in a ring around the axis of the first suction end.

[0045] With the above setup, multiple second suction ends are arranged in a ring-shaped symmetrical arrangement. The point of action of the resultant force generated during the adsorption process corresponds to the central axis of the end effector of the robotic arm, which can reduce the risk of swaying caused by eccentric torque during the handling process.

[0046] At the same time, the above layout can enhance the suction component's ability to absorb irregular wrapping edge areas, preventing local lifting or detachment. Attached Figure Description

[0047] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0048] Figure 1 This is a three-dimensional structural diagram of the sorting system provided in the embodiments of this application;

[0049] Figure 2 This is a schematic diagram of a partial structure of the sorting system provided in an embodiment of this application;

[0050] Figure 3 This is a schematic diagram of the structure of the robotic arm in the sorting system provided in the embodiments of this application;

[0051] Figure 4 This is a schematic diagram of the structure of a portion of the suction component of the robotic arm in the sorting system provided in an embodiment of this application.

[0052] Explanation of reference numerals in the attached figures:

[0053] 10. Sorting system; A. Packages to be sorted; Z. Vertical direction; X. Horizontal direction;

[0054] 100. Packaging platform; 110. Receiving cavity; 120. Opening;

[0055] 200. Identification device; 300. First barcode scanner; 400. Second barcode scanner;

[0056] 500. Robotic arm;

[0057] 510. Fixing components;

[0058] 520, Activity Components;

[0059] 530. Suction component; 531. Fixed end; 532. First suction end; 533. Second suction end.

[0060] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0061] In addition to manual sorting, some sorting is done by robotic arms. Some robotic arms sort packages by recognizing information such as QR codes on the packages.

[0062] Since QR codes and other identification codes are only affixed to one side of the package, some robotic arms in related technologies grasp and rotate the package to align the QR codes or other identification codes with a camera for recognition. Other robotic arms adjust the package's position during transport to expose the QR codes or other identification codes for easier subsequent identification.

[0063] However, the aforementioned robotic arms require additional gripping and rotating structures, or require multiple robotic arms to complete the task, resulting in high costs and low recognition efficiency.

[0064] Therefore, this application provides a sorting system, including: a package supply platform for providing packages to be sorted; an identification device located above the package supply platform for identifying packages to be sorted; multiple barcode scanning cameras respectively disposed around the package supply platform; and a robotic arm configured to receive and pick up packages to be sorted according to information provided by the identification device, and sort the scanned packages to different preset locations after scanning them with the barcode cameras.

[0065] This application embodiment achieves comprehensive capture of package identification information by using multi-angle distributed barcode scanning cameras without changing the original placement of the package. In conjunction with the identification device, it guides the robotic arm to directly pick up the target object, avoiding the problem in traditional solutions that require the robotic arm to rotate or grab multiple times to complete the identification.

[0066] As a result, the structure of the robotic arm is simplified, eliminating the need to integrate complex posture adjustment mechanisms, thus reducing manufacturing costs and maintenance difficulty;

[0067] At the same time, information collection and physical operations can be carried out in parallel, which can shorten the processing cycle of a single package and thus improve sorting efficiency.

[0068] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar devices or devices having the same or similar functions throughout. The described embodiments are some device embodiments of this application, not all device embodiments. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. Other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are all within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0069] Reference Figure 1 This application provides a sorting system 10, including a package feeding platform 100, an identification device 200, a robotic arm 500, and multiple barcode scanning cameras.

[0070] Reference Figure 2 The package supply platform 100 is used to provide packages A to be sorted.

[0071] It is understood that the form of the packaging platform 100 can be varied. For example, the packaging platform 100 can be a flat plate structure, and the space above the flat plate structure is the receiving cavity 110; another example is that the packaging platform 100 can be a box structure, and the space formed inside the box is the receiving cavity 110; yet another example is that the packaging platform 100 can be an assembly line, and the space above the assembly line is the receiving cavity 110.

