SORTING MECHANISM WITH DISTRIBUTED CONTROL

Description

[0001] The present invention relates to the technical field of sorting piece goods, such as airport baggage or parcels, by means of individually tiltable conveyor track segments which transport a piece of goods out of the conveyor track by means of coordinated tilting movements.

[0002] WO2013 / 075714A1 discloses a sorting mechanism configured to empty containers carrying a load. The sorting mechanism has a plurality of adjacent, individually tiltable tilting elements. The tilting elements are controlled by a computerized controller to perform a coordinated tilting movement. A disadvantage is that the computerized controller must be adapted if the sorting mechanism is expanded to include additional tilting elements. Likewise, the computerized controller must be sufficiently powerful to coordinate all tilting elements. WO2013 / 075714A1 discloses the preamble of claims 1 and 9.

[0003] A sorter consists of a series of segments arranged one behind the other. A tray is transported over these segments. The tray can be emptied by tilting the segments.

[0004] Previously, the segments were controlled via a central controller. The central controller was designed according to performance requirements. Due to limitations of the communication bus, a certain length cannot be exceeded. This has the disadvantage that the number of controllable segments, and thus the length of the sorter, is limited. This control concept does not allow for flexible system expansion.

[0005] The invention is therefore based on the object of enabling a sorting mechanism that can be expanded in a simpler way.

[0006] This object is achieved by the solutions described in the independent claims. Advantageous embodiments of the invention are specified in further claims.

[0007] According to one aspect, a method for controlling a sorting mechanism is presented. The sorting mechanism is designed to convey a piece of goods to be sorted, which is conveyed along a conveyor line, sideways out of the conveyor line by means of coordinated tilting movements of conveyor line segments that can be tilted transversely to the conveyor line. The piece of goods is transferred from a first conveyor line segment in a tilted state to a second conveyor line segment in a tilted state. A first actuator for tilting the first conveyor line segment is controlled by a first segment control device. A second actuator for tilting the second conveyor line segment is controlled by a second segment control device.The first segment control device and the second segment control device communicate with each other in order to transfer the piece goods from the first conveyor line segment in the tilted state to the second conveyor line segment in the tilted state.

[0008] In this way, a central control unit can be relieved of the task of coordinating the transfer from one conveyor segment to the next. It is also possible to omit a central control unit entirely if, for example, other higher-level functions for coordinating the conveyor segments are performed by the segment control units.

[0009] When transferring the piece goods from a first conveyor section in a tilted state to a second conveyor section in a tilted state, the first conveyor section segment and the second conveyor section segment do not need to be in a tilted position. According to one embodiment, the piece goods are transferred from the first conveyor section in a tilted state to the second conveyor section in a tilted state by the first and second conveyor section segments performing a synchronous tilting movement. For example, during the transfer, the tilt angle of the first and second conveyor section segments is increased synchronously in order to further tilt the piece goods, or a container in which the piece goods are moved along the conveyor section during the transfer. This can increase the throughput of piece goods through the sorting mechanism.In a further embodiment, the first and second conveyor segments can also statically maintain their tilting position during transfer.

[0010] According to the invention, each of the conveyor line segments is controlled by a separate segment control device, wherein the segment control devices communicate with each other in order to coordinate the coordinated tilting movements.

[0011] According to a further embodiment, the segment control devices communicate with each other in order to dynamically combine a portion of the plurality of segment control devices into at least one logical control group depending on a position of the container. Such a group can, for example, guide a container, in which the piece goods are guided along the conveyor line via the sorting mechanism, a short distance and tilt it further until a new group is generated which tilts the container further or empties it. According to a further embodiment, a composition of segment control devices participating in the control group thus changes depending on a transport state, such as a position or movement of the container. Alternatively or additionally, a task of one of the segment control devices within the control group can change depending on a transport state of the container.This achieves a high degree of flexibility in the process and the sorting mechanism.

[0012] According to a further embodiment, one of the segment control devices of the control group assumes a coordination task, by means of which the control group is coordinated to execute one of the coordinated tilting movements. This allows a wide variety of tasks to be easily assumed and coordinated by the segment control devices.

