Narrow belt sorting machine, sorting method therefor, narrow belt sorting control method, apparatus, system, and device

Abstract

Provided are a narrow-belt sorter and a sortation method therefor, and a narrow-belt sortation method, apparatus, system and device. The narrow-belt sorter includes a mechanical transport device that has curved-track sections located at a head end and a tail end of the sorter, a straight-track section between the head end and the tail end, and front-mounted motor sets and rear-mounted motor sets that are uniformly distributed along a track to supply power; narrow-belt trolleys laid above the curved-track sections and the straight-track section, and end-traveling assemblies arranged on both sides of the narrow-belt trolleys; an infrared communication mounting assembly and a reset and anti-collision assembly for a permanent magnet linear synchronous motor on a straight-track gantry; a power supply assembly configured to supply power to the narrow-belt trolleys, and a laser ranging assembly configured to detect a trolley belt surface and trolley bolts.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims priority to Chinese Patent Application No. 202410284236.6, filed on March 13, 2024, and Chinese Patent Application No. 202410836309.8, filed on June 26, 2024. The entirety of each of the above mentioned patent applications is hereby incorporated by reference herein.TECHNICAL FIELD

[0002] The present invention relates to the technical field of narrow-band sorting machine equipment, and in particular to a narrow-belt sorter and a sortation method therefor, and a narrow-belt sortation method, apparatus, system and device.BACKGROUND

[0003] In the technical field of logistics sortation equipment, intelligent control technology and automation technology have developed rapidly. Traditional manual sorting mode can no longer meet the growing demand for logistics sortation operations. Therefore, more and more logistics enterprises are replacing traditional manual sorting with automated equipment, thereby gradually improving sortation efficiency and accuracy. As an automated logistics sortation apparatus, narrow-belt linear sorters are widely used in express delivery facilities such as distribution centers, warehouses, and delivery outlets for parcel sortation and conveying.

[0004] In related technologies, an end-walking structure used in a narrow-belt trolley is usually assembled from two plate members, which has an unstable strength structure and is prone to issues such as cracking or fracture, seriously affecting the operational stability of the narrow belt. Moreover, the assembled design is inconvenient for installation and maintenance, and it is difficult to ensure installation precision. In addition, the narrow-belt trolley also suffers from the problem of easy deviation of the belt, especially after long-term operation, which will affect the sortation and conveying efficiency. Moreover, a curved track structure of the narrow-belt linear sorter presents additional challenges: high machining cost of the curved track, severe wear after long-term operation, difficulty in assembly, time-consuming and labor-intensive, and high operation and maintenance costs. If the spliced sections are not properly polished after assembly, wheels of the narrow-belt trolley may be severely worn and generate noticeable abnormal noise, thus affecting sortation.

[0005] At present, traditional narrow-belt machines commonly use asynchronous motors as drive power source. However, the power of the asynchronous motor is concentrated at a tail section, resulting in a serious power impact, high noise and vibration, and low fault tolerance. In contrast, linear motors enable contactless force transmission, with almost no mechanical friction loss, fewer faults, and maintenance-free. Therefore, the linear motors are safe and reliable in operation and have a long service life. Existing narrow-belt sorters usually adopt an upper-layer and front-mounted linear motor to drive the narrow-belt trolleys on the entire belt, which causes uneven distribution of traction force, and damage to the narrow-belt trolleys, thus affecting sortation performance, and even causing equipment shutdown.

[0006] In addition, most mainstream narrow-belt sorters on the market adopt wired control methods (such as RS485 Communication Protocol) to control the corresponding narrow-belt trolleys. This method suffers from the problems of high hardware cost and complex wiring for installation.

[0007] Moreover, a control method for the narrow-belt sorting generally uses a control unit to control a parcel to be sorted to enter a main conveyor belt. When the parcel to be sorted approaches a target sortation lane, the narrow-belt trolley on the main conveyor belt is controlled to move, and the parcel to be sorted is conveyed to the target sortation lane. Traditional narrow-belt sortation control methods employ IrDA infrared near-field communication to communicate with a plurality of narrow-belt trolleys on the main conveyor, to determine the target sortation lane of the parcel to be sorted, and transmit the same to the corresponding narrow-belt trolley.

[0008] Nevertheless, traditional narrow-belt sortation control methods suffer from poor reliability.SUMMARY

[0009] In view of the shortcomings of the above production technology, the present invention provides a narrow-belt sorter and a sortation method therefor, which not only has a more reasonable and stable structure, but also offers greater flexibility and adaptability to different environments by incorporating wireless infrared communication in conjunction with corresponding software of an upper computer. In addition, the present invention also provides a narrow-belt sortation method, apparatus, system and device capable of improving control reliability.

[0010] According to a first aspect of the present invention, the present invention provides a narrow-belt sorter, which includes a mechanical transport device, which includes: curved-track sections located at a head end and a tail end of the sorter, a straight-track section between the head end and the tail end, and front-mounted motor sets and rear-mounted motor sets that are uniformly distributed along a track to supply power; narrow-belt trolleys laid above the curved-track sections and the straight-track section, and end-traveling assemblies arranged on both sides of the narrow-belt trolleys; an infrared communication mounting assembly and a reset and anti-collision assembly for a permanent magnet linear synchronous motor on a straight-track gantry of the straight-track section; a power supply assembly configured to supply power to the narrow-belt trolleys; and a laser ranging assembly configured to detect a trolley belt surface and trolley bolts, where the power supply assembly is a wired power supply assembly or a wireless power supply assembly.

[0011] As a further improvement of the above technical solution: preferably, each curved-track section includes cast curved tracks; the cast curved tracks are integrally cast structures, and the cast curved tracks are assembled on a support frame via a support shaft and support seats; two cast curved tracks located on opposite sides of the track are mounted on the support shaft, and support shaft ends of the support shaft define axial positions of the cast curved tracks; the support shaft ends extending outward the cast curved tracks in an axial direction are fitted on the support frame via mounted bearings, and outer side surfaces of the two cast curved tracks that face away from each other are securely fastened and fixed to the support frame via a plurality of the support seats; two of the support seats are fixed to a transverse brace having an inclined F-shaped structure, and form a three-point support arrangement with the other four support seats outside a circumference of the mounted bearings; a gantry is arranged on an end face of an opening end of the U-shaped structure of the cast curved track in front of the support frame, and the gantry is securely fastened and fixed to the end face of the cast curved track; and curved-track foot sleeves are installed at bottom ends of the and the support frame, and the curved-track foot sleeves are fixed to a ground.

[0012] Preferably, the straight-track section comprises an upper straight track, a lower straight track, a guard plate mounting frame, a straight-track gantry, and straight-track foot sleeves; and the upper straight track and the lower straight track are fixed to the positioned straight track gantries that are arranged at intervals via bolts; the guard plate mounting frame is arranged at hole positions corresponding to the upper straight track and the lower straight track for mounting track cover plates; and the straight-track foot sleeves are mounted at the bottom ends of the straight-track gantry.

[0013] Preferably, each narrow-belt trolley includes a trolley frame, a driving roller assembly, an idler roller assembly, a belt, and anti-deviation limiting members; the driving roller assembly and the idler roller assembly are respectively mounted at opposite ends of the trolley frame in a length direction; a driving roller is rotatably mounted in the driving roller assembly, and an idler roller parallel to the driving roller is rotatably mounted in the idler roller assembly; the belt is looped around the driving roller and the idler roller; the anti-deviation limiting members are mounted on outer portions of both sides of the driving roller assembly and the idler roller assembly in a width direction of the belt, and a tangent direction of an outer circumferential surface of a self-rotating wheel of the anti-deviation limiting member is parallel to or in contact with a side surface of a conveying direction of the belt; and the belt is driven by the driving roller assembly to rotate to unload a parcel to a designated chute during unloading.

[0014] Preferably, a plurality of the end-traveling assemblies are mounted symmetrically on opposite sides of a bottom of the narrow-belt trolley, and the plurality of the end-traveling assemblies on a same side are connected in series to form a loop for use. Each end-traveling assembly comprises a U-shaped integrated chain plate, a guide wheel set, an articulated bolt, a mounting plate, and a traveling wheel set; a reinforcing plate is mounted on the chain plate via pins; a rotation centerline of guide wheel set in a vertical direction coincides with a mounting center of the mounting plate on a side plate of the chain plate, but is offset from a hole connection line for mounting of the narrow-belt trolley on the chain plate; the traveling wheel set is also mounted on the chain plate via a wheel axle bolt, a plurality of bushings, and a locking nut; and each set of the chain plates is connected and fastened via the articulated bolt, the locking nut, and a fastening nut.

[0015] Preferably, mounting positions of the front-mounted motor sets and the rear-mounted motor sets are staggered and evenly distributed. Each front-mounted motor set includes three front-mounted motors and one front-mounted Hall sensor, and the front-mounted motors and the front-mounted Hall sensor are fixed to a front-mounted support plate; and the front-mounted support plate is fixed to the straight-track gantry via three front-mounted motor brackets. Each rear-mounted motor set includes three rear-mounted motors and one rear-mounted Hall sensor, and the rear-mounted motors and the rear-mounted Hall sensor are fixed to a rear-mounted mounting square tube; and the rear-mounted mounting square tube is fixed to the straight-track gantry via three rear-mounted motor brackets.

[0016] Preferably, the infrared communication mounting assembly is mounted on the straight-track gantry adjacent to the straight-track section. The infrared communication mounting assembly includes a first infrared mounting plate, a second infrared mounting plate, an infrared heightening bracket, a first infrared mounting bracket and a second infrared mounting bracket. The first infrared mounting plate, the second infrared mounting plate, and the infrared heightening bracket are arranged around a square tube of an infrared emitting welding strip in a surrounding manner via bolts; and an infrared transceiver controller and a photoelectric sensor are mounted on the first infrared mounting bracket; a single-channel Hall encoder is mounted on the second infrared mounting bracket; the second infrared mounting bracket is fixed to the first infrared mounting bracket via bolts, and the first infrared mounting bracket is fixed to the infrared heightening bracket via bolts; a waist hole for vertical adjustment is formed on the first infrared mounting bracket ; a reflector is arranged corresponding to the photoelectric sensor , the reflector is mounted on a reflector bracket , and the reflector bracket is fixed to a bracket of a driver and is mounted only on a leading trolley; the infrared transceiver controller faces directly toward the driver of the narrow-belt trolley, enabling left-right infrared communication for transmitting a signal to the driver of the narrow-belt trolley and to drive the narrow-belt trolley to sort parcels. When the narrow-belt trolley travels forward along the track with rotating vertically in a loop, the photoelectric sensor illuminates the reflector on the leading trolley, the infrared transceiver controller acquires a position of the leading trolley directly above.

[0017] Preferably, the reset and anti-collision assembly for a permanent magnet linear synchronous motor comprises an anti-collision device, an anti-collision mounting bracket, a brush mounting bracket, and a brush. The anti-collision mounting bracket and the brush mounting bracket are mounted on the straight-track gantry; the anti-collision device is mounted on the anti-collision mounting bracket; the brush is mounted on the brush mounting bracket; a proximity sensor is mounted on the anti-collision device; and the brush and the anti-collision device are arranged at a front end of a first motor when the narrow-belt trolley runs past the front-mounted motor sets and the rear-mounted motor sets; the wired power supply assembly adopts a power transmission structure in which a carbon-brush collector cooperates with a conductor line; a conductor line track is arranged on a conductor line track bracket on an upper layer on a left side in a main line travel direction, the conductor line track bracket is mounted on the straight-track gantry, a plurality of power-supply trolleys are arranged at intervals, and the carbon-brush collectors are mounted on the power-supply trolleys to draw power from the conductor line. A direct current power cabinet is arranged to supply power to the conductor line to energize the entire conductor line, the carbon-brush collectors are fixed to the power-supply trolleys via brackets and slide with the movement of the power-supply trolleys, and enter the conductor line track through a conductor line track entry port, the carbon-brush collectors are compressed during the movement, such that the carbon-brush collectors are pressed firmly against the conductor line to slide and draw the power; and the wireless power supply assembly adopts a wireless power transmission form in which a U-shaped power pickup cooperates with a transmitting track. The transmitting track is mounted on a transmitting track bracket on the upper layer on the left side in the main line travel direction, the transmitting track bracket is mounted on the straight-track gantry, a plurality of power-supply trolleys are arranged at intervals, and the U-shaped power pickup is arranged on the power-supply trolleys to draw power from the transmitting track.

[0018] Preferably, the laser ranging assembly includes trolley belt surface laser ranging detection and bolt laser ranging detection, the trolley belt surface laser ranging detection is to mount a laser ranging sensor on a laser measuring bracket, the laser ranging sensor is mounted symmetrically downward on both sides of the curved-track gantry located at the tail end of the sorter, the laser ranging sensor is configured to detect a surface of the belt based on the laser ranging detection; and the bolt laser ranging detection is to mount the laser ranging sensor on a laser trolley screw bracket to detect the trolley bolts based on the laser ranging detection.

[0019] According to another aspect of the present invention, the present invention provides a sortation method for a narrow-belt sorter, including: step 1: conveying a parcel by a parcel feeder, passing through Photoelectric Sensor No. 0 before entering the narrow-belt sorter, and calculating a length of the parcel and a number of narrow-belt trolleys occupied by the parcel according to a duration that Photoelectric Sensor No. 0 is blocked; step 2: triggering a camera to capture an image when the parcel passes through Photoelectric Sensor No. 0, processing the parcel via the camera to obtain parcel barcode information and sending the information to SDS software of an upper computer, uploading the parcel barcode information to a server via the upper computer to obtain a sortation chute information position corresponding to the parcel barcode information, and forwarding information of the parcel to a main controller via a user datagram protocol (UDP) before Photoelectric Sensor No. 1 is triggered; step 3: matching a sortation command corresponding to the chute information of the SDS software of the upper computer when the parcel enters a narrow-belt sorter from a curved-track section at a head end of the sorter, that is, reaching a position of Photoelectric Sensor No. 1, and identifying a leading trolley occupied by the parcel when it enters the narrow-belt sorter at the position of Photoelectric Sensor No. 1 according to positions of the narrow-belt trolleys on an entire track via the main controller; and step 4: identifying the narrow-belt trolley matching a parcel chute for control to complete the sortation based on the length of the parcel and the number of narrow-belt trolleys occupied by the parcel according to a duration that Photoelectric Sensor No. 0 is blocked obtained in the step 1, and the leading trolley occupied by the parcel when it enters the narrow-belt sorter obtain in the step 3.

[0020] The narrow-belt sorters and a sortation method therefor have the following beneficial effects: The narrow-belt sorter of the present invention features a compact structure and a reasonable sortation method. By employing wireless infrared communication in conjunction with the software of the upper computer, it enables parcel sortation in various environments, and is particularly advantageous in the use scenarios of outlets, where more chutes may be deployed in a limited space, and the sortation size range and the sortation types of parcel are wider.

[0021] The narrow-belt sorters and a sortation method therefor also have the following advantages: (1) Compared with traditional chain-type narrow belts, the chain plate structure in the present invention adopts an integrated form. A reinforcing plate is mounted on the chain plate via pins, resulting in high structural strength and eliminating the need for subsequent tension adjustments of chain-type narrow belts. Compared with a chain plate structure assembled from two separate plates, the integrated chain plate structure is more compact and reasonable, easier to operate, and exhibits higher bending and tensile strength, thereby effectively preventing cracking or breakage of the chain plates during use. (2) The curved track structure in the present invention adopts an integrated cast curved track structure, enabling quick mounting of curved tracks while ensuring the overall structural stability and reliability of the mounting. The integrated cast curved track is cost-effective and wear-resistant, effectively reducing the required alignment precision and machining costs without affecting the stability of the narrow-belt trolley. (3) The integrated chain plate structure and integrated cast curved track structure at head and tail ends can significantly reduce the noise during operation. (4) The present invention adopts the infrared communication, such that only the narrow-belt trolley is provided with power lines. Each driver is provided with an independent infrared receiving port, eliminating the need for wireless clients or network cables, which greatly reduces mounting difficulty and failure rates. In addition, each infrared communication mounting assembly supports independent resetting to eliminate cumulative errors, making the communication more accurate. The infrared communication mounting assembly is easy to adjust, time-saving, labor-saving, and convenient for maintenance, offering strong practicality. (5) By detecting the belt surface and trolley bolt through laser ranging, the present invention can prevent the trolley from falling off.

[0022] According to yet another aspect of the present invention, the present invention provides a narrow-belt sortation control method, which is applied to the infrared controller in the narrow-belt sortation system. The system also includes a plurality of narrow-belt trolleys and a master control unit. The method includes the following steps: acquiring first position information and parcel status information corresponding to each narrow-belt trolley within a target monitoring area from the master control unit; and the first position information is position information of the narrow-belt trolley in a movement direction of a main conveyor belt; determining a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information; and sending the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enabling the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, so as to transfer the parcel to be sorted on the trolley to the target sortation lane.

[0023] In one embodiment, the method further includes: performing status monitoring on each narrow-belt trolley within the target monitoring area to acquire second position information corresponding to each narrow-belt trolley; and sending the second position information to the master control unit, where the second position information refers to position information of a self-driving direction of each narrow-belt trolley, and the second position information is used by the master control unit to determine target path information of the parcel to be sorted according to the second position information.