[0072] This application does not limit the specific form of the package supply platform 100, nor is it limited to the above example. The following description uses a box structure as an example to illustrate the package supply platform 100.

[0073] In addition, the size of the receiving cavity 110 of the package supply platform 100 can be designed according to typical package specifications, and can be adapted to various forms of items such as common express delivery boxes and envelopes.

[0074] Furthermore, the inner wall of the package supply platform 100 may be made of a low-friction material (such as a polytetrafluoroethylene coating) to reduce the possibility of package damage.

[0075] In some embodiments, the package feeding platform 100 has a receiving cavity 110 and an opening 120 communicating with the receiving cavity 110, the opening 120 being located above the receiving cavity 110.

[0076] Understandably, the receiving cavity 110 is used to hold multiple packages A to be sorted, and the receiving cavity 110 has an opening 120 at the top to facilitate the robotic arm 500 to enter from above and perform a suction action. The opening 120 is connected to the receiving cavity 110 to ensure that the packages can still be accessed by the robotic arm 500 when they are stationary or slightly stacked.

[0077] Reference Figure 1 , Figure 2 The identification device 200 is located above the package feeding platform 100 and is used to identify the package A to be sorted. That is, the identification device 200 is located above the opening 120.

[0078] Understandably, the identification device 200 is positioned above the package supply platform 100 and can be a non-contact sensing element, capable of detecting the spatial distribution of packages within the receiving cavity 110 in real time.

[0079] It should be noted that the identification device 200 can use various methods to identify the package A to be sorted.

[0080] For example, the identification device 200 is used to obtain the horizontal coordinate position and height information of the package A to be sorted on the package supply platform 100, form position data in three-dimensional space, and transmit the position information to the control system of the robotic arm 500 so that the robotic arm 500 can plan the motion trajectory and accurately reach the area where the target package is located.

[0081] It should be noted that the identification device 200 can use devices with spatial perception capabilities such as depth cameras, lidar or infrared arrays, which can quickly complete the positioning without contacting the package and improve the response speed.

[0082] The barcode scanner is used for scanning. For example, package A to be sorted has a QR code or other identification code on it.

[0083] Multiple barcode scanning cameras can be set up around the package supply platform 100, so that each barcode scanning camera can scan the package A to be sorted on the package supply platform 100 simultaneously or in a polling manner from different angles.

[0084] In some embodiments, the packaging platform 100 includes the aforementioned receiving cavity 110 and opening 1209.

[0085] Multiple barcode scanners can be respectively set around the periphery of the receiving cavity 110, and all facing the opening 120. That is, they are distributed around the periphery of the side wall of the receiving cavity 110, and the shooting direction of all barcode scanners is pointed towards the opening 120 area at the top of the receiving cavity 110.

[0086] For example, when a package is delivered to the package supply platform 100, even if the identification code (such as a barcode, QR code, or RFID tag) on ​​it is not facing a specific direction, it can still be captured by at least one scanning camera, thus achieving the purpose of reading information without flipping the package. The package information (such as destination, weight class, customer number, etc.) collected by the scanning camera is decoded and sent to the control module of the robotic arm 500 for subsequent sorting.

[0087] It should be noted that the barcode scanner can be equipped with a fill light or a polarizing filter to improve recognition accuracy in reflective, obstructed, or low-light environments.

[0088] The robotic arm 500 is configured to receive and pick up the package A to be sorted according to the location information provided by the identification device 200, and sort the scanned package to different preset locations after scanning it with the barcode camera.

[0089] Understandably, the robotic arm 500 receives information from the identification device 200, combines it with the identification results from the barcode scanner, determines the target package to be picked up and its gripping point, and drives the end effector to move to the designated position to perform the picking operation. After successfully picking up the package, the robotic arm 500 transports it to the sorting device with the corresponding number or area according to the destination information obtained from the identification, completing a single sorting process.