[0013] According to a further embodiment, at least some, preferably all, of the segment control devices each comprise identical program code to transfer the piece goods from a transferring conveyor segment in a tilted state to a subsequent conveyor segment in a tilted state. This makes it even easier to expand a sorting mechanism with additional conveyor segments. Maintenance effort is also reduced if all segment control devices are designed and programmed as similarly as possible, or even identically.

[0014] According to a further embodiment, the segment control devices communicate only with directly adjacent segment control devices, for example, to coordinate a tilting movement and / or adjust a distance between two adjacent containers. This makes it even easier to expand a sorting mechanism with additional conveyor segments.

[0015] According to a further embodiment, the segment control devices communicate with each other to drive the drives of the conveyor segments so that a target distance is maintained between two subsequent piece goods or containers. This makes it possible to transport the piece goods or containers at different speeds depending on their position, size, and properties. For example, it is desirable not to transport a heavy or fragile piece of goods sideways out of the conveyor at high speed.

[0016] According to one aspect, the invention relates to a sorting mechanism for sorting out piece goods from a conveyor line. The sorting mechanism comprises at least two conveyor line segments which, on the one hand, are designed and arranged to guide a container filled with piece goods at least a short distance along the conveyor line. On the other hand, each of the at least two conveyor line segments can be tilted transversely to the conveyor line by individual control. The sorting mechanism additionally comprises a control system which is adapted to control the at least two conveyor line segments for sorting out the piece goods from the conveyor line in such a way that the container is tilted by means of coordinated tilting movements of the at least two conveyor line segments while it is still moving along the conveyor line, such that the piece goods are conveyed sideways out of the conveyor line.A separate segment control device is assigned to each of the at least two conveyor segments, so that the sorting mechanism comprises segment control devices assigned to at least two different conveyor segments. The at least two segment control devices are configured to perform a control function for coordinating the coordinated tilting movements of the at least two conveyor segments.

[0017] In this way, the load on a central control device can be reduced, since the at least two segment control devices jointly perform the control function for coordinating the coordinated tilting movements of the at least two conveyor segments. It is also possible to omit a central control device entirely if all higher-level functions for coordinating the conveyor segments are performed by the segment control devices.

[0018] According to one embodiment, the segment control devices of the at least two conveyor line segments are communicatively connected to one another in order to perform the at least one control function.

[0019] According to further embodiments, the at least one control function for coordinating the coordinated tilting movements comprises at least one or more of the following functions: Carrying out a transfer from one of the conveyor line segments (1a-f) to the next; Carrying out a wave-like tilting movement that runs through at least a portion of the conveyor line segments (1a-f); Starting at least one of the tilting movements; Moving to a target position of a tilting movement; Starting a timer; Starting a counter; Checking a position to hold the tub in the tilting position for a defined time; Starting a return swing movement when a timer has expired; Starting a return swing movement when a position is reached; Moving to a starting position.

[0020] This allows the flexibility of the sorting mechanism to be further increased.

[0021] According to a further embodiment, the segment control devices are configured to dynamically combine a portion of the multiple segment control devices into a logical control group depending on the position of the container. This further increases the flexibility of the sorting mechanism and the autonomous coordination capability of its segment control devices.

[0022] For example, according to a further embodiment, the local segment control devices of the at least two conveyor line segments are configured such that one of the local segment control devices of the control group assumes a coordination task. The control group is coordinated by means of the coordination task to execute the control function.

[0023] According to further embodiments, the local segment control devices of the at least two conveyor line segments are configured such that a composition of segment control devices participating in the control group changes depending on a transport state, such as a position or a movement of the container, and / or such that a task of one of the segment control devices within the control group changes depending on a transport state of the container.

[0024] According to a further embodiment, the segment control devices of the at least two conveyor segments are at least partially identically or identically programmed for executing the higher-level control function. This reduces the effort required to expand the sorting mechanism with additional individually tiltable conveyor segments. Maintenance is also simplified.

[0025] According to a further embodiment, the at least two conveyor line segments are arranged as part of the conveyor line.

[0026] According to a further embodiment, the local segment control devices assigned to the at least two conveyor line segments are configured to communicate only with the segment control devices of directly adjacent ones of the at least two conveyor line segments in order to execute the higher-level control function.

[0027] According to a further embodiment, at least one, preferably several, preferably all of the at least two conveyor line segments each comprise at least one drive means for driving the container in the transport direction.