[0024] In one embodiment, the performing status monitoring on each narrow-belt trolley within the target monitoring area to acquire second position information corresponding to each narrow-belt trolley in the method further includes: acquiring detection pulse signals of each narrow-belt trolley within the target monitoring area; counting the detection pulse signals of each narrow-belt trolley to determine a number of detected pulses; acquiring second position information according to the number of detected pulses when the number of detected pulses is less than a preset reset threshold; and generating a reset command when the number of detected pulses is equal to the preset reset threshold; and acquiring second position information according to the reset command.

[0025] According to still another aspect of the present invention, the present invention further provides a narrow-belt sortation control method, which is applied to a master control unit in the narrow-belt sortation system; the system also includes a plurality of narrow-belt trolleys and a master control unit; and the method further includes: acquiring parcel status information corresponding to a parcel to be sorted and second position information corresponding to each narrow-belt trolley; obtaining a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted according to the parcel status information and the second position information; and conveying the parcel to be sorted onto the second target narrow-belt trolley according to the target path information.

[0026] In one embodiment, after the obtaining a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted, the method further includes: acquiring trolley status information; determining status information corresponding to the second target narrow-belt trolley according to the trolley status information; and conveying the parcel to be sorted onto the second target narrow-belt trolley according to the target path information when the status information corresponding to the second target narrow-belt trolley indicates a normal state.

[0027] In one embodiment, the method further includes: re-determining a second target narrow-belt trolley and target path information when the status information corresponding to the second target narrow-belt trolley indicates an abnormal state.

[0028] According to still another aspect of the present invention, the present invention further provides a narrow-belt sortation control apparatus, which is applied to the infrared controller in the narrow-belt sortation system; the system also includes a plurality of narrow-belt trolleys and a master control unit; and the apparatus includes: a data acquisition module configured to acquire first position information corresponding to each narrow-belt trolley within a target monitoring area and parcel status information from the master control unit; a command generation module configured to determine a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information; and a command sending module configured to send the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enable the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, so as to transfer the parcel to be sorted on the trolley to the target sortation lane.

[0029] According to still another aspect of the present invention, the present invention further provides a narrow-belt sortation control apparatus, which is applied to the master control unit in the narrow-belt sortation system; the system also includes a plurality of narrow-belt trolleys and an infrared controller; and the apparatus includes: an information acquisition module configured to acquire parcel status information corresponding to a parcel to be sorted and second position information corresponding to each narrow-belt trolley; a path planning module configured to acquire a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted according to the parcel status information and the second position information; and a loading control module configured to convey the parcel to be sorted onto the second target narrow-belt trolley according to the target path information.

[0030] According to still another aspect of the present invention, the present invention further provides a narrow-belt sortation control system, including: a master control unit configured to acquire parcel status information corresponding to a parcel to be sorted and second position information corresponding to each narrow-belt trolley; acquire a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted according to the parcel status information and the second position information; and convey the parcel to be sorted onto the second target narrow-belt trolley according to the target path information; and an infrared controller configured to acquire first position information corresponding to each narrow-belt trolley within a target monitoring area and parcel status information corresponding to the parcel to be sorted from the master control unit, where the first position information refers to position information of the narrow-belt trolley in a movement direction of a main conveyor belt; to determine a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information; and send the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enable the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, so as to transfer the parcel to be sorted on the trolley to the target sortation lane.

[0031] According to still another aspect of the present invention, the present invention further provides a computer device, including a memory and a processor; the memory stores a computer program, and the processor implements the steps in the narrow-belt sortation control method as described above.

[0032] The above-mentioned narrow-belt sortation control method, apparatus, system and device, on the one hand, the narrow-belt sortation control method is applied to the infrared controller in the narrow-belt sortation system. The narrow-belt sortation system further includes a plurality of narrow-belt trolleys and a master control unit. The narrow-belt sortation control method includes: acquiring first position information and parcel status information corresponding to each narrow-belt trolley within a target monitoring area from the master control unit, where the first position information refers to position information of the narrow-belt trolley in a movement direction of a main conveyor belt; determining a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information; and sending the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enabling the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, so as to transfer the parcel to be sorted on the trolley to the target sortation lane. In the present invention, the first target narrow-belt trolley is selected within the target monitoring area via the infrared controller, and a drive command is generated and sent to the corresponding trolley driver, which improves the communication stability and accuracy between the infrared controller and the trolley driver, and avoids communication interruptions or errors, thereby improving the reliability of the narrow-belt sortation control method.BRIEF DESCRIPTION OF THE DRAWINGS

[0033] FIG. 1 is a schematic diagram of the overall three-dimensional structure of a narrow-belt sorter according to the present invention. FIG. 2 is a schematic diagram illustrating an internal structure of a narrow-belt sorter according to the present invention. FIG. 3 is a schematic diagram illustrating an internal structure of a curved-track section according to the present invention. FIG. 4 is a schematic diagram illustrating an internal structure of a straight-track section according to the present invention. FIG. 5 is a schematic structural diagram of a narrow-belt trolley according to the present invention. FIG. 6 is a schematic structural diagram of an end-traveling assembly according to the present invention. FIG. 7 is a top view of the structure shown in FIG. 6. FIG. 8 is a schematic diagram illustrating a narrow-belt trolley mounted on an end-traveling assembly according to the present invention. FIG. 9 is a schematic diagram illustrating a layout of front-mounted motor set and a rear-mounted motor set according to the present invention. FIG. 10 is a schematic structural diagram of an infrared communication mounting assembly according to the present invention. FIG. 11 is a schematic diagram illustrating a mounting state of an infrared communication mounting assembly according to the present invention. FIG. 12 is a schematic diagram illustrating a mounting state of a reset and anti-collision assembly for a permanent magnet linear synchronous motor according to the present invention. FIG. 13 is a schematic diagram of a wired power supply assembly according to the present invention. FIG. 14 is a left view of the assembly shown in FIG. 13. FIG. 15 is a schematic diagram of a wireless power supply assembly according to the present invention. FIG. 16 is a left view of the assembly shown in FIG. 15. FIG. 17 is a schematic diagram of a belt surface of a laser ranging assembly according to the present invention. FIG. 18 is a schematic diagram illustrating cooperation between a laser ranging sensor and a laser ranging screw bracket according to the present invention. FIG. 19 is a logic flowchart of a sortation method according to the present invention. FIG. 20 is an application environment diagram of a narrow-belt sortation control method according to one embodiment. FIG. 21 is a flowchart of a narrow-belt sortation control method applied to an infrared controller according to one embodiment. FIG. 22 is a flowchart of steps of acquiring second position information according to one embodiment. FIG. 23 is a flowchart of a narrow-belt sortation control method applied to an infrared controller according to another embodiment. FIG. 24 is a flowchart of a narrow-belt sortation control method applied to a master control unit according to one embodiment. FIG. 25 is a flowchart of a narrow-belt sortation control method applied to a master control unit according to another embodiment. FIG. 26 is a block diagram of a narrow-belt sortation control apparatus applied to an infrared controller according to an embodiment. FIG. 27 is a block diagram of a narrow-belt sortation control apparatus applied to a master control unit according to an embodiment. FIG. 28 is a schematic diagram illustrating an internal structure of a computer device according to an embodiment.

[0034] Reference numerals in the accompanying drawings: 1. curved-track section; 2. straight-track section; 3. narrow-belt trolley; 4. end-traveling assembly; 5. front-mounted motor set; 6. rear-mounted motor set; 7. infrared communication mounting assembly; 8. reset and anti-collision assembly for a permanent magnet linear synchronous motor; 9. power supply assembly; 10. laser ranging assembly; 101. support frame; 102. curved-track foot sleeve; 103. cast curved track; 104. support shaft; 105. curved-track gantry; 106. support seat; 107. transverse brace; 108. mounted bearing; 109. end plat; 201. upper straight track; 202. lower straight track; 203. guard plate mounting frame; 204. straight-track gantry; 205. straight-track foot sleeve; 301. idler roller assembly; 302. anti-deviation limiting member; 303. magnetic pole assembly; 304. trolley frame; 305. driver; 306. driving roller assembly; 307. screw sleeve; 308. belt; 309. carbon-brush collector; 310. U-shaped power pickup; 401. chain plate; 402. guide wheel set; 403. articulated bolt; 404. mounting plate; 405. traveling wheel set; 406. wheel axle bolt; 407. bushing; 408. locking nut; 409. fastening nut; 410. reinforcing plate; 501. front-mounted motor; 502. front-mounted Hall sensor; 503 front-mounted support plate; 504. front-mounted motor bracket; 601. rear-mounted motor; 602. rear-mounted Hall sensor; 603. rear-mounted mounting square tube; 604. rear-mounted motor bracket; 701. first infrared mounting plate; 702. second infrared mounting plate; 703. infrared heightening bracket; 704. infrared emitting welding strip; 705. first infrared mounting bracket; 706. second infrared mounting bracket; 707. infrared transceiver controller; 708. photoelectric sensor; 709. single-channel Hall encoder; 710. reflector; 711. reflector bracket; 801. anti-collision device; 802. anti-collision mounting bracket; 803. brush mounting bracket; 804. brush; 901. conductor line track; 902. conductor line track bracket; 903. conductor line track entry port; 904. transmitting track; 905. transmitting track bracket; 1001. laser measuring bracket; 1002. laser ranging sensor. DETAILED DESCRIPTION OF EMBODIMENTS

[0035] The detailed description of the present invention will be described in detail below with reference to the accompanying drawings.

[0036] As shown in FIGs. 1-18, this embodiment provides a narrow-belt sorter, which includes a mechanical transport device. The mechanical transport device includes: curved-track sections 1 located at a head end and a tail end of the sorter, a straight-track section 2 between the head end and the tail end, and front-mounted motor sets 5 and rear-mounted motor sets 6 that are uniformly distributed along a track to supply power; narrow-belt trolleys 3 laid above the curved-track sections 1 and the straight-track section 2, and end-traveling assemblies 4 arranged on both sides of the narrow-belt trolleys 3; an infrared communication mounting assembly 7 and a reset and anti-collision assembly for a permanent magnet linear synchronous motor 8 on a straight-track gantry 204 of the straight-track section 2; a power supply assembly 9 configured to supply power to the narrow-belt trolleys 3; and a laser ranging assembly 10 configured to detect a distance between a trolley belt surface and trolley bolts, where the power supply assembly 9 is a wired power supply assembly or a wireless power supply assembly.

[0037] Each curved-track section 1 includes cast curved tracks 103, which are integrally cast structures; the cast curved tracks 103 are assembled on a support frame 101 via a support shaft 104 and support seats 106; the two cast curved tracks 103 located on opposite sides of the track are mounted on the support shaft 104, and support shaft ends of the support shaft 104 define axial positions of the cast curved tracks 103; the support shaft ends extending outward the cast curved tracks 103 in an axial direction are fitted on the support frame 101 via mounted bearings 108, and outer side surfaces of the two cast curved tracks 103 that face away from each other are securely fastened and fixed to the support frame 101 via a plurality of the support seats 106; two of the support seats 106 are fixed to a transverse brace 107 having an inclined F-shaped structure, and form a three-point support arrangement with the other four support seats 106 for the support shaft 104 outside a circumference of the mounted bearings 108, that is, one support seat 106 fixed to the transverse brace 107 and two other support seats 106 and two other support seats 106 located in a circumferential direction of the mounted bearings 108 form the three-point support arrangement on the outer side surface of each cast curved track 103, such that the support frame 101 provides reliable and stable support for the cast curved tracks 103, forming a structurally reliable curved track structure; a curved-track gantry 105 is arranged outside an opening end of the U-shaped structure of the cast curved track 103 in front of the support frame 101, and the curved-track gantry 105 is securely fastened and fixed to the end face of the cast curved track 103 to ensure the stability of the cast curved track 103 and the reliability of a connection between the cast curved track 103 and the straight-track section, as well as ensure the stability of the trolleys when cornering and achieving smooth track transitions; and curved-track foot sleeves 102 are installed at bottom ends of both the curved-track gantry 105 and the support frame 101, the curved-track foot sleeves 102 are fixed to a ground, and heights of the curved-track gantry 105 and the support frame 101 from the ground are adjusted via the curved-track foot sleeves 102, this configuration not only provides secure ground anchoring but also enables overall height adjustment. The support frame 101 is further provided with an end plate 109; by using integrated cast curved tracks 103 and mounting the integrated cast curved tracks 103 on the support frame 101 via the support shaft 104 and support seats 106, the cast curved tracks 103 can be mounted quickly and conveniently, providing support and guidance for the trolley wheels.

[0038] The cast curved tracks 103 may be die-cast with materials such as ductile cast iron, with localized machining performed on key dimensions according to mounting requirements. The design requires low manufacturing cost, wear resistance, low operational noise, low overall cost and high wear resistance. Moreover, the cast curved track 103 has a U-shaped structure that connects to external straight tracks via straight arms, which effectively reduces alignment precision and machining requirements without affecting the running stability of the trolleys after the connection. In addition, the cast curved track 103 may be provided with a photoelectric sensor for jam detection to prevent the narrow-belt trolleys from jamming. The straight-track section 2 includes an upper straight track 201, a lower straight track 202, a guard plate mounting frame 203, a straight-track gantry 204, and straight-track foot sleeves 205. The upper straight track 201 and the lower straight track 202 are fixed to the positioned straight track gantries 204 that are arranged at intervals via bolts; the guard plate mounting frame 203 is arranged at hole positions corresponding to the upper straight track 201 and the lower straight track 202 for mounting track cover plates; and the straight-track foot sleeves 205 are mounted at bottom ends of the straight-track gantry 204 for fixing to the ground and adjusting a height.

[0039] Each narrow-belt trolley 3 includes a trolley frame 304, a driving roller assembly 306, an idler roller assembly 301, a belt 308, and anti-deviation limiting members 302. The driving roller assembly 306 and the idler roller assembly 301 are respectively mounted at opposite ends of the trolley frame 304 in a length direction; a driving roller is rotatably mounted in the driving roller assembly 306, and an idler roller parallel to the driving roller is rotatably mounted in the idler roller assembly 301; the belt 308 is looped around the driving roller and the idler roller; the anti-deviation limiting members 302 are mounted on outer portions of both sides of the driving roller assembly 306 and the idler roller assembly 301 in a width direction of the belt 308, and a tangent direction of an outer circumferential surface of a self-rotating wheel of the anti-deviation limiting member 302 is parallel to or in contact with a side surface of a conveying direction of the belt 308; and the belt 308 is driven by the driving roller assembly 306 to rotate to unload a parcel to a designated chute during unloading.

[0040] Each narrow-belt trolley 3 further includes a magnetic pole assembly 303 and a driver 305, where the magnetic pole assembly 303 serves as a permanent magnet mover of a permanent magnet linear motor set, and the driver 305 serves as a drive controller for the rotation of the narrow-belt trolley. Each narrow-belt trolley 3 also includes screw sleeves 307. Installation of the screw sleeves 307 effectively reduces or even avoids thread stripping during maintenance or disassembly, which is convenient for daily maintenance operations, and the screw sleeves are configured to connect and fix the narrow-belt trolley 3 to the end-traveling assembly 4.

[0041] A plurality of the end-traveling assemblies 4 are mounted symmetrically on opposite sides of a bottom of the narrow-belt trolley 3, and the plurality of the end-traveling assemblies 4 on a same side are connected in series to form a loop for use. Each end-traveling assembly 4 includes a U-shaped integrated chain plate 401, a guide wheel set 402, an articulated bolt 403, a mounting plate 404, and a traveling wheel set 405. A reinforcing plate 410 is mounted on the chain plate 401 via pins to enhance a local strength of the chain plate 401; a rotation centerline of guide wheel set 402 in a vertical direction coincides with a mounting center of the mounting plate 404 on a side plate of the chain plate 401, but is offset from a hole connection line for mounting of the narrow-belt trolley on the chain plate 401. This offset design makes a load-bearing center of the chain plate 401 supporting the narrow-belt trolley 3 offset from the mounting center of the mounting plate 404 on a side plate of the chain plate 401, thereby avoiding the problem of stress concentration of the chain plate 401 caused by the addition of a requiring processing notch on the mounting plate 404, and the guide wheel set 402 is mounted on the mounting plate 404; the traveling wheel set 405 is also mounted on the chain plate 401 via a wheel axle bolt 406, a plurality of bushings 407, and a locking nut 408; and each set of the chain plates 401 is connected and fastened via the articulated bolt 403, the locking nut 408, and a fastening nut 409.

[0042] Mounting positions of the front-mounted motor sets 5 and the rear-mounted motor sets 6 are staggered and evenly distributed. Each front-mounted motor set 5 includes three front-mounted motors 501 and one front-mounted Hall sensor 502, and the front-mounted motors 501 and the front-mounted Hall sensor 502 are fixed to a front-mounted support plate 503; and the front-mounted support plate 503 is fixed to the straight-track gantry 204 via three front-mounted motor brackets 504. Each rear-mounted motor set 6 includes three rear-mounted motors 601 and one rear-mounted Hall sensor 602, and the rear-mounted motors 601 and the rear-mounted Hall sensor 602 are fixed to a rear-mounted mounting square tube 603; and the rear-mounted mounting square tube 603 is fixed to the straight-track gantry 204 via three rear-mounted motor brackets 604.