[0090] It should be noted that different preset locations can be different sorting carts, different shelves, or different housing structures. This application does not limit the specific implementation of the preset locations, nor is it limited to the examples described above.

[0091] Understandably, the above process requires no human intervention or adjustment of the package's posture, significantly improving the continuity and stability of operations.

[0092] In some embodiments, the number of barcode scanning cameras can be flexibly configured according to the actual application scenario. For example, three barcode scanning cameras can be set in small and medium-sized sorting stations to correspond to the front, left and right sides respectively, while more cameras can be added in large hubs to improve redundancy and recognition reliability.

[0093] This embodiment of the application achieves comprehensive capture of package identification information by using multi-angle distributed barcode scanning cameras without changing the original placement of the package. In conjunction with the identification device 200, the robotic arm 500 is guided to directly pick up the target object, avoiding the problem in traditional solutions where the robotic arm 500 must rotate or grab multiple times to complete the identification.

[0094] As a result, the structure of the robotic arm 500 is simplified, eliminating the need to integrate complex posture adjustment mechanisms, thus reducing manufacturing costs and maintenance difficulty;

[0095] At the same time, information collection and physical operations can be carried out in parallel, which can shorten the processing cycle of a single package and thus improve sorting efficiency.

[0096] As an optional implementation, multiple barcode scanning cameras correspond to different side walls of the package supply platform 100.

[0097] The spatial arrangement of the multiple barcode scanning cameras is adapted to the geometry of the package supply platform 100.

[0098] For example, multiple barcode scanning cameras are respectively mounted on fixed brackets or housing structures around the receiving cavity 110, with their lenses facing their respective side wall areas, ensuring that when a package falls into or is placed on the package supply platform 100, at least one of its vertical sides is within the effective field of view of a barcode scanning camera.

[0099] For example, in the design of a quadrilateral package feeding platform 100, scanning cameras can be set along the four sides to form a 360-degree surround scanning layout. In practical applications, the number of cameras can be optimized according to cost and recognition requirements. For example, cameras can be set at the corresponding positions on only three sides, which can still cover the identifiable surface of most packages in their posture.

[0100] It should be noted that the barcode scanner uses an industrial-grade image sensor, featuring high frame rate, high resolution, and strong ambient light adaptability, enabling it to stably acquire images of the package surface under different lighting conditions. Its recognition process includes image acquisition, distortion correction, edge detection, barcode area positioning and decoding, ultimately transmitting the parsed package information (such as destination code, customer number, etc.) to the control system for the robotic arm 500 to execute sorting tasks.

[0101] Understandably, the camera's mounting angle can be preset to compensate for the possible tilt of the package, such as tilting downwards or upwards by 5°-85°.

[0102] With the above setup, this embodiment of the application constructs an information sensing network for the circumferential surface of the package by directionally arranging multiple barcode scanning cameras so that they correspond to different side walls of the receiving cavity 110.

[0103] Since the identification code can be read without relying on a robotic arm to grip and flip the package, the need for a complex gripping mechanism is significantly reduced, minimizing the number of steps and time wasted. Furthermore, this configuration effectively improves the first-time recognition success rate, reducing repeated attempts or omissions caused by obstructed views, thereby improving overall sorting efficiency and system stability.

[0104] Reference Figure 2 As an optional implementation, the sorting system 10 also includes a first barcode scanner 300, which is located above the package feeding platform 100 and is used to identify packages A to be sorted with the barcode located above it.

[0105] Specifically, the first barcode scanner 300 is installed at a height higher than the stacking height of the package A to be sorted on the feeding platform 100, ensuring a complete view of the upper surface inside the receiving cavity 110.

[0106] The first barcode scanning camera 300 is positioned directly downwards, with its optical axis extending perpendicularly to the top surface of the package supply platform 100, enabling it to directly image the top of the package placed in the receiving cavity 110.