[0028] According to a further embodiment, the method for controlling a sorting mechanism for piece goods is used in one of the previously described sorting mechanisms. For example, the sorting mechanism comprises a plurality of conveyor segments which, on the one hand, are designed and arranged to guide a container filled with a piece of goods at least a short distance along a conveyor line, and which, on the other hand, can be tilted transversely to the conveyor line by individual control. At least two of the conveyor segments are controlled in such a way that the container, while it is still moving along the at least two conveyor segments, is tilted by means of coordinated tilting movements of the controlled conveyor segments such that the piece goods are conveyed sideways out of the conveyor line.In this case, a separate segment control device is assigned to each of the at least two conveyor line segments, which exchange information with each other in order to carry out a control function for coordinating the coordinated tilting movements of the at least two conveyor line segments.

[0029] The invention is explained in more detail below with reference to the drawings, in which: Figure 1A-1C schematic side sectional views of a conveyor section segment connected to a segment control device in various tilting positions; Figure 2 a schematic side view of a sorting mechanism 200 according to an embodiment of the invention with two conveyor section segments arranged to form a conveyor section according to Figure 1 ; Figure 3a schematic side view of a sorting mechanism according to an embodiment of the invention with several conveyor section segments arranged to form a conveyor section according to Figure 1 ; Figure 4 shows a control concept for a sorting mechanism according to a further embodiment

[0030] Figure 1A shows a schematic side sectional view of a conveyor section 1 connected to a segment control device 7 in a horizontal tilting position. A tilting segment 10 comprises the segment control device 7 and the conveyor section 1. The conveyor section 1 is connected to the segment control device 7. The conveyor section 1 can comprise the segment control device 7, or the segment control device 7 can be arranged separately from the conveyor section 1.

[0031] The conveyor segment 1 comprises a guide structure for guiding a container 90 filled with a piece goods 99 at least a short distance along a conveyor path in a conveying direction 5. The guide structure can be designed, for example, as laterally arranged free-running rollers 2, which guide the container 90 without a motor drive. The guide structure can also be designed as a drive, for example as a conveyor belt, or as in Figure 1 shown as a friction wheel drive with one or more friction wheels 3. The guide structure can also be designed as a combination of several such guide structures, for example as a combination of lateral rollers 2 and friction wheel drive 3.

[0032] The conveyor segment 1 also comprises an actuator 4 connected to the segment control device 7, by means of which the conveyor segment 1 can be tilted transversely to the conveying direction 5. For this purpose, the conveyor segment 1 comprises the axis 6 parallel to the conveying direction 5. The axis 6 can be implemented only virtually or as a shaft using suitable mechanics.

[0033] The segment control device 7 is designed to transmit control signals to the conveyor segment 1 in order to tilt the conveyor segment 1. Embodiments are possible in which the conveyor segment 1 can be deflected in only one direction from its horizontal position.

[0034] The term "tilting of the conveyor segment" and analogous terms also include the fact that only a part of the conveyor segment is tilted.

[0035] The conveyor line segment 1 may also include a sensor system 97. The sensor system 97 may, for example, include one or more of the following devices: one or more presence detectors, such as light barriers, for detecting the presence or absence of a container in the sensor detection area; a reader for reading information about the container or the piece goods 99 carried by the container; a speedometer for measuring the speed of the container 99 in the conveying direction 5; an angle sensor for measuring a tilt angle of the conveyor section segment 1.

[0036] Figure 1B shows the conveyor segment 1 in a tilted state. Figure 1Cshows the conveyor segment 1 in an even further tilted state. Embodiments are possible in which the conveyor segments 1 can be tilted in only one direction of rotation, for example, clockwise from its horizontal position, as well as embodiments in which the conveyor segments can be tilted in both directions of rotation.

[0037] Figure 2 shows a schematic side view of a sorting mechanism 200 according to an embodiment of the invention. The sorting mechanism 200 comprises a control system 221 and two conveyor segments 1a, 1b. As conveyor segments 1a, 1b, the conveyor system shown in Figure 1A-1C shown conveyor line segment 1 can be used, whereby in Figure 2 compared to the Figure 1A-1C the side view is rotated by 90°, as can be seen from the conveying direction 5. The view of the Figure 1A-CThe conveyor line segment shown corresponds, for example, to a vertical view of the Figure 2 The plane AA shown here passes through the conveyor segment 1b. The conveyor segments 1a, 1b can also each comprise an actuator 4a, 4b and a sensor system 97a, 97b. However, the sensor systems 97a, 97b are not required. For example, at a constant or predictable conveying speed, it is not necessary for one of the conveyor segments 1a, 1b to comprise a sensor system.