[0043] The infrared communication mounting assembly 7 is mounted on the straight-track gantry 204 adjacent to the straight-track section. The infrared communication mounting assembly 7 includes a first infrared mounting plate 701, a second infrared mounting plate 702, an infrared heightening bracket 703, a first infrared mounting bracket 705 and a second infrared mounting bracket 706. The first infrared mounting plate 701, the second infrared mounting plate 702, and the infrared heightening bracket 703 are arranged around a square tube of an infrared emitting welding strip 704 in a surrounding manner via bolts; and an infrared transceiver controller 707 and a photoelectric sensor 708 are mounted on the first infrared mounting bracket 705; a single-channel Hall encoder 709 is mounted on the second infrared mounting bracket 706; the second infrared mounting bracket 706 is fixed to the first infrared mounting bracket 705 via bolts, and the first infrared mounting bracket 705 is fixed to the infrared heightening bracket 703 via bolts; a waist hole for vertical adjustment is formed on the first infrared mounting bracket 705; a reflector 710 is arranged corresponding to the photoelectric sensor 708, the reflector 710 is mounted on a reflector bracket 711, and the reflector bracket 711 is fixed to a bracket of a driver 305 and is mounted only on a leading trolley; the infrared transceiver controller 707 faces directly toward the driver 305 of the narrow-belt trolley 3, enabling left-right infrared communication for transmitting a signal to the driver of the narrow-belt trolley and to drive the narrow-belt trolley to sort parcels. When the narrow-belt trolley travels forward along the track rotating vertically in a loop, the photoelectric sensor 708 illuminates the reflector 710 on the leading trolley, the infrared transceiver controller 707 acquires a position of the leading trolley directly above, and the infrared communication mounting assembly 7 realizes independent reset to eliminate cumulative errors, thereby making the communication more accurate, easy to adjust the mounting position, saving time and efforts, convenient for maintenance and operation and having good practicality.

[0044] The reset and anti-collision assembly for a permanent magnet linear synchronous motor 8 includes an anti-collision device 801, an anti-collision mounting bracket 802, a brush mounting bracket 803, and a brush 804. The anti-collision mounting bracket 802 and the brush mounting bracket 803 are mounted on the straight-track gantry 204; the anti-collision device 801 is mounted on the anti-collision mounting bracket 802; the brush 804 is mounted on the brush mounting bracket 803; a proximity sensor is mounted on the anti-collision device 801; the brush 804 and the anti-collision device 801 are arranged at a front end of a first motor when the narrow-belt trolley runs past the front-mounted motor sets 5 and the rear-mounted motor sets 6; and the anti-collision device 801 can effectively prevent the collision between the permanent-magnet mover and the motor body, thereby protecting the motor.

[0045] The wired power supply assembly adopts a power transmission structure in which a carbon-brush collector 309 cooperates with a conductor line. A conductor line track 901 is arranged on a conductor line track bracket 902 on an upper layer on a left side in a main line travel direction, the conductor line track bracket 902 is mounted on the straight-track gantry 204, a plurality of power-supply trolleys are arranged at intervals, and the carbon-brush collectors 309 are mounted on the power-supply trolleys to draw power from the conductor line. A direct current (DC) power cabinet is arranged to supply power to the conductor line to energize the entire conductor line, the carbon-brush collectors 309 are fixed to the power-supply trolleys via brackets and slide with the movement of the power-supply trolleys, and enter the conductor line track 901 through a conductor line track entry port 903, the carbon-brush collectors 309 are compressed during the movement, such that the carbon-brush collectors 309 are pressed firmly against the conductor line to slide and draw the power, a sufficient number of carbon-brush collectors 309 on each trolley supplies greater power to the trolley, supporting simultaneous sortation and unloading of the parcels by a plurality of the trolleys. To facilitate the arrangement of the carbon-brush collectors 309 in a wired form, a given number of DC 48V cabinets needs to be evenly distributed on the wire, to ensure stable power supply, adequate power and successful unloading.

[0046] In this embodiment, the wireless power supply assembly adopts a wireless power transmission form in which a U-shaped power pickup 310 cooperates with a transmitting track 904. The transmitting track 904 is mounted on a transmitting track bracket 905 on the upper layer on the left side in the main line travel direction, the transmitting track bracket 905 is mounted on the straight-track gantry 204, a plurality of power-supply trolleys are arranged at intervals, and the U-shaped power pickup 310 is arranged on the power-supply trolleys to draw power from the transmitting track 904. The operating principle is as follows: a transmitter controller controls high-frequency alternating current generated in the transmitting track, the U-shaped power pickup 310 moving on the transmitting track 904 obtain inductive power and outputs 48 V voltage through a receiving controller, and the outputted current is incorporated into a power supply bus of narrow-belt trolleys to supply power to all narrow-belt trolleys. The U-shaped power pickup 310, the receiving controller and other outputted cables use flexible cables for easy wiring; and outputs of the receiving controller is connected in parallel, and each set of receiving ends (power pickup + receiving controller) does not affect each other, and a number of the receiving ends may be increased or decreased according to actual testing needs.

[0047] The laser ranging assembly 10 includes trolley belt surface laser ranging detection and bolt laser ranging detection. The trolley belt surface laser ranging detection is to mount a laser ranging sensor 1002 on a laser measuring bracket 1001, the laser ranging sensor 1002 is mounted symmetrically downward on both sides of the curved-track gantry 105 located at the tail end of the sorter, the laser ranging sensor 1002 is configured to detect a surface of the belt 308 based on the laser ranging detection, and a detection range is set for the laser distance measurement. A signal is outputted to a programmable logic controller (PLC) when the measurement results fall out of the detection range; and the bolt laser ranging detection is to mount the laser ranging sensor 1002 on a laser trolley screw bracket, and to detect whether the trolley bolts are abnormal based on the laser ranging detection, such as falling off or breaking, and a detection range is set for the laser distance measurement. A signal is outputted to the PLC when the measurement results fall out of the detection range.

[0048] As shown in FIG. 19, this embodiment provides a sortation method for the narrow-belt sorter, including the following steps: Step 1: conveying a parcel by a parcel feeder, passing through Photoelectric Sensor No. 0 before entering the narrow-belt sorter, and calculating a length of the parcel and a number of narrow-belt trolleys occupied by the parcel according to a duration that Photoelectric Sensor No. 0 is blocked; Step 2: triggering a camera to capture an image when the parcel passes through Photoelectric Sensor No. 0, processing the parcel via the camera to obtain parcel barcode information and sending the information to SDS software of an upper computer, uploading the parcel barcode information to a server via the upper computer to obtain a sortation chute information position corresponding to the parcel barcode information, and forwarding information of the parcel to a main controller via a user datagram protocol (UDP) before Photoelectric Sensor No. 1 is triggered; Step 3: matching a sortation command corresponding to the chute information of the SDS software of the upper computer when the parcel enters a narrow-belt sorter from a curved-track section 1 at a head end of the sorter, that is, reaching a position of Photoelectric Sensor No. 1, and identifying a leading trolley occupied by the parcel when it enters the narrow-belt sorter at the position of Photoelectric Sensor No. 1 according to positions of the narrow-belt trolleys on an entire track via the main controller; and Step 4: identifying the narrow-belt trolley matching a parcel chute for control to complete the sortation based on the length of the parcel and the number of narrow-belt trolleys occupied by the parcel according to a duration that Photoelectric Sensor No. 0 is blocked obtained in the step 1, and the leading trolley occupied by the parcel when it enters the narrow-belt sorter obtained in the step 3.

[0049] Specific operating process is as follows: A parcel is conveyed by a parcel feeder, a camera is triggered to capture an image when the parcel passes through Photoelectric Sensor No. 0, the main controller is simultaneously notified that one parcel is coming, a length of the parcel may be calculated according to the triggering duration of Photoelectric Sensor. After the parcel triggers Photoelectric Sensor No. 0, the camera processes the parcel to obtain parcel barcode information and send the information to SDS software of an upper computer, which uploads the parcel barcode information to a server obtain a sortation chute information position corresponding to the parcel barcode information, and forwards information of the parcel to a main controller via a user datagram protocol (UDP) before Photoelectric Sensor No. 1 is triggered.

[0050] When a plurality of parcels pass through Photoelectric Sensor No. 0 but have not yet reached Photoelectric Sensor No. 1, the system needs to spend time in matching each parcel with its corresponding barcode information, with specific calculation as follows: t camera + t pc − t control ≤ T _ offest where t camera denotes time taken by the camera to process the barcode; t pc denotes time taken by the upper computer to process the barcode; t control denotes calculation time of the main controller; and T_offest denotes an acceptable range of time errors between two sets of time intervals.

[0051] When one parcel reaches Photoelectric Sensor No. 1, the main controller needs to match the parcel information through the above calculation process. Upon successful matching, the main controller calculates the narrow-belt trolley number that carries the parcel, with specific calculation as follows: car index = position cur − position goal cnt single + 1 cnt where car min denotes a leading trolley under calculation; position car denotes a distance from a reset photoelectric sensor to a trolley loading position (in cm); position goal denotes a distance from Photoelectric Sensor No. 1 to the trolley loading position (in cm); cnt angle denotes a length of a single pulse (in cm); and cnt denotes a number of pulses corresponding to one narrow-belt trolley.

[0052] At Photoelectric Sensor No. 1, the parcel information is matched to the corresponding sortation information, a number of narrow-belt trolleys carrying the parcel and the leading trolley occupied by the parcel are calculated. The main controller then sends the corresponding parcel information (trolley number, a number of trolleys occupied, parcel length, parcel margin, chute information, and the like) to an infrared slave controller corresponding to a target chute.

[0053] The infrared slave controller corresponding to the target chute calculates the trolley number through the pre-calibrated control position and compares with the leading trolley occupied by the parcel according to the above calculation method, and controls the corresponding trolley upon successful matching, such that the parcel is unloaded at a designated chute, with specific calculation as follows: t = pulse goal − pulse count pulse single where t denotes delay action instruction time (in ms) sent to a driver after the infrared slave controller identifies the target narrow-belt trolley pulse goal denotes pulses required for the parcel to reach the target chute, using the reset photoelectric sensor as a reference point; pulse count denotes pulse count when the infrared slave controller detects the target trolley; and pulse angle denotes time duration required for a single pulse (in ms).

[0054] The present invention exhibits a reasonable structure. By utilizing the infrared communication mounting assembly 7 in conjunction with the corresponding software of the upper computer, parcel sortation can be adapted to various sorting environments, such that more chutes may be deployed in a limited space, and the sortation size range and the sortation types of parcel are wider.

[0055] The narrow-belt sortation control method provided in the embodiments of the present invention can be applied in a narrow-belt sortation system as shown in FIG. 20. The narrow-belt sortation system includes an infrared controller 1102, a plurality of narrow-belt trolleys 1104, and a master control unit 1106. The infrared controller 1102 communicates with trolley drivers of the narrow-belt trolleys 1104 via infrared communication of Infrared Data Association (IrDA). The infrared controller 1102 communicates with the master control unit 1106 via a communication network. In some embodiments, the infrared controller is implemented as the infrared communication mounting assembly.

[0056] In one exemplary embodiment, as shown in FIG. 21, a narrow-belt sortation control method is provided. The method is applied to the infrared controller 1102 in the narrow-belt sortation system, which also includes a plurality of narrow-belt trolleys 1104 and a master control unit 1106. The method includes the following steps 1202-1206.

[0057] Step 1202: acquiring first position information and parcel status information corresponding to each narrow-belt trolley within a target monitoring area from the master control unit.

[0058] The first position information refers to position information of the narrow-belt trolley in a movement direction of a main conveyor belt.

[0059] The narrow-belt sortation system includes a main conveyor belt, a parcel to be sorted enters the main conveyor belt from a first end, and the main conveyor belt moves in a first direction to drive the parcel to be sorted to move in a second end of the main conveyor belt. The plurality of narrow-belt trolleys are arranged on the main conveyor belt, and a plurality of sortation lanes are arranged on both sides of the main conveyor belt. Each narrow-belt trolley is provided with a dedicated trolley driver. The trolley driver is capable of driving the corresponding narrow-belt trolley to move in a second direction based on a driving commend from the infrared controller, such that the parcel to be sorted on the narrow-belt trolley is conveyed to the sortation lanes on either side of the main conveyor belt, where the second direction is a self-driving direction of the narrow-belt trolley, and the second direction is perpendicular to the first direction.

[0060] The narrow-belt sortation system also includes monitoring sensors, the monitoring sensors are connected to the master control unit, so as to transmit acquired monitoring information to the master control unit. After receiving the monitoring information from the monitoring sensors, the master control unit synchronizes the monitoring information to the infrared controller. The monitoring information includes position information and parcel status information corresponding to each narrow-belt trolley.

[0061] Exemplarily, the narrow-belt sortation system includes a vision sensor. The vision sensor is configured to capture images or videos of the narrow-belt sortation system, and perform image recognition and processing to acquire position information and parcel status information corresponding to the narrow-belt trolley on the main conveyor belt.

[0062] Further exemplarily, the narrow-belt sortation system includes a radio-frequency identification sensor. The radio-frequency identification sensor is configured to identify position information and parcel status information corresponding to the narrow-belt trolley. Exemplarily, the parcel status information may include unloading information, position information, weight information, posture information, or speed information of the parcel to be sorted. The unloading information refers to information of a target sortation lane of the parcel to be sorted, such as the number information or position information of the target sortation lane, which may be acquired by identifying markings on the parcel to be sorted via an identification device. The position information and the posture information may be identified and acquired by the vision sensor; the weight information may be collected using a weight sensor; and the speed information may be identified using a speed sensor.

[0063] Step 1204: determining a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information.

[0064] Since the IrDA communication method is limited by position, angle and light intensity, the narrow-belt sortation system may include a plurality of infrared controllers, and each infrared controller is assigned a portion of the main conveyor belt as its target monitoring area. Each infrared controller may be installed directly above the corresponding target monitoring area, such that a position directly below the infrared controller is taken as target position information. The narrow-belt trolley whose first position information coincides with the target position information is designated as an intermediate first target narrow-belt trolley.

[0065] Position information or posture information of the parcel to be sorted on the main conveyor belt that contacts the intermediate first target narrow-belt trolley is identified according to the parcel status information, and other narrow-belt trolleys in contact with the parcel to be sorted near the intermediate first target narrow-belt trolley are identified as edge first target narrow-belt trolleys. The intermediate first target narrow-belt trolley and the edge first target narrow-belt trolleys are collectively taken as the first target narrow-belt trolleys.

[0066] Exemplarily, it can be determined whether to identify a narrow-belt trolley as an edge first target trolley by determining whether an overlapping area between the parcel to be sorted and the narrow-belt trolley meets a preset threshold.

[0067] In one possible implementation mode, when no parcel to be sorted in contact with the intermediate first target narrow-belt trolley is identified, it means that the intermediate first target narrow-belt trolley parcel does not carry a parcel to be sorted, in which case, he current control process will be terminated.

[0068] The drive command includes movement time, movement direction, and movement speed of each first target narrow-belt trolley.

[0069] Exemplarily, the movement time can be calculated according to a distance between based on the distance between the first position information of the first target narrow-belt trolley and the position information of the target sortation lane, as well as the current speed information of the parcel to be sorted. The movement direction can be determined based on the position information of the target sortation lane and a direction relationship of the main conveyor belt. The movement speed can be calculated based on an entrance width of the target sortation lane and the current speed information of the parcel to be sorted. A movement acceleration can be calculated using fitting values stored in a Flash memory of the infrared controller.

[0070] Step 1206: sending the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enabling the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, so as to transfer the parcel to be sorted on the trolley to the target sortation lane.

[0071] The above narrow-belt sortation control method is applied to the infrared controller in the narrow-belt sortation system. The narrow-belt sortation system further includes a plurality of narrow-belt trolleys and a master control unit. The narrow-belt sortation control method includes: acquiring first position information and parcel status information corresponding to each narrow-belt trolley within a target monitoring area from the master control unit, where the first position information refers to position information of the narrow-belt trolley in a movement direction of a main conveyor belt; determining a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information; and sending the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enabling the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, so as to transfer the parcel to be sorted on the trolley to the target sortation lane. In this embodiment, the first target narrow-belt trolley is selected within the target monitoring area via the infrared controller, and a drive command is generated and sent to the corresponding trolley driver, which improves the communication stability and accuracy between the infrared controller and the trolley driver, and avoids communication interruptions or errors, thereby improving the reliability of the narrow-belt sortation control method.

[0072] In the embodiment based on FIG. 21, as shown in FIG. 22, the method may further include steps 1302-1304.

[0073] Step 1302: performing status monitoring on each narrow-belt trolley within the target monitoring area to acquire second position information corresponding to each narrow-belt trolley; and

[0074] Step 1304: sending the second position information to the master control unit.

[0075] The second position information refers to position information of a self-driving direction of the narrow-belt trolley, and the second position information is used by the master control unit to determine target path information of the parcel to be sorted.