[0107] In this way, when package A to be sorted enters the package supply platform 100 with the identification code (such as QR code, barcode, etc.) facing upwards, the first barcode scanning camera 300 can immediately capture the identification code information without adjusting the package's posture, and transmit the image data to the control system, and then send it to the robotic arm 500 as the basis for sorting.

[0108] Understandably, the First Scan Camera 300 can use an industrial-grade fixed vision sensor, which has high-resolution imaging capabilities and fast decoding functions, and integrates an autofocus and fill light module, enabling stable reading under different lighting conditions.

[0109] It should be noted that the first barcode scanner 300 can be installed by suspending it with a bracket or integrating it into the top of the package supply platform 100 structure to achieve stable positioning and avoid vibration and displacement.

[0110] As an optional embodiment, the first barcode scanning camera 300 can also be tilted and set on the package supply platform 100, still covering the upper surface of the package as the main imaging target, and using image correction algorithms to compensate for perspective distortion, thereby adapting to the installation requirements under specific spatial layouts.

[0111] As an optional embodiment, the first barcode scanner 300 can be configured as a movable structure, for example, sliding laterally along a guide rail above the package feeding platform 100 to scan multiple package feeding stations and reduce costs.

[0112] With the above setup, the first barcode scanner 300 is positioned above and downwards on the package feeding platform 100, enabling it to directly read top information while the package is on the platform, without requiring additional posture adjustment mechanisms or multiple gripping operations. Therefore, it effectively solves the problem of blind spots caused by the unpredictable orientation of the barcode, improves the sorting system 10's adaptability to randomly placed packages, shortens the overall sorting cycle, and enhances the automation and reliability of the sorting process.

[0113] Reference Figure 2 As an optional implementation, the first barcode scanning camera 300 is arranged adjacent to the identification device 200.

[0114] In this way, the first barcode scanning camera 300 and the identification device 200 have similar mounting reference planes and viewing angles, enabling the location detection and image acquisition of the same target package to be completed almost simultaneously.

[0115] In some embodiments, the first barcode scanning camera 300 and the identification device 200 are fixed on the same bracket structure and are close to each other to reduce coordinate deviation caused by parallax.

[0116] With the above setup, the first barcode scanning camera 300 and the identification device 200 are arranged adjacent to each other, so that the location detection and top QR code recognition of the package A to be sorted can be completed under approximately the same conditions, reducing spatial misalignment and time delay caused by the dispersed arrangement of equipment.

[0117] Furthermore, without adding complex motion mechanisms, the design improves the coordination and response consistency of the sensing system, thereby enhancing the accuracy and stability of the robotic arm 500's gripping and sorting decisions. This design simplifies the system structure, reduces maintenance costs, and provides a solid hardware foundation for multimodal sensing fusion in subsequent high-speed sorting scenarios.

[0118] As an optional implementation, the sorting system 10 also includes a plurality of second barcode scanning cameras 400, which are respectively located on the periphery of the receiving cavity 110 in the horizontal direction X. The second barcode scanning cameras 400 are used to identify packages A to be sorted where the identification code is located on the periphery.

[0119] It is understandable that the horizontal direction X refers to the direction of extension of the horizontal plane, which is one of the horizontal directions shown in the figure.

[0120] The number and installation location of the second barcode scanning camera 400 can be reasonably arranged according to the geometric structure of the package supply platform 100.

[0121] For example, in a four-sided enclosed package supply platform 100, at least one second barcode scanning camera 400 can be set in the outer area corresponding to each vertical sidewall, so that its field of view covers the sidewall surface and its adjacent edge area, ensuring that the identification code on the side of the package can be captured by at least one camera no matter how the package is placed.

[0122] It is understandable that the second barcode scanner 400 can be of the same type as the first barcode scanner 300, or it can be a different type. For example, the second barcode scanner 400 can also use an industrial-grade fixed image sensor, which has high frame rate, high resolution and strong ambient light adaptability, and is suitable for stable imaging under complex lighting conditions in logistics sites.