[0038] The conveyor segments 1a, 1b are arranged such that they form a conveyor section of a conveyor section 22, so that they can guide a container 90 filled with a piece of goods 99 at least a short distance along the conveyor section. The conveyor segments 1a, 1b can be tilted transversely to the conveyor section 22 by individual control. For this purpose, each of the conveyor segments is like the one in Figure 1A-1Cdescribed exemplary conveyor line segment 1 and each connected to a separate local segment control device 7a, 7b included in the control system 221. Each of the conveyor line segments 1a, 1b, together with the segment control device 7a, 7b assigned to it, is comprised by a segment module 10a, 10b. In other words: the segment module 10a comprises the segment control device 7a and the conveyor line segment 1a that can be controlled by the segment control device 7a to execute a tilting movement. The segment module 10b comprises the segment control device 7b and the conveyor line segment 1b that can be controlled by the segment control device 7b to execute a tilting movement.

[0039] The segment control devices 7a and 7b are adapted to communicate with each other via the connection 12 in order to sort out the piece goods 99 and to control the two conveyor line segments 1a, 1b in such a way that the container 90, while it is still moving along the conveyor line 22, is tilted by means of coordinated tilting movements of the two conveyor line segments 1a, 1b in such a way that the piece goods 99 are conveyed sideways out of the conveyor line.

[0040] For this purpose, the first conveyor segment 1a receives, for example, information from a reading unit 98, which reads a barcode on the container 99 moving into the sorting mechanism 200, that container 99 is now moving into the sorting mechanism 200 and is to be sorted out of the conveyor line 22. The conveyor segment 1a signals this to the conveyor segment 1b by means of a telegram. As soon as the container 99 is completely resting on the conveyor segment 1a, which is initially in a horizontal position, both conveyor segments 1a, 1b move into a Figure 1Bshown tilted position. As soon as the container 99 has reached the end of the conveyor section segment 1a, the transfer to the conveyor section segment 1b begins. During the transfer, the two conveyor section segments 1a, 1b are at or moving at an identical tilt angle. As soon as the container 99 has completely left the first conveyor section segment 1a, the first conveyor section segment 1a can be tilted back into the horizontal position in order to be ready to receive the next container, while the second conveyor section segment 1b continues to tilt the container while it is still traveling over the second conveyor section segment 1b until the piece goods in the container 99 are tilted sideways out of the container and thus conveyed sideways out of the conveyor section 22.

[0041] If the sorting mechanism is operated at a constant speed so that the containers move through the sorting mechanism at a constant speed, then the telegram transmitted from the conveyor segment 1a to the conveyor segment 1b can contain a time that signals to the conveyor segment 1b when it is in the Figure 1B shown position, i.e., in the transfer position. Using a timer, for example, the conveyor line segment 1b can thus move into the transfer position in a timely manner.

[0042] In order to increase reliability or in the case of variable or poorly or unpredictable conveying speeds, in other embodiments further sensors 97a, 97b, for example designed as light barriers, can be provided, which for example signal to the first conveying section segment 1a when the container 99 has left the conveying section segment 1a, in order to ensure that the first conveying section segment only returns to the horizontal position after the container 99 has been completely transferred to the second conveying section segment 1b.

[0043] The segment control devices 7a, 7b are not only designed to transmit a signal to their respective associated conveyor segment 1a, 1b indicating the angle by which it should be tilted, but the segment control devices 7a, 7b are also capable of coordinating a coordinated tipping process involving both conveyor segments 1a, 1b. In other words, the segment control devices 7a, 7b are thus configured to perform a control function for coordinating the coordinated tipping movements of the at least two conveyor segments 1a, 1b.