[0076] Specifically, the second position information may also represent a driving state of the narrow-belt trolley. Exemplarily, the second position information includes initial state information and offset state information. When the second position information is the initial state information, a displacement of the narrow-belt trolley in the self-driving direction is 0, indicating that the narrow-belt trolley can be driven by the trolley driver to move in the self-driving direction, such that the parcel to be sorted on the narrow-belt trolley is conveyed to the target sortation lane in the self-driving direction; and when the second position information is the offset state information, the displacement of the narrow-belt trolley in the self-driving direction is not 0, indicating that the narrow-belt trolley may be in motion and has not yet returned to the initial position. In this case, the master control unit needs to determine a state of the narrow-belt trolley based on the speed information and the position information of the narrow-belt trolley. When it is predicted that when the narrow-belt trolley moves with the main conveyor belt to the first end of the main conveyor belt, and the second position information has not yet returned to the initial state information, it indicates that the narrow-belt trolley cannot carry the parcel to be sorted from the first end of the main conveyor belt, and the master control unit needs to avoid the narrow-belt trolley when controlling the loading of the parcel to be sorted. When it is predicted that when the narrow-belt trolley moves with the main conveyor belt to the first end of the main conveyor belt, and the second position information has returned to the initial state information, it indicates that the narrow-belt trolley can carry the parcel to be sorted from the first end of the main conveyor belt, and the master control unit may control the loading of the parcel to be sorted on the narrow-belt trolley, thereby determining the target path information of the parcel to be sorted.

[0077] In one possible implementation mode, the performing status monitoring on each narrow-belt trolley within the target monitoring area to acquire second position information corresponding to each narrow-belt trolley includes: acquiring detection pulse signals of each narrow-belt trolley within the target monitoring area; counting the detection pulse signals of each narrow-belt trolley to determine a number of detected pulses, when the number of detected pulses is less than a preset reset threshold, the second position information is acquired according to the number of detected pulses; when the number of detected pulses is equal to the preset reset threshold, a reset command is generated; and the second position information is then acquired according to the reset command.

[0078] A detection mark is arranged on the narrow-belt trolley. The detection mark is detected by a sensor that has a special reaction to the detection mark. A pulse signal is generated and the count is increased by one when the detection mark passes through the sensor once. When the number of detected pulses reaches the preset reset threshold, it indicates that the narrow-belt trolley has completed one or more full rotations, and has returned to the initial state. In this case, the infrared controller is used to control the count to be cleared, the second position information corresponding to the narrow-belt trolley is acquired as initial state information. Under the initial state information, the narrow-belt trolley can carry parcel to be sorted. When the number of detected pulses is less than the preset reset threshold, it indicates that the narrow-belt trolley is still in motion. The master control unit then needs to make further determination based on the second position information to identify whether the narrow-belt trolley can carry parcel to be sorted. In one possible implementation mode, the infrared controller includes a preset mapping relationship between the preset second position information and the number of detected pulses. According to the number of detected pulses and the mapping relationship, the second position information corresponding to each narrow-belt trolley is determined.

[0079] Exemplarily, the detection mark may be a magnet, and continuous detection is performed on the narrow-belt trolley using a Hall effect sensor. When the magnet passes through the Hall effect sensor, a high-level pulse signal is detected; and a low-level pulse signal is detected at other time moments. The generated detection pulse signal is sent to the infrared controller. Further exemplarily, continuous detection may be performed on the narrow-belt trolley using the photoelectric encoder or an inductive sensor, so as to acquire detection pulse signals and send the detection pulse signals to the infrared controller.

[0080] In this embodiment, the second position information corresponding to each narrow-belt trolley within the target monitoring region is generated through the infrared controller, and the second position information is sent to the master control unit, the master control unit can determine the target path information of the parcel to be sorted according to the second position information, such that the second position information can be effectively acquired, computational load of the master control unit can be effectively reduced, and the efficiency of acquiring the target path information is improved.

[0081] In one exemplary embodiment, as shown in FIG. 23, a narrow-belt sortation control method is provided. The method is applied to the infrared controller in the narrow-belt sortation system, which also includes a plurality of narrow-belt trolleys and a master control unit. The method includes the following steps 1401-1405.

[0082] Step 1401: performing status monitoring on each narrow-belt trolley within the target monitoring area to acquire second position information corresponding to each narrow-belt trolley; and acquiring detection pulse signals of each narrow-belt trolley within the target monitoring area; counting the detection pulse signals of each narrow-belt trolley to determine a number of detected pulses; when the number of detected pulses is less than a preset reset threshold, the second position information is acquired according to the number of detected pulses; when the number of detected pulses is equal to the preset reset threshold, a reset command is generated; and the second position information is then acquired according to the reset command.

[0083] Step 1402: sending the second position information to the master control unit, where the second position information refers to position information of a self-driving direction of each narrow-belt trolley, and the second position information is used by the master control unit to determine target path information of the parcel to be sorted according to the second position information.

[0084] Step 1403: acquiring first position information and parcel status information corresponding to each narrow-belt trolley within a target monitoring area from the master control unit; and the first position information refers to position information of the narrow-belt trolley in a movement direction of a main conveyor belt.

[0085] Step 1404: determining a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information.

[0086] Step 1405: sending the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enabling the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, so as to transfer the parcel to be sorted on the trolley to the target sortation lane.

[0087] In one exemplary embodiment, as shown in FIG. 24, a narrow-belt sortation control method is provided. The method is applied to the master control unit 1106 in the narrow-belt sortation system, which also includes a plurality of narrow-belt trolleys 1104 and an infrared controller 1102. The method includes the following steps 1502-1506.

[0088] Step 1502: acquiring parcel status information corresponding to a parcel to be sorted and second position information corresponding to each narrow-belt trolley.

[0089] Step 1504: obtaining a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted according to the parcel status information and the second position information.

[0090] The second target narrow-belt trolley refers to a narrow-belt trolley that is carried when the parcel to be sorted is loaded from the first end of the main conveyor belt. There may be a plurality of second target narrow-belt trolleys. The target path information includes a distance of the parcel to be sorted from the first end of the main conveyor belt to a point when it contacts with the second target narrow-belt trolley, a speed of the parcel to be sorted departing from the first end of the main conveyor belt, and time required to reach the target sortation lane.

[0091] In one possible implementation mode, a loading belt line is disposed at the first end of the main conveyor belt. The parcel to be sorted enters the main conveyor belt via the loading belt line and then contacts the narrow-belt trolley on the main conveyor belt. The speed of the parcel to be sorted departing from the first end of the main conveyor belt may be adjusted by controlling running speed and acceleration of the loading belt line.

[0092] Step 1506: conveying the parcel to be sorted onto the second target narrow-belt trolley according to the target path information.

[0093] In this embodiment, the master control unit uniformly processes the parcel status information of the parcel to be for loading and the second position information of each narrow-belt trolley, such that the loading of the parcel to be sorted can be controlled in a timely and accurate manner, and the efficiency of the narrow-belt sortation control is improved.

[0094] In one exemplary embodiment, based on the embodiment shown in FIG. 24, the method further includes the following steps after the step 1504: acquiring trolley status information; and determining status information corresponding to the second target narrow-belt trolley according to the trolley status information; and when the status information corresponding to the second target narrow-belt trolley indicates a normal state, the parcel to be sorted is conveyed onto the second target narrow-belt trolley according to the target path information.

[0095] Specifically, the trolley status information refers to status information sent by the trolley driver to the master control unit after acquiring the status signals corresponding to the narrow-belt trolley.

[0096] Optionally, the master control unit defaults the status information of each narrow-belt trolley to a normal state; the trolley status information of the corresponding narrow-belt trolley is updated upon receipt of abnormal status information sent by a narrow-belt trolley when trolley status information is acquired next time.

[0097] Exemplarily, trolley status may be acquired by monitoring the narrow-belt trolley via a sensor. When the narrow-belt trolley is detected to suffer from the problems such as belt slack, track wear, or abnormal temperature, the sensor generates the abnormal status information and sends the abnormal status information to the master control unit, such that the master control unit can update the trolley status information when acquiring the trolley status information next time.

[0098] In one possible implementation mode, when the status information corresponding to the second target narrow-belt trolley indicates an abnormal state, a second target narrow-belt trolley and target path information need to be re-determined.

[0099] The re-determined second target narrow-belt trolley is a narrow-belt trolley located directly following the original second target narrow-belt trolley in the movement direction of the main conveyor belt. Timing for the parcel to be sorted entering the main conveyor belt may be delayed by slowing down a speed of the loading belt line, such that the parcel to be sorted is loaded onto the re-determined second target narrow-belt trolley, and target path information corresponding to the parcel to be sorted is re-determined accordingly.

[0100] In this embodiment, by determining the state of the second target narrow-belt trolley before loading, loading timing of the parcel to be sorted is determined, thereby preventing the parcel to be sorted from being carried by a narrow-belt trolley in an abnormal state, and improving the reliability of the narrow-belt sortation control method.

[0101] In one exemplary embodiment, as shown in FIG. 25, a narrow-belt sortation control method is provided. The method is applied to the master control unit in the narrow-belt sortation system, which also includes a plurality of narrow-belt trolleys and an infrared controller. The method includes the following steps 1601-1606.

[0102] Step 1601: acquiring parcel status information corresponding to a parcel to be sorted, as well as second position information and trolley status information corresponding to each narrow-belt trolley.

[0103] Step 1602: obtaining a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted according to the parcel status information and the second position information.

[0104] Step 1603: determining status information corresponding to the second target narrow-belt trolley according to the trolley status information.

[0105] Step 1604: conveying the parcel to be sorted onto the second target narrow-belt trolley according to the target path information when the status information corresponding to the second target narrow-belt trolley indicates a normal state.

[0106] Step 1605: re-determining a second target narrow-belt trolley and target path information when the status information corresponding to the second target narrow-belt trolley indicates an abnormal state.

[0107] Step 1606: conveying the parcel to be sorted onto the second target narrow-belt trolley according to the target path information.

[0108] It should be understood that although the steps shown in the flowcharts of the above embodiments are displayed in sequence as indicated by the arrows, these steps are not necessarily executed strictly in order indicated by the arrows. Unless otherwise explicitly specified herein, the execution of these steps is not strictly limited in order, and these steps may be executed in other orders. Moreover, at least some of the steps involved in the flowcharts of the above embodiments may include multiple sub-steps or stages, which do not necessarily have to be completed at the same time but can be executed at different time points. The execution sequence of these sub-steps or stages is not necessarily sequential, but may be executed in turn or alternately with at least some other steps or sub-steps.

[0109] Based on the same inventive concept, an embodiment of the present invention further provides a narrow-belt sortation control apparatus for implementing the above narrow-belt sortation control method. The solutions provided by the apparatus for solving the technical problems are similar to the solutions described in the above method. Therefore, the specific limitations in one or more embodiments of the narrow-belt sortation control apparatus may refer to limitations on the narrow-belt sortation control method described above, which will not be repeated herein.

[0110] In one exemplary embodiment, as shown in FIG. 26, a narrow-belt sortation control apparatus is provided. The narrow-belt sortation control apparatus is applied to the infrared controller in the narrow-belt sortation system, which also includes a plurality of narrow-belt trolleys and a master control unit, and the apparatus includes: a data acquisition module 1702 configured to acquire first position information and parcel status information corresponding to each narrow-belt trolley within a target monitoring area from the master control unit; a command generation module 1704 configured to determine a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information; and a command sending module 1706 configured to send the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enable the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, so as to transfer the parcel to be sorted on the trolley to the target sortation lane.

[0111] In one embodiment, the apparatus further includes a status monitoring module, configured to perform status monitoring on each narrow-belt trolley within the target monitoring area to acquire second position information corresponding to each narrow-belt trolley; send the second position information to the master control unit, where the second position information refers to position information of a self-driving direction of each narrow-belt trolley, and the second position information is used by the master control unit to determine target path information of the parcel to be sorted according to the second position information.

[0112] In one embodiment, the status monitoring module further includes a counting unit, configured to acquire detection pulse signals of each narrow-belt trolley within the target monitoring area; count the detection pulse signals of each narrow-belt trolley to determine a number of detected pulses; acquire the second position information according to the number of detected pulses when the number of detected pulses; and a reset unit configured to generate a reset command when the number of detected pulses is equal to the preset reset threshold, and acquire the second position information according to the reset command.

[0113] In one exemplary embodiment, as shown in FIG. 27, a narrow-belt sortation control apparatus is provided. The narrow-belt sortation control apparatus is applied to the master control unit in the narrow-belt sortation system, which also includes a plurality of narrow-belt trolleys and an infrared controller. The apparatus includes: an information acquisition module 1802 configured to acquire parcel status information corresponding to a parcel to be sorted and second position information corresponding to each narrow-belt trolley; a path planning module 1804 configured to acquire a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted according to the parcel status information and the second position information; and a loading control module 1806 configured to convey the parcel to be sorted onto the second target narrow-belt trolley according to the target path information.

[0114] In one embodiment, the apparatus further includes a status determination module configured to acquire trolley status information; determine status information corresponding to the second target narrow-belt trolley according to the trolley status information; and when the status information corresponding to the second target narrow-belt trolley indicates a normal state, the parcel to be sorted is conveyed onto the second target narrow-belt trolley according to the target path information.

[0115] In one possible implementation mode, the status determination module is configured to redetermine a second target narrow-belt trolley and target path information when the status information corresponding to the second target narrow-belt trolley indicates an abnormal state.

[0116] Each module in the narrow-belt sortation control apparatus may be implemented in whole or in part by software, hardware, or a combination thereof. The above modules may be embedded in or independent of a processor of a computer device in the form of hardware, or stored in a memory of the computer device in the form of software, such that the processor can call and execute the operations corresponding to each module.

[0117] In an exemplary embodiment, a narrow-belt sortation control system is provided, and the system includes: a master control unit configured to acquire parcel status information corresponding to a parcel to be sorted and second position information corresponding to each narrow-belt trolley; acquire a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted according to the parcel status information and the second position information; and convey the parcel to be sorted onto the second target narrow-belt trolley according to the target path information; an infrared controller configured to acquire first position information corresponding to each narrow-belt trolley within a target monitoring area and parcel status information corresponding to the parcel to be sorted from the master control unit, where the first position information refers to position information of the narrow-belt trolley in a movement direction of a main conveyor belt; to determine a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information; and send the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enable the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, so as to transfer the parcel to be sorted on the trolley to the target sortation lane.

[0118] The infrared controller and the trolley driver may be microcontroller unit (MCU) chips.

[0119] In one exemplary embodiment, a computer device is provided. The computer device may be a server, and an internal structural diagram of the server is shown in FIG. 28. The computer device includes a processor, a memory, an input / output (I / O for short) interface, and a communication interface. The processor, the memory, and the I / O interface are connected through a system bus, and the communication interface is connected to the system bus through the I / O interface. The processor of the computer device is configured to provide computational and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program stored in the non-volatile storage medium. The database of the computer device is configured to store the parcel status information corresponding to a parcel to be sorted and the second position information corresponding to each narrow-belt trolley. The I / O interface of the computer device is configured for information exchange between the processor and an external device. The communication interface of the computer device is configured to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a narrow-belt sortation control method is implemented.

[0120] Those skilled in the art can understand that the structure shown in FIG. 28 is only a block diagram of a partial structure related to the solution of the present invention, and does not constitute a limitation to the computer device to which the solution of the present invention is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0121] In one embodiment, a computer device is further provided. The computer device includes a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the steps of the above-mentioned method embodiments are implemented.

[0122] In one embodiment, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, steps of the above-mentioned method embodiments are implemented.

[0123] In one embodiment, a computer program product is provided. The computer program product includes a computer program, and when the computer program is executed by a processor, steps of the above-mentioned method embodiments are implemented.

[0124] It should be noted that the user information (including but not limited to user device information, user personal information, and the like) and data (including but not limited to data for analysis, stored data, displayed data, and the like) involved in the present invention are information and data authorized by user or fully authorized by all parties, and the collection, use, and processing of related data must comply with applicable regulations. Those skilled in the art may understand that implementation of all or some procedures in the methods of the above examples may be accomplished by instructing related hardware by means of a computer program. The computer program may be stored in a non-volatile computer-readable storage medium, and when the computer program is executed, the procedures of the examples in the above methods may be included. Any reference to the memory, the database, or other media in the embodiments provided in the present invention may include at least one of non-volatile memory and volatile memory. The non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random-access memory (ReRAM), magnetoresistive random-access memory (MRAM), ferroelectric random-access memory (FRAM), phase change memory (PCM), graphene memory, and the like. The volatile memory may include random access memory (RAM) or external cache memory, and the like. As an illustration rather than a limitation, RAM may take various forms such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the embodiments provided in the present invention may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, without limitation herein. The processors involved in the embodiments provided in the present invention may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logic devices based on quantum computing, and the like, without limitation herein.

[0125] The above description is an explanation of the present invention and is not intended to limit the scope of the present invention. The scope of the present invention is defined by the claims. Any form of modification may be made within the scope of protection of the present invention.

Examples

Embodiment Construction

[0035]The detailed description of the present invention will be described in detail below with reference to the accompanying drawings.