[0123] Understandably, the above setup can cover multiple lateral views of the package on the supply platform 100, thereby increasing the probability and success rate of capturing and recognizing identification information such as QR codes and barcodes pasted on the vertical side of the package. This eliminates the need for the robotic arm 500 to grab and rotate the package to expose the top or specific side identification code, thus improving sorting efficiency.

[0124] It should be noted that multiple second barcode scanning cameras 400 can work together through a synchronous triggering mechanism. That is, when the identification device 200 detects that a package has entered the package supply platform 100, multiple second barcode scanning cameras 400 simultaneously take pictures and scan. Each camera independently completes image acquisition and decoding processing and uploads the results to the central controller or directly sends them to the robotic arm 500 control system.

[0125] With the above settings, this application embodiment realizes multi-angle, non-contact automatic identification of packages before sorting. It can complete the reading of key information without relying on the robotic arm 500 to flip the package, which can effectively simplify the sorting process, reduce the requirements of the robotic arm 500's degrees of freedom, and reduce the complexity of the equipment and the risk of failure.

[0126] Reference Figure 1 , Figure 2 As an optional implementation, the packaging platform 100 has a plurality of sides connected sequentially in the horizontal direction X, and the number of second barcode cameras 400 is less than or equal to the number of sides.

[0127] Understandably, configuring a separate barcode scanner for each side would lead to increased hardware costs, more complex system wiring, increased maintenance difficulty, and potential signal interference or data redundancy issues.

[0128] Based on this, by setting the number of second barcode scanning cameras 400 to no more than the number of sides of the bag supply platform 100, it is permissible for one or more sides not to be independently assigned a camera. Through optimization of camera selection and installation angles, a single camera can simultaneously cover portions of two or more adjacent sides. For example, in a quadrilateral bag supply platform 100, only three second barcode scanning cameras 400 can be installed, positioned at the three corners, using wide-angle lenses (e.g., field of view ≥ 90°) to extend their field of view across two adjacent sides, thereby achieving effective scanning of all four sides.

[0129] With the above settings, this embodiment of the application controls the number of second barcode scanners 400 while ensuring the package recognition rate, so as to reduce the overall cost and integration complexity.

[0130] As an optional implementation, the identification device 200 is a depth camera.

[0131] The depth camera is used to obtain the horizontal position of the package A to be sorted on the feeding platform 100 and the height of the package A to be sorted, so as to obtain the position information of the package A to be sorted and send it to the robotic arm 500.

[0132] Understandably, a depth camera is a sensing device with three-dimensional imaging capabilities, which can acquire point cloud data of the surface of a target object through principles such as structured light, time-of-flight (ToF) or binocular stereo vision.

[0133] It should be noted that depth cameras come in different types.

[0134] In some embodiments, the depth camera may be based on infrared structured light technology, which is suitable for indoor lighting environments with stable illumination and has high resolution and anti-interference capabilities; in other embodiments, the depth camera may be based on the ToF principle, which has a fast response speed and a wide measurement range.

[0135] The embodiments of this application do not limit the specific type of depth camera, nor are they limited to the examples described above.

[0136] In this embodiment, a depth camera is mounted above the package feeding platform 100, enabling it to quickly scan the package A to be sorted entering the platform 100 without contacting the package, and reconstruct its three-dimensional contour. The three-dimensional contour includes the horizontal coordinates of the package's bottom surface relative to the platform 100, and the vertical distance (i.e., the distance in the vertical direction Z) between its top and the reference surface, i.e., the height value. Based on the above data, the identification device 200 can accurately determine whether the packages are stacked, tilted, or partially obstructed, and then generate a position command containing spatial posture information, which is sent to the robotic arm 500.