[0044] More than two conveyor segments can participate in a coordinated tipping process. For example, if a container is longer than one conveyor segment, two or more individually tiltable conveyor segments can be operated as if they were only one conveyor segment in order to sort out a piece of goods 99 located in the longer container by means of a wave-like tipping process running through the sorting mechanism. Likewise, a higher number of tiltable conveyor segments can increase the flexibility of the system, and, for example, with the interaction of more than two conveyor segments, more finely coordinated tipping processes can be carried out. Figure 2 Since no central control is necessary for coordinating a dumping process in the sorting mechanism 200 shown, the sorting mechanism can be easily expanded in a modular manner, for example to the following based on Figure 3described sorting mechanism.

[0045] Figure 3 shows a schematic side view of a sorting mechanism 100 according to an embodiment of the invention. The view of the Figure 1A-1C The conveyor line segment 1a shown corresponds, for example, to a vertical view of the Figure 3 Level AA shown. The sorting mechanism 100 comprises a control system 21 and a plurality of conveyor segments 1a, 1b, 1c, 1d, 1e, 1f, each of which is connected to a separate segment control device 7a, 7b, 7c, 7d, 7e, 7f assigned to it. Each of the conveyor segments 1a, 1b, 1c, 1d, 1e, 1f can, for example, be controlled according to the Figure 1A-1C shown conveyor line segment 1, and each as shown in Figure 3 shown comprise an actuator 4a-4f and a sensor system 97a-f. Each of the segment control devices 7a-f can, for example, be configured according to the Figure 1A-1CThe control system 21 may be implemented with the segment control device 7 shown. The control system 21 comprises the segment control devices 7a-7f. Optionally, the control system also comprises a central controller 70.

[0046] The conveyor line segments 1a-f are designed and arranged to guide a container 90 filled with a piece of goods 99 at least a short distance along the conveyor line 22. The conveyor line segments 1a-f can also be tilted transversely to the conveyor line 5 about an axis 6 parallel to the conveying direction by individual control.

[0047] The segment control devices 7a-f are adapted to control the conveyor line segments 1a-f for sorting out the piece goods 99 in such a way that the container 90 is tilted by means of coordinated tilting movements of at least a part of the conveyor line segments 1a-f while it is still moving along the conveyor line 22, so that the piece goods 99 are conveyed sideways out of the conveyor line 22.

[0048] In the Figure 3 In the illustrated embodiment, each of the conveyor segments 1a-1f is connected to a separate local segment control device 7a-7f included in the control system 21, such that the respective conveyor segment 1a-1f can be tilted individually. As a result, each of the conveyor segments 1a-1f is assigned a separate local control device 7a-7f. Of course, variants of the sorting mechanism are possible in which individual conveyor segments 1a-1f are not assigned a separate segment control device. For example, in the sorting mechanism 100, two conveyor segments, for example 1a, 1b, can be selected, which are constructed and operated like conveyor segments 1a-1b in the sorting mechanism 200, while the remaining conveyor segments 1c-1f do not have to be involved in a tipping process. It is therefore sufficient if, in a variant of the Figure 3In the exemplary embodiment shown, at least two of the conveyor line segments 1a-1f are each assigned a separate local segment control device. Within the scope of embodiments of the invention, not all conveyor line segments 1a-1f or their associated local segment control devices 7a-7f necessarily have to participate in a tipping process. The segment control devices 7a-f are configured to perform a control function for coordinating the coordinated tipping movements of the at least two conveyor line segments 1a-f. In one embodiment, the segment control devices 7a-f even assume the entire coordination of the coordinated tipping movements.

[0049] As in Figure 2 are in Figure 3The conveyor segments 1a-f and the associated segment control devices 7a-f are each constructed as segment modules 10a-f. However, in variants, individual or all of the segment control devices 7a-f can be connected to the respective conveyor segments 1a-f, separated from the latter.

[0050] The segment control devices 7a-7f are interconnected by means of a data bus system 11. In addition or alternatively to the data bus system, the segment control devices can also be serially interconnected, as shown by the dashed electrical connections 12a-12e.