[0036]As shown in FIGs. 1-18, this embodiment provides a narrow-belt sorter, which includes a mechanical transport device. The mechanical transport device includes: curved-track sections 1 located at a head end and a tail end of the sorter, a straight-track section 2 between the head end and the tail end, and front-mounted motor sets 5 and rear-mounted motor sets 6 that are uniformly distributed along a track to supply power; narrow-belt trolleys 3 laid above the curved-track sections 1 and the straight-track section 2, and end-traveling assemblies 4 arranged on both sides of the narrow-belt trolleys 3; an infrared communication mounting assembly 7 and a reset and anti-collision assembly for a permanent magnet linear synchronous motor 8 on a straight-track gantry 204 of the straight-track section 2; a power supply assembly 9 configured to supply power...

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims priority to Chinese Patent Application No. 202410284236.6, filed on March 13, 2024, and Chinese Patent Application No. 202410836309.8, filed on June 26, 2024. The entirety of each of the above mentioned patent applications is hereby incorporated by reference herein.TECHNICAL FIELD

[0002] The present invention relates to the technical field of narrow-band sorting machine equipment, and in particular to a narrow-belt sorter and a sortation method therefor, and a narrow-belt sortation method, apparatus, system and device.BACKGROUND

[0003] In the technical field of logistics sortation equipment, intelligent control technology and automation technology have developed rapidly. Traditional manual sorting mode can no longer meet the growing demand for logistics sortation operations. Therefore, more and more logistics enterprises are replacing traditional manual sorting with automated equipment, thereby gradually improving sortation efficiency and accuracy. As an automated logistics sortation apparatus, narrow-belt linear sorters are widely used in express delivery facilities such as distribution centers, warehouses, and delivery outlets for parcel sortation and conveying.

[0004] In related technologies, an end-walking structure used in a narrow-belt trolley is usually assembled from two plate members, which has an unstable strength structure and is prone to issues such as cracking or fracture, seriously affecting the operational stability of the narrow belt. Moreover, the assembled design is inconvenient for installation and maintenance, and it is difficult to ensure installation precision. In addition, the narrow-belt trolley also suffers from the problem of easy deviation of the belt, especially after long-term operation, which will affect the sortation and conveying efficiency. Moreover, a curved track structure of the narrow-belt linear sorter presents additional challenges: high machining cost of the curved track, severe wear after long-term operation, difficulty in assembly, time-consuming and labor-intensive, and high operation and maintenance costs. If the spliced sections are not properly polished after assembly, wheels of the narrow-belt trolley may be severely worn and generate noticeable abnormal noise, thus affecting sortation.

[0005] At present, traditional narrow-belt machines commonly use asynchronous motors as drive power source. However, the power of the asynchronous motor is concentrated at a tail section, resulting in a serious power impact, high noise and vibration, and low fault tolerance. In contrast, linear motors enable contactless force transmission, with almost no mechanical friction loss, fewer faults, and maintenance-free. Therefore, the linear motors are safe and reliable in operation and have a long service life. Existing narrow-belt sorters usually adopt an upper-layer and front-mounted linear motor to drive the narrow-belt trolleys on the entire belt, which causes uneven distribution of traction force, and damage to the narrow-belt trolleys, thus affecting sortation performance, and even causing equipment shutdown.

[0006] In addition, most mainstream narrow-belt sorters on the market adopt wired control methods (such as RS485 Communication Protocol) to control the corresponding narrow-belt trolleys. This method suffers from the problems of high hardware cost and complex wiring for installation.

[0007] Moreover, a control method for the narrow-belt sorting generally uses a control unit to control a parcel to be sorted to enter a main conveyor belt. When the parcel to be sorted approaches a target sortation lane, the narrow-belt trolley on the main conveyor belt is controlled to move, and the parcel to be sorted is conveyed to the target sortation lane. Traditional narrow-belt sortation control methods employ IrDA infrared near-field communication to communicate with a plurality of narrow-belt trolleys on the main conveyor, to determine the target sortation lane of the parcel to be sorted, and transmit the same to the corresponding narrow-belt trolley.

[0008] Nevertheless, traditional narrow-belt sortation control methods suffer from poor reliability.SUMMARY

[0009] In view of the shortcomings of the above production technology, the present invention provides a narrow-belt sorter and a sortation method therefor, which not only has a more reasonable and stable structure, but also offers greater flexibility and adaptability to different environments by incorporating wireless infrared communication in conjunction with corresponding software of an upper computer. In addition, the present invention also provides a narrow-belt sortation method, apparatus, system and device capable of improving control reliability.

[0010] According to a first aspect of the present invention, the present invention provides a narrow-belt sorter, which includes a mechanical transport device, which includes: curved-track sections located at a head end and a tail end of the sorter, a straight-track section between the head end and the tail end, and front-mounted motor sets and rear-mounted motor sets that are uniformly distributed along a track to supply power; narrow-belt trolleys laid above the curved-track sections and the straight-track section, and end-traveling assemblies arranged on both sides of the narrow-belt trolleys; an infrared communication mounting assembly and a reset and anti-collision assembly for a permanent magnet linear synchronous motor on a straight-track gantry of the straight-track section; a power supply assembly configured to supply power to the narrow-belt trolleys; and a laser ranging assembly configured to detect a trolley belt surface and trolley bolts, where the power supply assembly is a wired power supply assembly or a wireless power supply assembly.

[0011] As a further improvement of the above technical solution: preferably, each curved-track section includes cast curved tracks; the cast curved tracks are integrally cast structures, and the cast curved tracks are assembled on a support frame via a support shaft and support seats; two cast curved tracks located on opposite sides of the track are mounted on the support shaft, and support shaft ends of the support shaft define axial positions of the cast curved tracks; the support shaft ends extending outward the cast curved tracks in an axial direction are fitted on the support frame via mounted bearings, and outer side surfaces of the two cast curved tracks that face away from each other are securely fastened and fixed to the support frame via a plurality of the support seats; two of the support seats are fixed to a transverse brace having an inclined F-shaped structure, and form a three-point support arrangement with the other four support seats outside a circumference of the mounted bearings; a gantry is arranged on an end face of an opening end of the U-shaped structure of the cast curved track in front of the support frame, and the gantry is securely fastened and fixed to the end face of the cast curved track; and curved-track foot sleeves are installed at bottom ends of the and the support frame, and the curved-track foot sleeves are fixed to a ground.

[0012] Preferably, the straight-track section comprises an upper straight track, a lower straight track, a guard plate mounting frame, a straight-track gantry, and straight-track foot sleeves; and the upper straight track and the lower straight track are fixed to the positioned straight track gantries that are arranged at intervals via bolts; the guard plate mounting frame is arranged at hole positions corresponding to the upper straight track and the lower straight track for mounting track cover plates; and the straight-track foot sleeves are mounted at the bottom ends of the straight-track gantry.

[0013] Preferably, each narrow-belt trolley includes a trolley frame, a driving roller assembly, an idler roller assembly, a belt, and anti-deviation limiting members; the driving roller assembly and the idler roller assembly are respectively mounted at opposite ends of the trolley frame in a length direction; a driving roller is rotatably mounted in the driving roller assembly, and an idler roller parallel to the driving roller is rotatably mounted in the idler roller assembly; the belt is looped around the driving roller and the idler roller; the anti-deviation limiting members are mounted on outer portions of both sides of the driving roller assembly and the idler roller assembly in a width direction of the belt, and a tangent direction of an outer circumferential surface of a self-rotating wheel of the anti-deviation limiting member is parallel to or in contact with a side surface of a conveying direction of the belt; and the belt is driven by the driving roller assembly to rotate to unload a parcel to a designated chute during unloading.

[0014] Preferably, a plurality of the end-traveling assemblies are mounted symmetrically on opposite sides of a bottom of the narrow-belt trolley, and the plurality of the end-traveling assemblies on a same side are connected in series to form a loop for use. Each end-traveling assembly comprises a U-shaped integrated chain plate, a guide wheel set, an articulated bolt, a mounting plate, and a traveling wheel set; a reinforcing plate is mounted on the chain plate via pins; a rotation centerline of guide wheel set in a vertical direction coincides with a mounting center of the mounting plate on a side plate of the chain plate, but is offset from a hole connection line for mounting of the narrow-belt trolley on the chain plate; the traveling wheel set is also mounted on the chain plate via a wheel axle bolt, a plurality of bushings, and a locking nut; and each set of the chain plates is connected and fastened via the articulated bolt, the locking nut, and a fastening nut.

[0015] Preferably, mounting positions of the front-mounted motor sets and the rear-mounted motor sets are staggered and evenly distributed. Each front-mounted motor set includes three front-mounted motors and one front-mounted Hall sensor, and the front-mounted motors and the front-mounted Hall sensor are fixed to a front-mounted support plate; and the front-mounted support plate is fixed to the straight-track gantry via three front-mounted motor brackets. Each rear-mounted motor set includes three rear-mounted motors and one rear-mounted Hall sensor, and the rear-mounted motors and the rear-mounted Hall sensor are fixed to a rear-mounted mounting square tube; and the rear-mounted mounting square tube is fixed to the straight-track gantry via three rear-mounted motor brackets.

[0016] Preferably, the infrared communication mounting assembly is mounted on the straight-track gantry adjacent to the straight-track section. The infrared communication mounting assembly includes a first infrared mounting plate, a second infrared mounting plate, an infrared heightening bracket, a first infrared mounting bracket and a second infrared mounting bracket. The first infrared mounting plate, the second infrared mounting plate, and the infrared heightening bracket are arranged around a square tube of an infrared emitting welding strip in a surrounding manner via bolts; and an infrared transceiver controller and a photoelectric sensor are mounted on the first infrared mounting bracket; a single-channel Hall encoder is mounted on the second infrared mounting bracket; the second infrared mounting bracket is fixed to the first infrared mounting bracket via bolts, and the first infrared mounting bracket is fixed to the infrared heightening bracket via bolts; a waist hole for vertical adjustment is formed on the first infrared mounting bracket ; a reflector is arranged corresponding to the photoelectric sensor , the reflector is mounted on a reflector bracket , and the reflector bracket is fixed to a bracket of a driver and is mounted only on a leading trolley; the infrared transceiver controller faces directly toward the driver of the narrow-belt trolley, enabling left-right infrared communication for transmitting a signal to the driver of the narrow-belt trolley and to drive the narrow-belt trolley to sort parcels. When the narrow-belt trolley travels forward along the track with rotating vertically in a loop, the photoelectric sensor illuminates the reflector on the leading trolley, the infrared transceiver controller acquires a position of the leading trolley directly above.

[0017] Preferably, the reset and anti-collision assembly for a permanent magnet linear synchronous motor comprises an anti-collision device, an anti-collision mounting bracket, a brush mounting bracket, and a brush. The anti-collision mounting bracket and the brush mounting bracket are mounted on the straight-track gantry; the anti-collision device is mounted on the anti-collision mounting bracket; the brush is mounted on the brush mounting bracket; a proximity sensor is mounted on the anti-collision device; and the brush and the anti-collision device are arranged at a front end of a first motor when the narrow-belt trolley runs past the front-mounted motor sets and the rear-mounted motor sets; the wired power supply assembly adopts a power transmission structure in which a carbon-brush collector cooperates with a conductor line; a conductor line track is arranged on a conductor line track bracket on an upper layer on a left side in a main line travel direction, the conductor line track bracket is mounted on the straight-track gantry, a plurality of power-supply trolleys are arranged at intervals, and the carbon-brush collectors are mounted on the power-supply trolleys to draw power from the conductor line. A direct current power cabinet is arranged to supply power to the conductor line to energize the entire conductor line, the carbon-brush collectors are fixed to the power-supply trolleys via brackets and slide with the movement of the power-supply trolleys, and enter the conductor line track through a conductor line track entry port, the carbon-brush collectors are compressed during the movement, such that the carbon-brush collectors are pressed firmly against the conductor line to slide and draw the power; and the wireless power supply assembly adopts a wireless power transmission form in which a U-shaped power pickup cooperates with a transmitting track. The transmitting track is mounted on a transmitting track bracket on the upper layer on the left side in the main line travel direction, the transmitting track bracket is mounted on the straight-track gantry, a plurality of power-supply trolleys are arranged at intervals, and the U-shaped power pickup is arranged on the power-supply trolleys to draw power from the transmitting track.

[0018] Preferably, the laser ranging assembly includes trolley belt surface laser ranging detection and bolt laser ranging detection, the trolley belt surface laser ranging detection is to mount a laser ranging sensor on a laser measuring bracket, the laser ranging sensor is mounted symmetrically downward on both sides of the curved-track gantry located at the tail end of the sorter, the laser ranging sensor is configured to detect a surface of the belt based on the laser ranging detection; and the bolt laser ranging detection is to mount the laser ranging sensor on a laser trolley screw bracket to detect the trolley bolts based on the laser ranging detection.

[0019] According to another aspect of the present invention, the present invention provides a sortation method for a narrow-belt sorter, including: step 1: conveying a parcel by a parcel feeder, passing through Photoelectric Sensor No. 0 before entering the narrow-belt sorter, and calculating a length of the parcel and a number of narrow-belt trolleys occupied by the parcel according to a duration that Photoelectric Sensor No. 0 is blocked; step 2: triggering a camera to capture an image when the parcel passes through Photoelectric Sensor No. 0, processing the parcel via the camera to obtain parcel barcode information and sending the information to SDS software of an upper computer, uploading the parcel barcode information to a server via the upper computer to obtain a sortation chute information position corresponding to the parcel barcode information, and forwarding information of the parcel to a main controller via a user datagram protocol (UDP) before Photoelectric Sensor No. 1 is triggered; step 3: matching a sortation command corresponding to the chute information of the SDS software of the upper computer when the parcel enters a narrow-belt sorter from a curved-track section at a head end of the sorter, that is, reaching a position of Photoelectric Sensor No. 1, and identifying a leading trolley occupied by the parcel when it enters the narrow-belt sorter at the position of Photoelectric Sensor No. 1 according to positions of the narrow-belt trolleys on an entire track via the main controller; and step 4: identifying the narrow-belt trolley matching a parcel chute for control to complete the sortation based on the length of the parcel and the number of narrow-belt trolleys occupied by the parcel according to a duration that Photoelectric Sensor No. 0 is blocked obtained in the step 1, and the leading trolley occupied by the parcel when it enters the narrow-belt sorter obtain in the step 3.

[0020] The narrow-belt sorters and a sortation method therefor have the following beneficial effects: The narrow-belt sorter of the present invention features a compact structure and a reasonable sortation method. By employing wireless infrared communication in conjunction with the software of the upper computer, it enables parcel sortation in various environments, and is particularly advantageous in the use scenarios of outlets, where more chutes may be deployed in a limited space, and the sortation size range and the sortation types of parcel are wider.

[0021] The narrow-belt sorters and a sortation method therefor also have the following advantages: (1) Compared with traditional chain-type narrow belts, the chain plate structure in the present invention adopts an integrated form. A reinforcing plate is mounted on the chain plate via pins, resulting in high structural strength and eliminating the need for subsequent tension adjustments of chain-type narrow belts. Compared with a chain plate structure assembled from two separate plates, the integrated chain plate structure is more compact and reasonable, easier to operate, and exhibits higher bending and tensile strength, thereby effectively preventing cracking or breakage of the chain plates during use. (2) The curved track structure in the present invention adopts an integrated cast curved track structure, enabling quick mounting of curved tracks while ensuring the overall structural stability and reliability of the mounting. The integrated cast curved track is cost-effective and wear-resistant, effectively reducing the required alignment precision and machining costs without affecting the stability of the narrow-belt trolley. (3) The integrated chain plate structure and integrated cast curved track structure at head and tail ends can significantly reduce the noise during operation. (4) The present invention adopts the infrared communication, such that only the narrow-belt trolley is provided with power lines. Each driver is provided with an independent infrared receiving port, eliminating the need for wireless clients or network cables, which greatly reduces mounting difficulty and failure rates. In addition, each infrared communication mounting assembly supports independent resetting to eliminate cumulative errors, making the communication more accurate. The infrared communication mounting assembly is easy to adjust, time-saving, labor-saving, and convenient for maintenance, offering strong practicality. (5) By detecting the belt surface and trolley bolt through laser ranging, the present invention can prevent the trolley from falling off.

[0022] According to yet another aspect of the present invention, the present invention provides a narrow-belt sortation control method, which is applied to the infrared controller in the narrow-belt sortation system. The system also includes a plurality of narrow-belt trolleys and a master control unit. The method includes the following steps: acquiring first position information and parcel status information corresponding to each narrow-belt trolley within a target monitoring area from the master control unit; and the first position information is position information of the narrow-belt trolley in a movement direction of a main conveyor belt; determining a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information; and sending the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enabling the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, so as to transfer the parcel to be sorted on the trolley to the target sortation lane.

[0023] In one embodiment, the method further includes: performing status monitoring on each narrow-belt trolley within the target monitoring area to acquire second position information corresponding to each narrow-belt trolley; and sending the second position information to the master control unit, where the second position information refers to position information of a self-driving direction of each narrow-belt trolley, and the second position information is used by the master control unit to determine target path information of the parcel to be sorted according to the second position information.