[0137] Understandably, by introducing a depth camera, the sorting system 10 can identify the topmost individual package based on height differences, ensuring that only the top-level object is picked up each time, thus improving operational accuracy. Furthermore, height information can be used to dynamically adjust the descent stroke and pickup timing of the robotic arm 500's end effector, preventing equipment collisions or package damage caused by excessive downward pressure.

[0138] Through the above settings, this embodiment of the application achieves comprehensive positioning of the package A to be sorted in three-dimensional space, which can improve the accuracy and safety of the robotic arm 500's suction action. It is suitable for actual logistics scenarios where packages are irregularly shaped, densely placed, or stacked, and can enhance the reliability and intelligence level of the sorting system 10.

[0139] Reference Figure 3 As an optional implementation, the robotic arm 500 includes a fixed component 510, a movable component 520, and a suction component 530.

[0140] Among them, the fixed component 510, as the overall support structure, is usually installed on the ground or on the frame to support the entire robotic arm 500 system.

[0141] The movable component 520 can rotate relative to the fixed component 510.

[0142] Understandably, the movable component 520 is connected to the fixed component 510 via a rotary joint or pitch mechanism, enabling multi-degree-of-freedom spatial movement, thereby driving the suction component 530 to move above the package supply platform 100 and accurately dock with the target package position.

[0143] The suction component 530 is disposed at the end, such as the end, of the active component 520 to perform a gripping action on the package.

[0144] Reference Figure 4 The suction component 530 includes a fixed end 531 and a plurality of suction ends, which are evenly distributed along the end surface of the movable component 520. The suction ends are used to provide negative pressure air to suck up the package A to be sorted.

[0145] It is understandable that the suction end can be a vacuum suction cup, which generates suction force through a negative pressure generating device (such as an electric vacuum pump or a jet vacuum generator).

[0146] Some of the suction ends can be extended or retracted relative to the remaining suction ends to allow for multiple suctions of the package A to be sorted. In other words, some suction ends are extendable.

[0147] Understandably, extension and retraction can be achieved through built-in guide rods and elastic elements (such as compression springs), or driven by a miniature linear motor. For example, during the initial approach to the package, the shorter inner suction end extends to pick up the smaller package, completing the initial positioning and suction; then, the longer outer suction end contacts the package surface and initiates adsorption, expanding the effective adsorption area and achieving secondary reinforcement.

[0148] The aforementioned graded adsorption mechanism not only adapts to complex working conditions such as uneven package stacking and edge curling, but also enables the use of only a small number of suction ends in the central area when dealing with small packages, avoiding energy waste caused by ineffective vacuuming.

[0149] With the above configuration, this embodiment of the application utilizes a retractable suction component 530 with graded adsorption capabilities, enabling the robotic arm 500 to adapt to packages A of different sizes and shapes to be sorted. Partial suction end can achieve light touch positioning upon initial contact and fully adsorb after confirming stable posture, significantly reducing the risk of package displacement or detachment during the grasping process.

[0150] Meanwhile, the even distribution of multiple suction ends ensures balance during the adsorption process, preventing the package from flipping or tilting due to localized force concentration.

[0151] Reference Figure 4As an optional implementation, the suction assembly 530 includes a first suction end 532 and a second suction end 533, with the second suction end 533 located outside the first suction end 532; the first suction end 532 can be extended or retracted relative to the second suction end 533.

[0152] The first suction end 532 is located in the central area of ​​the suction assembly 530. Its shape can be circular, square or polygonal, and the material can be flexible silicone or polyurethane, which have good sealing and cushioning properties to enhance the fit with the wrapping surface.

[0153] Specifically, the first suction end 532 is connected to an independent negative pressure channel and can achieve telescopic movement through a built-in micro cylinder, electromagnetic drive device, or linear motor. The telescopic stroke can be set according to the actual application scenario, ensuring sufficient detection depth while avoiding structural complexity or response delay due to excessive stroke.