[0051] In order to sort the piece goods 99 from the conveyor line 22, the reader 98 or the sensor system 97, for example, detects a code on the container 90 or on the piece goods, which indicates that the piece goods 99 are to be sorted from the conveyor line 22. By means of the data bus system 11, the segment control devices 7a-f are informed that the piece goods 99 are to be sorted by means of a telegram that is sent from one segment control device 7a-f to the next along the conveying direction 5. The telegram can include a counter whose counter value is reduced by one each time the telegram is passed from one segment control device 7a-f to the next.Each of the control devices 7a-7f is designed to control the conveyor segment 1a-1f assigned to it such that the container 90 is taken over from the preceding conveyor segment 7a-7f in a synchronous tilting movement at a takeover tilt angle determined based on the counter value and is transferred to the subsequent conveyor segment 1a-1f in a synchronous tilting movement at a transfer tilt angle determined based on the counter value. In this way, all control devices 7a-7f can comprise an identical program 9 in order to execute a control function for coordinating the coordinated tilting movements of at least two conveyor segments 1a-f. In this example, the control function for coordinating the coordinated tilting movements of at least two conveyor segments 1a-f is the transfer of the container 99 from one conveyor segment 1a-1f to the next conveyor segment 1a-1f.

[0052] Instead of a counter, a code or a bit field can also be used. The bit field is sent along the conveying direction from one control device 7a-f to the next and is encoded in such a way that each of the control devices 7a-f informs its successor whether it should tilt the conveyor line segment 1a-f assigned to it, and at what temporal tilt angle.

[0053] In one embodiment, each or a portion or at least two of the tilting segments 10a-f coordinate with their immediately adjacent tilting segments 10a-f the respective acceptance of the container 99 from the preceding tilting segment 10a-f and its transfer to the subsequent tilting segment 10a-f. The respective transfer from one tilting segment 10a-f to the next can be additionally supported by the sensor systems 97a-f by signaling the position of the container 99 to the segment control devices 7a-f, or to the segment control devices involved in coordinating the coordinated tilting movements, or to the segment control devices 7a-f involved in coordinating the transfer. In this way, for example, deviations of the effective position from a predicted position of the container can be corrected.

[0054] According to one embodiment, the control system comprises the local segment control devices 7a-7f and a central control device 70. The local segment control devices 7a-7f help to relieve the load on the higher-level control device 70. For example, the local segment control devices coordinate a wave-like tilting movement of the conveyor line segments 1a-1f running through the conveyor line 22, while the central control device 70 also coordinates higher-level functions such as spacing control between adjacent containers. However, the central control device 70 is not absolutely necessary. For example, embodiments are possible in which the containers are fed into the sorting mechanism at regular intervals and moved at a uniform speed along the conveying direction in the sorting mechanism.Likewise, other higher-level functions such as, in the case of variable container speeds and / or variable distances between containers, the distance regulation between adjacent containers transported by the sorting mechanism can be taken over by the local segment control devices 7a-7f.

[0055] A sorting mechanism 100, 200 can be configured such that the piece goods are conveyed out of the sorting mechanism 100 by being tilted out of the container 90 while the container 90 is guided further along the conveyor line 22 of the sorting mechanism. In another variant, the sorting mechanism can also be configured such that the container 90, together with the piece goods 99, is conveyed sideways out of the sorting mechanism 100 by the coordinated tilting movements while it still has a speed component in the conveying direction 5, so that the container 90, together with the piece goods 99 it contains, is conveyed sideways out of the conveyor line 22.

[0056] If a piece of goods is not to be sorted out, it is conveyed further in conveying direction 5 along the conveying section comprising the conveying section segments 1a-1f, for example, without any tipping movements.

[0057] According to further embodiments, a sorting mechanism 100, 200 may also comprise other conveyor segments that are not individually controllable or tilt by means of a mechanical device in response to the tilting of another conveyor segment.

[0058] According to one embodiment, motors of actuators 4a-4f in segments 1a-f are controlled by microcontrollers 7a-7f. These controllers 7a-7f are programmable and can handle not only motor control but also higher-level control functions of segments 1a-1f. This eliminates the need for a central control system for the transport and tilting functions.

[0059] The tipping of a container 99, designed, for example, as a tub, can consist of several sub-functions: Start tilting movement Move to the target position of the swiveling process Start the timer / check the position to keep the tub in the tilting position for a defined time when the timer has expired / the position has been reached Start the return swiveling movement Move to the starting position.