[0024] In one embodiment, the performing status monitoring on each narrow-belt trolley within the target monitoring area to acquire second position information corresponding to each narrow-belt trolley in the method further includes: acquiring detection pulse signals of each narrow-belt trolley within the target monitoring area; counting the detection pulse signals of each narrow-belt trolley to determine a number of detected pulses; acquiring second position information according to the number of detected pulses when the number of detected pulses is less than a preset reset threshold; and generating a reset command when the number of detected pulses is equal to the preset reset threshold; and acquiring second position information according to the reset command.

[0025] According to still another aspect of the present invention, the present invention further provides a narrow-belt sortation control method, which is applied to a master control unit in the narrow-belt sortation system; the system also includes a plurality of narrow-belt trolleys and a master control unit; and the method further includes: acquiring parcel status information corresponding to a parcel to be sorted and second position information corresponding to each narrow-belt trolley; obtaining a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted according to the parcel status information and the second position information; and conveying the parcel to be sorted onto the second target narrow-belt trolley according to the target path information.

[0026] In one embodiment, after the obtaining a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted, the method further includes: acquiring trolley status information; determining status information corresponding to the second target narrow-belt trolley according to the trolley status information; and conveying the parcel to be sorted onto the second target narrow-belt trolley according to the target path information when the status information corresponding to the second target narrow-belt trolley indicates a normal state.

[0027] In one embodiment, the method further includes: re-determining a second target narrow-belt trolley and target path information when the status information corresponding to the second target narrow-belt trolley indicates an abnormal state.

[0028] According to still another aspect of the present invention, the present invention further provides a narrow-belt sortation control apparatus, which is applied to the infrared controller in the narrow-belt sortation system; the system also includes a plurality of narrow-belt trolleys and a master control unit; and the apparatus includes: a data acquisition module configured to acquire first position information corresponding to each narrow-belt trolley within a target monitoring area and parcel status information from the master control unit; a command generation module configured to determine a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information; and a command sending module configured to send the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enable the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, so as to transfer the parcel to be sorted on the trolley to the target sortation lane.

[0029] According to still another aspect of the present invention, the present invention further provides a narrow-belt sortation control apparatus, which is applied to the master control unit in the narrow-belt sortation system; the system also includes a plurality of narrow-belt trolleys and an infrared controller; and the apparatus includes: an information acquisition module configured to acquire parcel status information corresponding to a parcel to be sorted and second position information corresponding to each narrow-belt trolley; a path planning module configured to acquire a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted according to the parcel status information and the second position information; and a loading control module configured to convey the parcel to be sorted onto the second target narrow-belt trolley according to the target path information.

[0030] According to still another aspect of the present invention, the present invention further provides a narrow-belt sortation control system, including: a master control unit configured to acquire parcel status information corresponding to a parcel to be sorted and second position information corresponding to each narrow-belt trolley; acquire a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted according to the parcel status information and the second position information; and convey the parcel to be sorted onto the second target narrow-belt trolley according to the target path information; and an infrared controller configured to acquire first position information corresponding to each narrow-belt trolley within a target monitoring area and parcel status information corresponding to the parcel to be sorted from the master control unit, where the first position information refers to position information of the narrow-belt trolley in a movement direction of a main conveyor belt; to determine a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information; and send the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enable the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, so as to transfer the parcel to be sorted on the trolley to the target sortation lane.

[0031] According to still another aspect of the present invention, the present invention further provides a computer device, including a memory and a processor; the memory stores a computer program, and the processor implements the steps in the narrow-belt sortation control method as described above.

[0032] The above-mentioned narrow-belt sortation control method, apparatus, system and device, on the one hand, the narrow-belt sortation control method is applied to the infrared controller in the narrow-belt sortation system. The narrow-belt sortation system further includes a plurality of narrow-belt trolleys and a master control unit. The narrow-belt sortation control method includes: acquiring first position information and parcel status information corresponding to each narrow-belt trolley within a target monitoring area from the master control unit, where the first position information refers to position information of the narrow-belt trolley in a movement direction of a main conveyor belt; determining a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information; and sending the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enabling the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, so as to transfer the parcel to be sorted on the trolley to the target sortation lane. In the present invention, the first target narrow-belt trolley is selected within the target monitoring area via the infrared controller, and a drive command is generated and sent to the corresponding trolley driver, which improves the communication stability and accuracy between the infrared controller and the trolley driver, and avoids communication interruptions or errors, thereby improving the reliability of the narrow-belt sortation control method.BRIEF DESCRIPTION OF THE DRAWINGS

[0033] FIG. 1 is a schematic diagram of the overall three-dimensional structure of a narrow-belt sorter according to the present invention. FIG. 2 is a schematic diagram illustrating an internal structure of a narrow-belt sorter according to the present invention. FIG. 3 is a schematic diagram illustrating an internal structure of a curved-track section according to the present invention. FIG. 4 is a schematic diagram illustrating an internal structure of a straight-track section according to the present invention. FIG. 5 is a schematic structural diagram of a narrow-belt trolley according to the present invention. FIG. 6 is a schematic structural diagram of an end-traveling assembly according to the present invention. FIG. 7 is a top view of the structure shown in FIG. 6. FIG. 8 is a schematic diagram illustrating a narrow-belt trolley mounted on an end-traveling assembly according to the present invention. FIG. 9 is a schematic diagram illustrating a layout of front-mounted motor set and a rear-mounted motor set according to the present invention. FIG. 10 is a schematic structural diagram of an infrared communication mounting assembly according to the present invention. FIG. 11 is a schematic diagram illustrating a mounting state of an infrared communication mounting assembly according to the present invention. FIG. 12 is a schematic diagram illustrating a mounting state of a reset and anti-collision assembly for a permanent magnet linear synchronous motor according to the present invention. FIG. 13 is a schematic diagram of a wired power supply assembly according to the present invention. FIG. 14 is a left view of the assembly shown in FIG. 13. FIG. 15 is a schematic diagram of a wireless power supply assembly according to the present invention. FIG. 16 is a left view of the assembly shown in FIG. 15. FIG. 17 is a schematic diagram of a belt surface of a laser ranging assembly according to the present invention. FIG. 18 is a schematic diagram illustrating cooperation between a laser ranging sensor and a laser ranging screw bracket according to the present invention. FIG. 19 is a logic flowchart of a sortation method according to the present invention. FIG. 20 is an application environment diagram of a narrow-belt sortation control method according to one embodiment. FIG. 21 is a flowchart of a narrow-belt sortation control method applied to an infrared controller according to one embodiment. FIG. 22 is a flowchart of steps of acquiring second position information according to one embodiment. FIG. 23 is a flowchart of a narrow-belt sortation control method applied to an infrared controller according to another embodiment. FIG. 24 is a flowchart of a narrow-belt sortation control method applied to a master control unit according to one embodiment. FIG. 25 is a flowchart of a narrow-belt sortation control method applied to a master control unit according to another embodiment. FIG. 26 is a block diagram of a narrow-belt sortation control apparatus applied to an infrared controller according to an embodiment. FIG. 27 is a block diagram of a narrow-belt sortation control apparatus applied to a master control unit according to an embodiment. FIG. 28 is a schematic diagram illustrating an internal structure of a computer device according to an embodiment.

[0034] Reference numerals in the accompanying drawings: 1. curved-track section; 2. straight-track section; 3. narrow-belt trolley; 4. end-traveling assembly; 5. front-mounted motor set; 6. rear-mounted motor set; 7. infrared communication mounting assembly; 8. reset and anti-collision assembly for a permanent magnet linear synchronous motor; 9. power supply assembly; 10. laser ranging assembly; 101. support frame; 102. curved-track foot sleeve; 103. cast curved track; 104. support shaft; 105. curved-track gantry; 106. support seat; 107. transverse brace; 108. mounted bearing; 109. end plat; 201. upper straight track; 202. lower straight track; 203. guard plate mounting frame; 204. straight-track gantry; 205. straight-track foot sleeve; 301. idler roller assembly; 302. anti-deviation limiting member; 303. magnetic pole assembly; 304. trolley frame; 305. driver; 306. driving roller assembly; 307. screw sleeve; 308. belt; 309. carbon-brush collector; 310. U-shaped power pickup; 401. chain plate; 402. guide wheel set; 403. articulated bolt; 404. mounting plate; 405. traveling wheel set; 406. wheel axle bolt; 407. bushing; 408. locking nut; 409. fastening nut; 410. reinforcing plate; 501. front-mounted motor; 502. front-mounted Hall sensor; 503 front-mounted support plate; 504. front-mounted motor bracket; 601. rear-mounted motor; 602. rear-mounted Hall sensor; 603. rear-mounted mounting square tube; 604. rear-mounted motor bracket; 701. first infrared mounting plate; 702. second infrared mounting plate; 703. infrared heightening bracket; 704. infrared emitting welding strip; 705. first infrared mounting bracket; 706. second infrared mounting bracket; 707. infrared transceiver controller; 708. photoelectric sensor; 709. single-channel Hall encoder; 710. reflector; 711. reflector bracket; 801. anti-collision device; 802. anti-collision mounting bracket; 803. brush mounting bracket; 804. brush; 901. conductor line track; 902. conductor line track bracket; 903. conductor line track entry port; 904. transmitting track; 905. transmitting track bracket; 1001. laser measuring bracket; 1002. laser ranging sensor. DETAILED DESCRIPTION OF EMBODIMENTS

[0035] The detailed description of the present invention will be described in detail below with reference to the accompanying drawings.

[0036] As shown in FIGs. 1-18, this embodiment provides a narrow-belt sorter, which includes a mechanical transport device. The mechanical transport device includes: curved-track sections 1 located at a head end and a tail end of the sorter, a straight-track section 2 between the head end and the tail end, and front-mounted motor sets 5 and rear-mounted motor sets 6 that are uniformly distributed along a track to supply power; narrow-belt trolleys 3 laid above the curved-track sections 1 and the straight-track section 2, and end-traveling assemblies 4 arranged on both sides of the narrow-belt trolleys 3; an infrared communication mounting assembly 7 and a reset and anti-collision assembly for a permanent magnet linear synchronous motor 8 on a straight-track gantry 204 of the straight-track section 2; a power supply assembly 9 configured to supply power to the narrow-belt trolleys 3; and a laser ranging assembly 10 configured to detect a distance between a trolley belt surface and trolley bolts, where the power supply assembly 9 is a wired power supply assembly or a wireless power supply assembly.

[0037] Each curved-track section 1 includes cast curved tracks 103, which are integrally cast structures; the cast curved tracks 103 are assembled on a support frame 101 via a support shaft 104 and support seats 106; the two cast curved tracks 103 located on opposite sides of the track are mounted on the support shaft 104, and support shaft ends of the support shaft 104 define axial positions of the cast curved tracks 103; the support shaft ends extending outward the cast curved tracks 103 in an axial direction are fitted on the support frame 101 via mounted bearings 108, and outer side surfaces of the two cast curved tracks 103 that face away from each other are securely fastened and fixed to the support frame 101 via a plurality of the support seats 106; two of the support seats 106 are fixed to a transverse brace 107 having an inclined F-shaped structure, and form a three-point support arrangement with the other four support seats 106 for the support shaft 104 outside a circumference of the mounted bearings 108, that is, one support seat 106 fixed to the transverse brace 107 and two other support seats 106 and two other support seats 106 located in a circumferential direction of the mounted bearings 108 form the three-point support arrangement on the outer side surface of each cast curved track 103, such that the support frame 101 provides reliable and stable support for the cast curved tracks 103, forming a structurally reliable curved track structure; a curved-track gantry 105 is arranged outside an opening end of the U-shaped structure of the cast curved track 103 in front of the support frame 101, and the curved-track gantry 105 is securely fastened and fixed to the end face of the cast curved track 103 to ensure the stability of the cast curved track 103 and the reliability of a connection between the cast curved track 103 and the straight-track section, as well as ensure the stability of the trolleys when cornering and achieving smooth track transitions; and curved-track foot sleeves 102 are installed at bottom ends of both the curved-track gantry 105 and the support frame 101, the curved-track foot sleeves 102 are fixed to a ground, and heights of the curved-track gantry 105 and the support frame 101 from the ground are adjusted via the curved-track foot sleeves 102, this configuration not only provides secure ground anchoring but also enables overall height adjustment. The support frame 101 is further provided with an end plate 109; by using integrated cast curved tracks 103 and mounting the integrated cast curved tracks 103 on the support frame 101 via the support shaft 104 and support seats 106, the cast curved tracks 103 can be mounted quickly and conveniently, providing support and guidance for the trolley wheels.

[0038] The cast curved tracks 103 may be die-cast with materials such as ductile cast iron, with localized machining performed on key dimensions according to mounting requirements. The design requires low manufacturing cost, wear resistance, low operational noise, low overall cost and high wear resistance. Moreover, the cast curved track 103 has a U-shaped structure that connects to external straight tracks via straight arms, which effectively reduces alignment precision and machining requirements without affecting the running stability of the trolleys after the connection. In addition, the cast curved track 103 may be provided with a photoelectric sensor for jam detection to prevent the narrow-belt trolleys from jamming. The straight-track section 2 includes an upper straight track 201, a lower straight track 202, a guard plate mounting frame 203, a straight-track gantry 204, and straight-track foot sleeves 205. The upper straight track 201 and the lower straight track 202 are fixed to the positioned straight track gantries 204 that are arranged at intervals via bolts; the guard plate mounting frame 203 is arranged at hole positions corresponding to the upper straight track 201 and the lower straight track 202 for mounting track cover plates; and the straight-track foot sleeves 205 are mounted at bottom ends of the straight-track gantry 204 for fixing to the ground and adjusting a height.

[0039] Each narrow-belt trolley 3 includes a trolley frame 304, a driving roller assembly 306, an idler roller assembly 301, a belt 308, and anti-deviation limiting members 302. The driving roller assembly 306 and the idler roller assembly 301 are respectively mounted at opposite ends of the trolley frame 304 in a length direction; a driving roller is rotatably mounted in the driving roller assembly 306, and an idler roller parallel to the driving roller is rotatably mounted in the idler roller assembly 301; the belt 308 is looped around the driving roller and the idler roller; the anti-deviation limiting members 302 are mounted on outer portions of both sides of the driving roller assembly 306 and the idler roller assembly 301 in a width direction of the belt 308, and a tangent direction of an outer circumferential surface of a self-rotating wheel of the anti-deviation limiting member 302 is parallel to or in contact with a side surface of a conveying direction of the belt 308; and the belt 308 is driven by the driving roller assembly 306 to rotate to unload a parcel to a designated chute during unloading.

[0040] Each narrow-belt trolley 3 further includes a magnetic pole assembly 303 and a driver 305, where the magnetic pole assembly 303 serves as a permanent magnet mover of a permanent magnet linear motor set, and the driver 305 serves as a drive controller for the rotation of the narrow-belt trolley. Each narrow-belt trolley 3 also includes screw sleeves 307. Installation of the screw sleeves 307 effectively reduces or even avoids thread stripping during maintenance or disassembly, which is convenient for daily maintenance operations, and the screw sleeves are configured to connect and fix the narrow-belt trolley 3 to the end-traveling assembly 4.

[0041] A plurality of the end-traveling assemblies 4 are mounted symmetrically on opposite sides of a bottom of the narrow-belt trolley 3, and the plurality of the end-traveling assemblies 4 on a same side are connected in series to form a loop for use. Each end-traveling assembly 4 includes a U-shaped integrated chain plate 401, a guide wheel set 402, an articulated bolt 403, a mounting plate 404, and a traveling wheel set 405. A reinforcing plate 410 is mounted on the chain plate 401 via pins to enhance a local strength of the chain plate 401; a rotation centerline of guide wheel set 402 in a vertical direction coincides with a mounting center of the mounting plate 404 on a side plate of the chain plate 401, but is offset from a hole connection line for mounting of the narrow-belt trolley on the chain plate 401. This offset design makes a load-bearing center of the chain plate 401 supporting the narrow-belt trolley 3 offset from the mounting center of the mounting plate 404 on a side plate of the chain plate 401, thereby avoiding the problem of stress concentration of the chain plate 401 caused by the addition of a requiring processing notch on the mounting plate 404, and the guide wheel set 402 is mounted on the mounting plate 404; the traveling wheel set 405 is also mounted on the chain plate 401 via a wheel axle bolt 406, a plurality of bushings 407, and a locking nut 408; and each set of the chain plates 401 is connected and fastened via the articulated bolt 403, the locking nut 408, and a fastening nut 409.

[0042] Mounting positions of the front-mounted motor sets 5 and the rear-mounted motor sets 6 are staggered and evenly distributed. Each front-mounted motor set 5 includes three front-mounted motors 501 and one front-mounted Hall sensor 502, and the front-mounted motors 501 and the front-mounted Hall sensor 502 are fixed to a front-mounted support plate 503; and the front-mounted support plate 503 is fixed to the straight-track gantry 204 via three front-mounted motor brackets 504. Each rear-mounted motor set 6 includes three rear-mounted motors 601 and one rear-mounted Hall sensor 602, and the rear-mounted motors 601 and the rear-mounted Hall sensor 602 are fixed to a rear-mounted mounting square tube 603; and the rear-mounted mounting square tube 603 is fixed to the straight-track gantry 204 via three rear-mounted motor brackets 604.