[0154] The specific suction process is as follows: In the initial state, the first suction end 532 can be in the retracted position. After the robotic arm 500 approaches the target package, the first suction end 532 is first triggered to extend, making slight contact with the upper surface of the package to form an initial adsorption force and obtain a contact feedback signal. After the first suction end 532 completes the pre-adsorption, negative pressure is immediately activated to quickly establish a large-area adsorption force, ensuring that the package is firmly gripped.

[0155] It is understandable that the first suction end 532 and the second suction end 533 can be made of the same material, such as an elastic material, and the edges can be designed with chamfers or corrugated structures to improve the edge sealing effect and prevent air leakage.

[0156] It should be noted that pressure sensors can also be provided at the first suction end 532 and the second suction end 533 to monitor the adsorption status in real time and assist the control system in determining whether effective pickup has been completed.

[0157] With the above settings, this embodiment of the application can first detect the position of the package through the retractable first suction end 532, achieve positioning and initial adsorption by using the small area adsorption of the inner ring, and then complete stable gripping by the large area adsorption of the outer ring.

[0158] The above method can effectively solve the technical problem that traditional single-plane suction cups are prone to suction failure or displacement when facing randomly oriented packages, thus improving the continuity and reliability of sorting operations.

[0159] Reference Figure 4 As an optional implementation, the contact area between the first suction end 532 and the package A to be sorted is smaller than the contact area between the second suction end 533 and the package A to be sorted.

[0160] The small area design of the first suction end 532 allows it to cover only a local area when in contact with the package surface, resulting in a more concentrated contact pressure distribution. This effectively avoids the risk of local crushing or tearing of fragile packaging (such as thin plastic bags, carton seals, and other vulnerable parts), and can improve the sorting system 10's adaptability to different types of packages.

[0161] In addition, the small-area first suction end 532 is convenient for suctioning smaller packages, thereby improving the versatility of package suction. Users can achieve the suction of packages of different sizes without replacing the suction component 530.

[0162] Understandably, the second absorption end 533 has a larger adsorption area, which can withstand a larger load and resist dynamic disturbances during the handling process.

[0163] With the above configuration, the small-area first suction end 532 can reduce the pressure concentration on the package surface, avoiding damage to fragile packaging; at the same time, the small-area first suction end 532 is beneficial for picking up smaller packages. The large-area second suction end 533 can be used to ensure the stability during handling.

[0164] In this way, the coordinated operation of the aforementioned suction end can improve the adsorption success rate and operational reliability of the robotic arm 500 under complex working conditions.

[0165] Reference Figure 4 As an optional implementation, the ratio between the contact area between the first suction end 532 and the package A to be sorted and the contact area between the suction component 530 and the package A to be sorted is in the range of 1 / 10 to 1 / 3.

[0166] Understandably, if the above ratio is less than 1 / 10, the contact area of ​​the first suction end 532 is too small, making it difficult to effectively absorb the package; if the above ratio is more than 1 / 3, the coverage area of ​​the first suction end 532 is too large, which can easily generate a large suction force when not fully aligned, potentially causing problems such as air leakage at the edge of the suction cup and suction failure.

[0167] Through the above settings, the multi-level adsorption behavior of the suction component 530 is effectively controlled, which can solve the problem that traditional single adsorption structure is difficult to balance between positioning accuracy and adsorption stability. This improves the adaptability of the robotic arm 500 to irregular packages under complex working conditions, reduces the sorting failure rate caused by mis-suction and deviation, and optimizes the distribution of vacuum energy consumption, thereby enhancing the safety and reliability of the sorting system 10.

[0168] As an optional implementation, there are multiple second suction ends 533, which are respectively disposed on the periphery of the first suction end 532; the multiple second suction ends 533 are distributed in a ring with the axis of the first suction end 532 as the center.

[0169] Understandably, the above layout allows the second suction end 533 to be evenly distributed in space, providing a balanced distribution of adsorption force when in contact with the package surface, reducing tilting, slippage or rotation caused by uneven local force.