[0060] Depending on the position of the tub, for example, a portion of the distributed controllers 7a-f are dynamically combined into one or more logical control groups G1, G2. This group G1, G2 is coordinated by a segment control device, for example, the controller 7b of group G1. Depending on the tub position, this controller 7b takes over the coordination of group G1 for one or more of the above-mentioned subfunctions. Since the tub 99 can be transported further during tipping, the tasks of the controllers in group G1 and the participants in the group can change during tipping.

[0061] Further embodiments may include, for example, the following features: Each controller 7a-f on the bus communicates only with its immediate neighbor or the next-but-one neighbor, who mechanically performs the same task. Controllers 7a-f receive data from their neighbors, manipulate it according to the operating situation, and forward it to their neighbors. Depending on the information to be acquired, this occurs in or against the direction of transport. Each controller 7a-f is equipped with the same program.

[0062] According to further embodiments, the controllers 7a-f can also fulfil the following higher-level tasks: Tracking: Each tray 99 has a data set to be managed. This data set is maintained by the controllers beneath the tray. Gap control: The controllers 7a-f of segments 1a-f beneath a tray 99 use the communication process described above to record the distance to the previous tray and the tray length. The speed of the tray is controlled based on these values. Swiveling process: The controllers of the segments beneath the tray and, depending on the speed, a defined number of controllers of the segments in front of the tray perform a synchronous movement to tip out the tray. Operating status monitoring: Using the communication process described above, a fault in one controller is forwarded to the neighboring controllers. This allows a swiveling movement to be immediately interrupted synchronously and the sorting mechanism 100 or 200 to be shut down.

[0063] This process eliminates the need for a powerful central control system 70. Furthermore, a sorting mechanism 100, 200 can be flexibly expanded.

[0064] Using suitable components such as bridges or routers, the bus 11 can be electrically segmented so that an unlimited number of segments 1a-f can be combined to form a sorting system.

[0065] According to one embodiment, containers of different lengths can be processed.

[0066] According to a further embodiment, different speeds can be used for conveying the containers in the transport direction on the same sorter system 100, 200.

[0067] Figure 4 shows a control concept for a sorting mechanism according to another embodiment. Figure 4 shows an example of the data flow for counters of light barrier states.

[0068] These counters provide the controller at the corresponding position with information about the gap in front of a container designed as a tray and the length of the tray. This information can be used to regulate the speed of the tray.

[0069] COVERED LS INPUT Number of covered light barriers, received value COVERED LS OUTPUT Number of covered light barriers, value is modified, is sent FREE LS INPUT Number of free light barriers, received value FREE LS OUTPUT Number of free light barriers, value is modified, is sent

Claims

1. Method for controlling a sorting mechanism (100, 200) that is designed to convey piece goods (99) which are to be sorted and are conveyed on a conveyor path (22) laterally out of the conveyor path (22) by means of coordinated tilting movements of conveyor path segments (1a-f) which can be tilted transversely to the conveyor path (22) and to transfer the piece goods (99) from a first tilted conveyor path segment (1a-f) to a second tilted conveyor path segment (1a-1f); characterised in that a first actuator (4a-f) for tilting the first conveyor path segment (1a-f) is actuated by a first segment controller (7a-f), and a second actuator (4a-f) for tilting the second conveyor path segment (1b-f) is actuated by a second segment controller (7a-7f); and wherein the method comprises that the first segment controller (7a-7f) and the second segment controller (7a-7f) communicate with each other in order to transfer the piece goods (99) from the first tilted conveyor path segment (7a-7f) to the second tilted conveyor path segment (7a-7f), wherein each of the conveyor path segments (1a-f) is controlled by a separate segment controller (7a-f) in each case, wherein the segment controllers (7a-f) communicate with each other in order to coordinate the coordinated tilting movements.

2. Method according to claim 1, wherein the segment controllers (7a-f) communicate with each other in order to dynamically combine some of the plurality of segment controllers (7a-f) to form a logical control group (G1, G2) depending on a position of the container (90).

3. Method according to claim 2, wherein one of the segment controllers (7a-f) of the control group (G1, G2) assumes a coordination task by means of which the control group is coordinated to perform one of the coordinated tilting movements.

4. Method according to claim 2 or 3, wherein a composition of segment controllers (7a-f) participating in the control group changes depending on a transport state such as, for example, a position or a movement of the container (90) and / or, wherein a task of one of the segment controllers (7a-f) within the control group changes depending on a transport state of the container (90).