[0043] The infrared communication mounting assembly 7 is mounted on the straight-track gantry 204 adjacent to the straight-track section. The infrared communication mounting assembly 7 includes a first infrared mounting plate 701, a second infrared mounting plate 702, an infrared heightening bracket 703, a first infrared mounting bracket 705 and a second infrared mounting bracket 706. The first infrared mounting plate 701, the second infrared mounting plate 702, and the infrared heightening bracket 703 are arranged around a square tube of an infrared emitting welding strip 704 in a surrounding manner via bolts; and an infrared transceiver controller 707 and a photoelectric sensor 708 are mounted on the first infrared mounting bracket 705; a single-channel Hall encoder 709 is mounted on the second infrared mounting bracket 706; the second infrared mounting bracket 706 is fixed to the first infrared mounting bracket 705 via bolts, and the first infrared mounting bracket 705 is fixed to the infrared heightening bracket 703 via bolts; a waist hole for vertical adjustment is formed on the first infrared mounting bracket 705; a reflector 710 is arranged corresponding to the photoelectric sensor 708, the reflector 710 is mounted on a reflector bracket 711, and the reflector bracket 711 is fixed to a bracket of a driver 305 and is mounted only on a leading trolley; the infrared transceiver controller 707 faces directly toward the driver 305 of the narrow-belt trolley 3, enabling left-right infrared communication for transmitting a signal to the driver of the narrow-belt trolley and to drive the narrow-belt trolley to sort parcels. When the narrow-belt trolley travels forward along the track rotating vertically in a loop, the photoelectric sensor 708 illuminates the reflector 710 on the leading trolley, the infrared transceiver controller 707 acquires a position of the leading trolley directly above, and the infrared communication mounting assembly 7 realizes independent reset to eliminate cumulative errors, thereby making the communication more accurate, easy to adjust the mounting position, saving time and efforts, convenient for maintenance and operation and having good practicality.

[0044] The reset and anti-collision assembly for a permanent magnet linear synchronous motor 8 includes an anti-collision device 801, an anti-collision mounting bracket 802, a brush mounting bracket 803, and a brush 804. The anti-collision mounting bracket 802 and the brush mounting bracket 803 are mounted on the straight-track gantry 204; the anti-collision device 801 is mounted on the anti-collision mounting bracket 802; the brush 804 is mounted on the brush mounting bracket 803; a proximity sensor is mounted on the anti-collision device 801; the brush 804 and the anti-collision device 801 are arranged at a front end of a first motor when the narrow-belt trolley runs past the front-mounted motor sets 5 and the rear-mounted motor sets 6; and the anti-collision device 801 can effectively prevent the collision between the permanent-magnet mover and the motor body, thereby protecting the motor.

[0045] The wired power supply assembly adopts a power transmission structure in which a carbon-brush collector 309 cooperates with a conductor line. A conductor line track 901 is arranged on a conductor line track bracket 902 on an upper layer on a left side in a main line travel direction, the conductor line track bracket 902 is mounted on the straight-track gantry 204, a plurality of power-supply trolleys are arranged at intervals, and the carbon-brush collectors 309 are mounted on the power-supply trolleys to draw power from the conductor line. A direct current (DC) power cabinet is arranged to supply power to the conductor line to energize the entire conductor line, the carbon-brush collectors 309 are fixed to the power-supply trolleys via brackets and slide with the movement of the power-supply trolleys, and enter the conductor line track 901 through a conductor line track entry port 903, the carbon-brush collectors 309 are compressed during the movement, such that the carbon-brush collectors 309 are pressed firmly against the conductor line to slide and draw the power, a sufficient number of carbon-brush collectors 309 on each trolley supplies greater power to the trolley, supporting simultaneous sortation and unloading of the parcels by a plurality of the trolleys. To facilitate the arrangement of the carbon-brush collectors 309 in a wired form, a given number of DC 48V cabinets needs to be evenly distributed on the wire, to ensure stable power supply, adequate power and successful unloading.

[0046] In this embodiment, the wireless power supply assembly adopts a wireless power transmission form in which a U-shaped power pickup 310 cooperates with a transmitting track 904. The transmitting track 904 is mounted on a transmitting track bracket 905 on the upper layer on the left side in the main line travel direction, the transmitting track bracket 905 is mounted on the straight-track gantry 204, a plurality of power-supply trolleys are arranged at intervals, and the U-shaped power pickup 310 is arranged on the power-supply trolleys to draw power from the transmitting track 904. The operating principle is as follows: a transmitter controller controls high-frequency alternating current generated in the transmitting track, the U-shaped power pickup 310 moving on the transmitting track 904 obtain inductive power and outputs 48 V voltage through a receiving controller, and the outputted current is incorporated into a power supply bus of narrow-belt trolleys to supply power to all narrow-belt trolleys. The U-shaped power pickup 310, the receiving controller and other outputted cables use flexible cables for easy wiring; and outputs of the receiving controller is connected in parallel, and each set of receiving ends (power pickup + receiving controller) does not affect each other, and a number of the receiving ends may be increased or decreased according to actual testing needs.

[0047] The laser ranging assembly 10 includes trolley belt surface laser ranging detection and bolt laser ranging detection. The trolley belt surface laser ranging detection is to mount a laser ranging sensor 1002 on a laser measuring bracket 1001, the laser ranging sensor 1002 is mounted symmetrically downward on both sides of the curved-track gantry 105 located at the tail end of the sorter, the laser ranging sensor 1002 is configured to detect a surface of the belt 308 based on the laser ranging detection, and a detection range is set for the laser distance measurement. A signal is outputted to a programmable logic controller (PLC) when the measurement results fall out of the detection range; and the bolt laser ranging detection is to mount the laser ranging sensor 1002 on a laser trolley screw bracket, and to detect whether the trolley bolts are abnormal based on the laser ranging detection, such as falling off or breaking, and a detection range is set for the laser distance measurement. A signal is outputted to the PLC when the measurement results fall out of the detection range.

[0048] As shown in FIG. 19, this embodiment provides a sortation method for the narrow-belt sorter, including the following steps: Step 1: conveying a parcel by a parcel feeder, passing through Photoelectric Sensor No. 0 before entering the narrow-belt sorter, and calculating a length of the parcel and a number of narrow-belt trolleys occupied by the parcel according to a duration that Photoelectric Sensor No. 0 is blocked; Step 2: triggering a camera to capture an image when the parcel passes through Photoelectric Sensor No. 0, processing the parcel via the camera to obtain parcel barcode information and sending the information to SDS software of an upper computer, uploading the parcel barcode information to a server via the upper computer to obtain a sortation chute information position corresponding to the parcel barcode information, and forwarding information of the parcel to a main controller via a user datagram protocol (UDP) before Photoelectric Sensor No. 1 is triggered; Step 3: matching a sortation command corresponding to the chute information of the SDS software of the upper computer when the parcel enters a narrow-belt sorter from a curved-track section 1 at a head end of the sorter, that is, reaching a position of Photoelectric Sensor No. 1, and identifying a leading trolley occupied by the parcel when it enters the narrow-belt sorter at the position of Photoelectric Sensor No. 1 according to positions of the narrow-belt trolleys on an entire track via the main controller; and Step 4: identifying the narrow-belt trolley matching a parcel chute for control to complete the sortation based on the length of the parcel and the number of narrow-belt trolleys occupied by the parcel according to a duration that Photoelectric Sensor No. 0 is blocked obtained in the step 1, and the leading trolley occupied by the parcel when it enters the narrow-belt sorter obtained in the step 3.

[0049] Specific operating process is as follows: A parcel is conveyed by a parcel feeder, a camera is triggered to capture an image when the parcel passes through Photoelectric Sensor No. 0, the main controller is simultaneously notified that one parcel is coming, a length of the parcel may be calculated according to the triggering duration of Photoelectric Sensor. After the parcel triggers Photoelectric Sensor No. 0, the camera processes the parcel to obtain parcel barcode information and send the information to SDS software of an upper computer, which uploads the parcel barcode information to a server obtain a sortation chute information position corresponding to the parcel barcode information, and forwards information of the parcel to a main controller via a user datagram protocol (UDP) before Photoelectric Sensor No. 1 is triggered.

[0050] When a plurality of parcels pass through Photoelectric Sensor No. 0 but have not yet reached Photoelectric Sensor No. 1, the system needs to spend time in matching each parcel with its corresponding barcode information, with specific calculation as follows: t camera + t pc − t control ≤ T _ offest where t camera denotes time taken by the camera to process the barcode; t pc denotes time taken by the upper computer to process the barcode; t control denotes calculation time of the main controller; and T_offest denotes an acceptable range of time errors between two sets of time intervals.

[0051] When one parcel reaches Photoelectric Sensor No. 1, the main controller needs to match the parcel information through the above calculation process. Upon successful matching, the main controller calculates the narrow-belt trolley number that carries the parcel, with specific calculation as follows: car index = position cur − position goal cnt single + 1 cnt where car min denotes a leading trolley under calculation; position car denotes a distance from a reset photoelectric sensor to a trolley loading position (in cm); position goal denotes a distance from Photoelectric Sensor No. 1 to the trolley loading position (in cm); cnt angle denotes a length of a single pulse (in cm); and cnt denotes a number of pulses corresponding to one narrow-belt trolley.

[0052] At Photoelectric Sensor No. 1, the parcel information is matched to the corresponding sortation information, a number of narrow-belt trolleys carrying the parcel and the leading trolley occupied by the parcel are calculated. The main controller then sends the corresponding parcel information (trolley number, a number of trolleys occupied, parcel length, parcel margin, chute information, and the like) to an infrared slave controller corresponding to a target chute.

[0053] The infrared slave controller corresponding to the target chute calculates the trolley number through the pre-calibrated control position and compares with the leading trolley occupied by the parcel according to the above calculation method, and controls the corresponding trolley upon successful matching, such that the parcel is unloaded at a designated chute, with specific calculation as follows: t = pulse goal − pulse count pulse single where t denotes delay action instruction time (in ms) sent to a driver after the infrared slave controller identifies the target narrow-belt trolley pulse goal denotes pulses required for the parcel to reach the target chute, using the reset photoelectric sensor as a reference point; pulse count denotes pulse count when the infrared slave controller detects the target trolley; and pulse angle denotes time duration required for a single pulse (in ms).

[0054] The present invention exhibits a reasonable structure. By utilizing the infrared communication mounting assembly 7 in conjunction with the corresponding software of the upper computer, parcel sortation can be adapted to various sorting environments, such that more chutes may be deployed in a limited space, and the sortation size range and the sortation types of parcel are wider.

[0055] The narrow-belt sortation control method provided in the embodiments of the present invention can be applied in a narrow-belt sortation system as shown in FIG. 20. The narrow-belt sortation system includes an infrared controller 1102, a plurality of narrow-belt trolleys 1104, and a master control unit 1106. The infrared controller 1102 communicates with trolley drivers of the narrow-belt trolleys 1104 via infrared communication of Infrared Data Association (IrDA). The infrared controller 1102 communicates with the master control unit 1106 via a communication network. In some embodiments, the infrared controller is implemented as the infrared communication mounting assembly.

[0056] In one exemplary embodiment, as shown in FIG. 21, a narrow-belt sortation control method is provided. The method is applied to the infrared controller 1102 in the narrow-belt sortation system, which also includes a plurality of narrow-belt trolleys 1104 and a master control unit 1106. The method includes the following steps 1202-1206.

[0057] Step 1202: acquiring first position information and parcel status information corresponding to each narrow-belt trolley within a target monitoring area from the master control unit.

[0058] The first position information refers to position information of the narrow-belt trolley in a movement direction of a main conveyor belt.

[0059] The narrow-belt sortation system includes a main conveyor belt, a parcel to be sorted enters the main conveyor belt from a first end, and the main conveyor belt moves in a first direction to drive the parcel to be sorted to move in a second end of the main conveyor belt. The plurality of narrow-belt trolleys are arranged on the main conveyor belt, and a plurality of sortation lanes are arranged on both sides of the main conveyor belt. Each narrow-belt trolley is provided with a dedicated trolley driver. The trolley driver is capable of driving the corresponding narrow-belt trolley to move in a second direction based on a driving commend from the infrared controller, such that the parcel to be sorted on the narrow-belt trolley is conveyed to the sortation lanes on either side of the main conveyor belt, where the second direction is a self-driving direction of the narrow-belt trolley, and the second direction is perpendicular to the first direction.

[0060] The narrow-belt sortation system also includes monitoring sensors, the monitoring sensors are connected to the master control unit, so as to transmit acquired monitoring information to the master control unit. After receiving the monitoring information from the monitoring sensors, the master control unit synchronizes the monitoring information to the infrared controller. The monitoring information includes position information and parcel status information corresponding to each narrow-belt trolley.

[0061] Exemplarily, the narrow-belt sortation system includes a vision sensor. The vision sensor is configured to capture images or videos of the narrow-belt sortation system, and perform image recognition and processing to acquire position information and parcel status information corresponding to the narrow-belt trolley on the main conveyor belt.

[0062] Further exemplarily, the narrow-belt sortation system includes a radio-frequency identification sensor. The radio-frequency identification sensor is configured to identify position information and parcel status information corresponding to the narrow-belt trolley. Exemplarily, the parcel status information may include unloading information, position information, weight information, posture information, or speed information of the parcel to be sorted. The unloading information refers to information of a target sortation lane of the parcel to be sorted, such as the number information or position information of the target sortation lane, which may be acquired by identifying markings on the parcel to be sorted via an identification device. The position information and the posture information may be identified and acquired by the vision sensor; the weight information may be collected using a weight sensor; and the speed information may be identified using a speed sensor.

[0063] Step 1204: determining a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information.

[0064] Since the IrDA communication method is limited by position, angle and light intensity, the narrow-belt sortation system may include a plurality of infrared controllers, and each infrared controller is assigned a portion of the main conveyor belt as its target monitoring area. Each infrared controller may be installed directly above the corresponding target monitoring area, such that a position directly below the infrared controller is taken as target position information. The narrow-belt trolley whose first position information coincides with the target position information is designated as an intermediate first target narrow-belt trolley.

[0065] Position information or posture information of the parcel to be sorted on the main conveyor belt that contacts the intermediate first target narrow-belt trolley is identified according to the parcel status information, and other narrow-belt trolleys in contact with the parcel to be sorted near the intermediate first target narrow-belt trolley are identified as edge first target narrow-belt trolleys. The intermediate first target narrow-belt trolley and the edge first target narrow-belt trolleys are collectively taken as the first target narrow-belt trolleys.

[0066] Exemplarily, it can be determined whether to identify a narrow-belt trolley as an edge first target trolley by determining whether an overlapping area between the parcel to be sorted and the narrow-belt trolley meets a preset threshold.

[0067] In one possible implementation mode, when no parcel to be sorted in contact with the intermediate first target narrow-belt trolley is identified, it means that the intermediate first target narrow-belt trolley parcel does not carry a parcel to be sorted, in which case, he current control process will be terminated.

[0068] The drive command includes movement time, movement direction, and movement speed of each first target narrow-belt trolley.

[0069] Exemplarily, the movement time can be calculated according to a distance between based on the distance between the first position information of the first target narrow-belt trolley and the position information of the target sortation lane, as well as the current speed information of the parcel to be sorted. The movement direction can be determined based on the position information of the target sortation lane and a direction relationship of the main conveyor belt. The movement speed can be calculated based on an entrance width of the target sortation lane and the current speed information of the parcel to be sorted. A movement acceleration can be calculated using fitting values stored in a Flash memory of the infrared controller.

[0070] Step 1206: sending the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enabling the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, so as to transfer the parcel to be sorted on the trolley to the target sortation lane.

[0071] The above narrow-belt sortation control method is applied to the infrared controller in the narrow-belt sortation system. The narrow-belt sortation system further includes a plurality of narrow-belt trolleys and a master control unit. The narrow-belt sortation control method includes: acquiring first position information and parcel status information corresponding to each narrow-belt trolley within a target monitoring area from the master control unit, where the first position information refers to position information of the narrow-belt trolley in a movement direction of a main conveyor belt; determining a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information; and sending the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enabling the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, so as to transfer the parcel to be sorted on the trolley to the target sortation lane. In this embodiment, the first target narrow-belt trolley is selected within the target monitoring area via the infrared controller, and a drive command is generated and sent to the corresponding trolley driver, which improves the communication stability and accuracy between the infrared controller and the trolley driver, and avoids communication interruptions or errors, thereby improving the reliability of the narrow-belt sortation control method.

[0072] In the embodiment based on FIG. 21, as shown in FIG. 22, the method may further include steps 1302-1304.

[0073] Step 1302: performing status monitoring on each narrow-belt trolley within the target monitoring area to acquire second position information corresponding to each narrow-belt trolley; and

[0074] Step 1304: sending the second position information to the master control unit.

[0075] The second position information refers to position information of a self-driving direction of the narrow-belt trolley, and the second position information is used by the master control unit to determine target path information of the parcel to be sorted.