[0170] It should be noted that the number of the second suction end 533 can be flexibly configured according to the actual application scenario. For example, it can be set to three, four, six or more. The specific number depends on the average size range of the target package, the weight distribution characteristics and the required adsorption stability requirements.

[0171] With the above configuration, the multiple second suction ends 533 are arranged in a ring symmetrical arrangement. The point of action of the resultant force generated during the adsorption process corresponds to the central axis of the end effector of the robotic arm 500, which can reduce the risk of shaking caused by eccentric torque during the handling process.

[0172] At the same time, the above layout can enhance the suction ability of the suction component 530 to the irregular edge area of ​​the package, and prevent local lifting or falling off.

[0173] In the description of the embodiments of this application, it should be understood that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, the connection of devices within two components, or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0174] The terms "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In the description of this application, "multiple" means two or more, unless otherwise precisely specified.

[0175] The terms "first," "second," "third," "fourth," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or elements is not necessarily limited to those explicitly listed, but may include other steps or elements not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0176] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to the technical features of the device components or the entire device. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A sorting system, characterized in that, include: A parcel supply platform is used to provide parcels to be sorted. An identification device is located above the package supply platform, and the identification device is used to identify the packages to be sorted; Multiple barcode scanning cameras are respectively installed around the perimeter of the package supply platform; A robotic arm is configured to receive and pick up the packages to be sorted based on the information provided by the identification device, and sort the scanned packages to different preset locations after scanning them with the barcode scanner.

2. The sorting system according to claim 1, characterized in that, The multiple scanning cameras correspond to different side walls of the package supply platform.

3. The sorting system according to claim 2, characterized in that, It also includes a first barcode scanner, which is located above the package supply platform and is used to identify the packages to be sorted with the barcode located above it.

4. The sorting system according to claim 3, characterized in that, The first barcode scanning camera is positioned adjacent to the identification device.

5. The sorting system according to claim 2, characterized in that, It also includes multiple second barcode scanning cameras, which are respectively located on the periphery of the package supply platform in the horizontal direction; The second barcode scanner is used to identify the package to be sorted if the barcode is located on the periphery.

6. The sorting system according to claim 5, characterized in that, The package supply platform has multiple sides connected sequentially in the horizontal direction; The number of the second barcode scanning cameras is less than or equal to the number of the sides.

7. The sorting system according to claim 1, characterized in that, The identification device is a depth camera, which is used to obtain the horizontal position of the package to be sorted on the package feeding platform and the height of the package to be sorted, so as to obtain the position information of the package to be sorted and send it to the robotic arm.

8. The sorting system according to any one of claims 1-7, characterized in that, The robotic arm includes: Fixed components; The movable component can rotate relative to the fixed component; A suction component is disposed at the end of the movable component; the suction component includes a fixed end and multiple suction ends, the multiple suction ends being evenly distributed along the end surface of the movable component, and the suction ends being used to provide negative pressure air to suction the packages to be sorted; wherein, A portion of the suction ends may be retractable relative to the remaining portion of the suction ends to perform multiple suctions on the packages to be sorted.

9. The sorting system according to claim 8, characterized in that, The suction assembly includes a first suction end and a second suction end, wherein the second suction end is located outside the first suction end; The first suction end can be extended or retracted relative to the second suction end.

10. The sorting system according to claim 9, characterized in that, The contact area between the first suction end and the package to be sorted is smaller than the contact area between the second suction end and the package to be sorted.

11. The sorting system according to claim 9, characterized in that, The ratio between the contact area between the first suction end and the package to be sorted and the contact area between the suction component and the package to be sorted is in the range of 1 / 10 to 1 / 3.

12. The sorting system according to claim 11, characterized in that, The number of second suction ends is multiple, and the multiple second suction ends are respectively disposed on the periphery of the first suction end; Multiple second suction ends are arranged in a ring around the axis of the first suction end.

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