5. Method according to one of the preceding claims, wherein at least some, preferably all the segment controllers (7a-f) comprise an identical program code in each case in order to transfer the piece goods (99) from a transferring tilted conveyor path segment (1a-f) to a subsequent tilted conveyor path segment (1a-1f).

6. Method according to one of the preceding claims, wherein the segment controllers (7a-f) only communicate directly with immediately adjacent segment controllers (7a-f) in each case.

7. Method according to one of the preceding claims, wherein the segment controllers (7a-f) communicate with each other to drive the drives of the conveyor path segment such that a target distance between two successive pieces is maintained.

8. Method according to one of the preceding claims, wherein the piece goods (99) are transferred from the first tilted conveyor path segment (1a-f) to the second tilted conveyor path segment (1a-1f) by the first and the second conveyor path segment (1a-f) performing a synchronous movement.

9. Sorting mechanism (100, 200) for sorting one item of the piece goods (99) out of a conveyor path (6), comprising: - at least two conveyor path segments (1a-f) which on the one hand are designed and arranged to carry a container (90) filled with piece goods (99) at least a little way along a conveyor path (6), and which on the other hand can be tilted transversely to the conveyor path (6) by means of individual control; - a control system (21) which is adapted to control the at least two conveyor path segments (1a-f) such that while it is still moving along the conveyor path (6), the container (90) is tilted such that the piece goods (99) are conveyed laterally out of the conveyor path by means of coordinated tilting movements of the at least two conveyor path segments (1a-f); - wherein a separate segment controller (7a-f) is assigned to the at least two conveyor path segments (1a-f) in each case, wherein the segment controllers (7a-f) are set up to perform a control function for coordinating the coordinated tilting movements of the at least two conveyor path segments (1a-f).

10. Sorting mechanism (100, 200) according to claim 9, wherein the segment controllers (7a-f) of the conveyor path segments (1a-f) are communicatively connected to each other to perform at least one control function.

11. Sorting mechanism (100, 200) according to one of claims 9 or 10, wherein the at least one control function comprises at least one or more of the following functions for coordinating the coordinated tilting movements: - performance of a transfer from one of the conveyor path segments (1a-f) to the next; - performance of a wave-like tilting movement which runs through at least some of the conveyor path segments (1a-f); - starting of at least one of the tilting movements; - approaching of a target position of a tilting movement; - starting of a timer; - starting of a meter; - inspection of a position to keep the tank in the tilting position for a defined period; - starting of a reverse pivoting movement if a timer has expired; - starting of a reverse pivoting movement if a position has been reached; - approaching of a starting position.

12. Sorting mechanism (100, 200) according to one of claims 9 to 11, wherein the segment controllers (7a-f) are set up to dynamically combine some of the plurality of segment controllers (7a-f) to form a logical control group (G1, G2) depending on a position of the container (90).

13. Sorting mechanism (100, 200) according to one of claims 9 to 12, wherein the segment controllers (7a-f) of the at least two conveyor path segments (1a-f) are set up such that one of the segment controllers (7a-f) of the control group assumes a coordination task by means of which the control group is coordinated in order to perform the control function.

14. Sorting mechanism (100, 200) according to one of claims 9 to 13, wherein the segment controllers (7a-f) of the at least two conveyor path segments (1a-f) are set up such that a composition of segment controllers (7a-f) participating in the control group changes depending on a transport state such as, for example, a position or a movement of the container (90) and / or such that a task of one of the segment controllers (7a-f) changes within the control group depending on a transport state of the container (90).

15. Sorting mechanism (100, 200) according to one of claims 9 to 14, wherein the segment controllers (7a-f) of the at least two conveyor path segments (1a-f) comprise at least identical programs or identical program parts for performing the superordinate control function.

16. Sorting mechanism (100, 200) according to one of claims 9 to 15, wherein the segment controllers (7a-f) assigned to the at least two conveyor path segments (1a-f) are set up to only communicate with the segment controllers (7) of the at least two conveyor path segments (1a-f) which are directly adjacent for performing the superordinate control function.

17. Sorting mechanism (100, 200) according to one of claims 9 to 16, wherein at least one, preferably a plurality, preferably all the at least two conveyor path segments (1a-f) each comprise at least one drive means for driving the container (90) in the direction of transport.