[0076] Specifically, the second position information may also represent a driving state of the narrow-belt trolley. Exemplarily, the second position information includes initial state information and offset state information. When the second position information is the initial state information, a displacement of the narrow-belt trolley in the self-driving direction is 0, indicating that the narrow-belt trolley can be driven by the trolley driver to move in the self-driving direction, such that the parcel to be sorted on the narrow-belt trolley is conveyed to the target sortation lane in the self-driving direction; and when the second position information is the offset state information, the displacement of the narrow-belt trolley in the self-driving direction is not 0, indicating that the narrow-belt trolley may be in motion and has not yet returned to the initial position. In this case, the master control unit needs to determine a state of the narrow-belt trolley based on the speed information and the position information of the narrow-belt trolley. When it is predicted that when the narrow-belt trolley moves with the main conveyor belt to the first end of the main conveyor belt, and the second position information has not yet returned to the initial state information, it indicates that the narrow-belt trolley cannot carry the parcel to be sorted from the first end of the main conveyor belt, and the master control unit needs to avoid the narrow-belt trolley when controlling the loading of the parcel to be sorted. When it is predicted that when the narrow-belt trolley moves with the main conveyor belt to the first end of the main conveyor belt, and the second position information has returned to the initial state information, it indicates that the narrow-belt trolley can carry the parcel to be sorted from the first end of the main conveyor belt, and the master control unit may control the loading of the parcel to be sorted on the narrow-belt trolley, thereby determining the target path information of the parcel to be sorted.

[0077] In one possible implementation mode, the performing status monitoring on each narrow-belt trolley within the target monitoring area to acquire second position information corresponding to each narrow-belt trolley includes: acquiring detection pulse signals of each narrow-belt trolley within the target monitoring area; counting the detection pulse signals of each narrow-belt trolley to determine a number of detected pulses, when the number of detected pulses is less than a preset reset threshold, the second position information is acquired according to the number of detected pulses; when the number of detected pulses is equal to the preset reset threshold, a reset command is generated; and the second position information is then acquired according to the reset command.

[0078] A detection mark is arranged on the narrow-belt trolley. The detection mark is detected by a sensor that has a special reaction to the detection mark. A pulse signal is generated and the count is increased by one when the detection mark passes through the sensor once. When the number of detected pulses reaches the preset reset threshold, it indicates that the narrow-belt trolley has completed one or more full rotations, and has returned to the initial state. In this case, the infrared controller is used to control the count to be cleared, the second position information corresponding to the narrow-belt trolley is acquired as initial state information. Under the initial state information, the narrow-belt trolley can carry parcel to be sorted. When the number of detected pulses is less than the preset reset threshold, it indicates that the narrow-belt trolley is still in motion. The master control unit then needs to make further determination based on the second position information to identify whether the narrow-belt trolley can carry parcel to be sorted. In one possible implementation mode, the infrared controller includes a preset mapping relationship between the preset second position information and the number of detected pulses. According to the number of detected pulses and the mapping relationship, the second position information corresponding to each narrow-belt trolley is determined.

[0079] Exemplarily, the detection mark may be a magnet, and continuous detection is performed on the narrow-belt trolley using a Hall effect sensor. When the magnet passes through the Hall effect sensor, a high-level pulse signal is detected; and a low-level pulse signal is detected at other time moments. The generated detection pulse signal is sent to the infrared controller. Further exemplarily, continuous detection may be performed on the narrow-belt trolley using the photoelectric encoder or an inductive sensor, so as to acquire detection pulse signals and send the detection pulse signals to the infrared controller.

[0080] In this embodiment, the second position information corresponding to each narrow-belt trolley within the target monitoring region is generated through the infrared controller, and the second position information is sent to the master control unit, the master control unit can determine the target path information of the parcel to be sorted according to the second position information, such that the second position information can be effectively acquired, computational load of the master control unit can be effectively reduced, and the efficiency of acquiring the target path information is improved.

[0081] In one exemplary embodiment, as shown in FIG. 23, a narrow-belt sortation control method is provided. The method is applied to the infrared controller in the narrow-belt sortation system, which also includes a plurality of narrow-belt trolleys and a master control unit. The method includes the following steps 1401-1405.

[0082] Step 1401: performing status monitoring on each narrow-belt trolley within the target monitoring area to acquire second position information corresponding to each narrow-belt trolley; and acquiring detection pulse signals of each narrow-belt trolley within the target monitoring area; counting the detection pulse signals of each narrow-belt trolley to determine a number of detected pulses; when the number of detected pulses is less than a preset reset threshold, the second position information is acquired according to the number of detected pulses; when the number of detected pulses is equal to the preset reset threshold, a reset command is generated; and the second position information is then acquired according to the reset command.

[0083] Step 1402: sending the second position information to the master control unit, where the second position information refers to position information of a self-driving direction of each narrow-belt trolley, and the second position information is used by the master control unit to determine target path information of the parcel to be sorted according to the second position information.

[0084] Step 1403: acquiring first position information and parcel status information corresponding to each narrow-belt trolley within a target monitoring area from the master control unit; and the first position information refers to position information of the narrow-belt trolley in a movement direction of a main conveyor belt.

[0085] Step 1404: determining a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information.

[0086] Step 1405: sending the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enabling the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, so as to transfer the parcel to be sorted on the trolley to the target sortation lane.

[0087] In one exemplary embodiment, as shown in FIG. 24, a narrow-belt sortation control method is provided. The method is applied to the master control unit 1106 in the narrow-belt sortation system, which also includes a plurality of narrow-belt trolleys 1104 and an infrared controller 1102. The method includes the following steps 1502-1506.

[0088] Step 1502: acquiring parcel status information corresponding to a parcel to be sorted and second position information corresponding to each narrow-belt trolley.

[0089] Step 1504: obtaining a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted according to the parcel status information and the second position information.

[0090] The second target narrow-belt trolley refers to a narrow-belt trolley that is carried when the parcel to be sorted is loaded from the first end of the main conveyor belt. There may be a plurality of second target narrow-belt trolleys. The target path information includes a distance of the parcel to be sorted from the first end of the main conveyor belt to a point when it contacts with the second target narrow-belt trolley, a speed of the parcel to be sorted departing from the first end of the main conveyor belt, and time required to reach the target sortation lane.

[0091] In one possible implementation mode, a loading belt line is disposed at the first end of the main conveyor belt. The parcel to be sorted enters the main conveyor belt via the loading belt line and then contacts the narrow-belt trolley on the main conveyor belt. The speed of the parcel to be sorted departing from the first end of the main conveyor belt may be adjusted by controlling running speed and acceleration of the loading belt line.

[0092] Step 1506: conveying the parcel to be sorted onto the second target narrow-belt trolley according to the target path information.

[0093] In this embodiment, the master control unit uniformly processes the parcel status information of the parcel to be for loading and the second position information of each narrow-belt trolley, such that the loading of the parcel to be sorted can be controlled in a timely and accurate manner, and the efficiency of the narrow-belt sortation control is improved.

[0094] In one exemplary embodiment, based on the embodiment shown in FIG. 24, the method further includes the following steps after the step 1504: acquiring trolley status information; and determining status information corresponding to the second target narrow-belt trolley according to the trolley status information; and when the status information corresponding to the second target narrow-belt trolley indicates a normal state, the parcel to be sorted is conveyed onto the second target narrow-belt trolley according to the target path information.

[0095] Specifically, the trolley status information refers to status information sent by the trolley driver to the master control unit after acquiring the status signals corresponding to the narrow-belt trolley.

[0096] Optionally, the master control unit defaults the status information of each narrow-belt trolley to a normal state; the trolley status information of the corresponding narrow-belt trolley is updated upon receipt of abnormal status information sent by a narrow-belt trolley when trolley status information is acquired next time.

[0097] Exemplarily, trolley status may be acquired by monitoring the narrow-belt trolley via a sensor. When the narrow-belt trolley is detected to suffer from the problems such as belt slack, track wear, or abnormal temperature, the sensor generates the abnormal status information and sends the abnormal status information to the master control unit, such that the master control unit can update the trolley status information when acquiring the trolley status information next time.

[0098] In one possible implementation mode, when the status information corresponding to the second target narrow-belt trolley indicates an abnormal state, a second target narrow-belt trolley and target path information need to be re-determined.

[0099] The re-determined second target narrow-belt trolley is a narrow-belt trolley located directly following the original second target narrow-belt trolley in the movement direction of the main conveyor belt. Timing for the parcel to be sorted entering the main conveyor belt may be delayed by slowing down a speed of the loading belt line, such that the parcel to be sorted is loaded onto the re-determined second target narrow-belt trolley, and target path information corresponding to the parcel to be sorted is re-determined accordingly.

[0100] In this embodiment, by determining the state of the second target narrow-belt trolley before loading, loading timing of the parcel to be sorted is determined, thereby preventing the parcel to be sorted from being carried by a narrow-belt trolley in an abnormal state, and improving the reliability of the narrow-belt sortation control method.

[0101] In one exemplary embodiment, as shown in FIG. 25, a narrow-belt sortation control method is provided. The method is applied to the master control unit in the narrow-belt sortation system, which also includes a plurality of narrow-belt trolleys and an infrared controller. The method includes the following steps 1601-1606.

[0102] Step 1601: acquiring parcel status information corresponding to a parcel to be sorted, as well as second position information and trolley status information corresponding to each narrow-belt trolley.

[0103] Step 1602: obtaining a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted according to the parcel status information and the second position information.

[0104] Step 1603: determining status information corresponding to the second target narrow-belt trolley according to the trolley status information.

[0105] Step 1604: conveying the parcel to be sorted onto the second target narrow-belt trolley according to the target path information when the status information corresponding to the second target narrow-belt trolley indicates a normal state.

[0106] Step 1605: re-determining a second target narrow-belt trolley and target path information when the status information corresponding to the second target narrow-belt trolley indicates an abnormal state.

[0107] Step 1606: conveying the parcel to be sorted onto the second target narrow-belt trolley according to the target path information.

[0108] It should be understood that although the steps shown in the flowcharts of the above embodiments are displayed in sequence as indicated by the arrows, these steps are not necessarily executed strictly in order indicated by the arrows. Unless otherwise explicitly specified herein, the execution of these steps is not strictly limited in order, and these steps may be executed in other orders. Moreover, at least some of the steps involved in the flowcharts of the above embodiments may include multiple sub-steps or stages, which do not necessarily have to be completed at the same time but can be executed at different time points. The execution sequence of these sub-steps or stages is not necessarily sequential, but may be executed in turn or alternately with at least some other steps or sub-steps.

[0109] Based on the same inventive concept, an embodiment of the present invention further provides a narrow-belt sortation control apparatus for implementing the above narrow-belt sortation control method. The solutions provided by the apparatus for solving the technical problems are similar to the solutions described in the above method. Therefore, the specific limitations in one or more embodiments of the narrow-belt sortation control apparatus may refer to limitations on the narrow-belt sortation control method described above, which will not be repeated herein.

[0110] In one exemplary embodiment, as shown in FIG. 26, a narrow-belt sortation control apparatus is provided. The narrow-belt sortation control apparatus is applied to the infrared controller in the narrow-belt sortation system, which also includes a plurality of narrow-belt trolleys and a master control unit, and the apparatus includes: a data acquisition module 1702 configured to acquire first position information and parcel status information corresponding to each narrow-belt trolley within a target monitoring area from the master control unit; a command generation module 1704 configured to determine a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information; and a command sending module 1706 configured to send the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enable the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, so as to transfer the parcel to be sorted on the trolley to the target sortation lane.

[0111] In one embodiment, the apparatus further includes a status monitoring module, configured to perform status monitoring on each narrow-belt trolley within the target monitoring area to acquire second position information corresponding to each narrow-belt trolley; send the second position information to the master control unit, where the second position information refers to position information of a self-driving direction of each narrow-belt trolley, and the second position information is used by the master control unit to determine target path information of the parcel to be sorted according to the second position information.

[0112] In one embodiment, the status monitoring module further includes a counting unit, configured to acquire detection pulse signals of each narrow-belt trolley within the target monitoring area; count the detection pulse signals of each narrow-belt trolley to determine a number of detected pulses; acquire the second position information according to the number of detected pulses when the number of detected pulses; and a reset unit configured to generate a reset command when the number of detected pulses is equal to the preset reset threshold, and acquire the second position information according to the reset command.

[0113] In one exemplary embodiment, as shown in FIG. 27, a narrow-belt sortation control apparatus is provided. The narrow-belt sortation control apparatus is applied to the master control unit in the narrow-belt sortation system, which also includes a plurality of narrow-belt trolleys and an infrared controller. The apparatus includes: an information acquisition module 1802 configured to acquire parcel status information corresponding to a parcel to be sorted and second position information corresponding to each narrow-belt trolley; a path planning module 1804 configured to acquire a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted according to the parcel status information and the second position information; and a loading control module 1806 configured to convey the parcel to be sorted onto the second target narrow-belt trolley according to the target path information.

[0114] In one embodiment, the apparatus further includes a status determination module configured to acquire trolley status information; determine status information corresponding to the second target narrow-belt trolley according to the trolley status information; and when the status information corresponding to the second target narrow-belt trolley indicates a normal state, the parcel to be sorted is conveyed onto the second target narrow-belt trolley according to the target path information.

[0115] In one possible implementation mode, the status determination module is configured to redetermine a second target narrow-belt trolley and target path information when the status information corresponding to the second target narrow-belt trolley indicates an abnormal state.

[0116] Each module in the narrow-belt sortation control apparatus may be implemented in whole or in part by software, hardware, or a combination thereof. The above modules may be embedded in or independent of a processor of a computer device in the form of hardware, or stored in a memory of the computer device in the form of software, such that the processor can call and execute the operations corresponding to each module.

[0117] In an exemplary embodiment, a narrow-belt sortation control system is provided, and the system includes: a master control unit configured to acquire parcel status information corresponding to a parcel to be sorted and second position information corresponding to each narrow-belt trolley; acquire a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted according to the parcel status information and the second position information; and convey the parcel to be sorted onto the second target narrow-belt trolley according to the target path information; an infrared controller configured to acquire first position information corresponding to each narrow-belt trolley within a target monitoring area and parcel status information corresponding to the parcel to be sorted from the master control unit, where the first position information refers to position information of the narrow-belt trolley in a movement direction of a main conveyor belt; to determine a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information; and send the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enable the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, so as to transfer the parcel to be sorted on the trolley to the target sortation lane.

[0118] The infrared controller and the trolley driver may be microcontroller unit (MCU) chips.

[0119] In one exemplary embodiment, a computer device is provided. The computer device may be a server, and an internal structural diagram of the server is shown in FIG. 28. The computer device includes a processor, a memory, an input / output (I / O for short) interface, and a communication interface. The processor, the memory, and the I / O interface are connected through a system bus, and the communication interface is connected to the system bus through the I / O interface. The processor of the computer device is configured to provide computational and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program stored in the non-volatile storage medium. The database of the computer device is configured to store the parcel status information corresponding to a parcel to be sorted and the second position information corresponding to each narrow-belt trolley. The I / O interface of the computer device is configured for information exchange between the processor and an external device. The communication interface of the computer device is configured to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a narrow-belt sortation control method is implemented.

[0120] Those skilled in the art can understand that the structure shown in FIG. 28 is only a block diagram of a partial structure related to the solution of the present invention, and does not constitute a limitation to the computer device to which the solution of the present invention is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0121] In one embodiment, a computer device is further provided. The computer device includes a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the steps of the above-mentioned method embodiments are implemented.

[0122] In one embodiment, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, steps of the above-mentioned method embodiments are implemented.

[0123] In one embodiment, a computer program product is provided. The computer program product includes a computer program, and when the computer program is executed by a processor, steps of the above-mentioned method embodiments are implemented.

[0124] It should be noted that the user information (including but not limited to user device information, user personal information, and the like) and data (including but not limited to data for analysis, stored data, displayed data, and the like) involved in the present invention are information and data authorized by user or fully authorized by all parties, and the collection, use, and processing of related data must comply with applicable regulations. Those skilled in the art may understand that implementation of all or some procedures in the methods of the above examples may be accomplished by instructing related hardware by means of a computer program. The computer program may be stored in a non-volatile computer-readable storage medium, and when the computer program is executed, the procedures of the examples in the above methods may be included. Any reference to the memory, the database, or other media in the embodiments provided in the present invention may include at least one of non-volatile memory and volatile memory. The non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random-access memory (ReRAM), magnetoresistive random-access memory (MRAM), ferroelectric random-access memory (FRAM), phase change memory (PCM), graphene memory, and the like. The volatile memory may include random access memory (RAM) or external cache memory, and the like. As an illustration rather than a limitation, RAM may take various forms such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the embodiments provided in the present invention may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, without limitation herein. The processors involved in the embodiments provided in the present invention may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logic devices based on quantum computing, and the like, without limitation herein.

[0125] The above description is an explanation of the present invention and is not intended to limit the scope of the present invention. The scope of the present invention is defined by the claims. Any form of modification may be made within the scope of protection of the present invention.

Examples

Embodiment Construction

[0035]The detailed description of the present invention will be described in detail below with reference to the accompanying drawings.

[0036]As shown in FIGs. 1-18, this embodiment provides a narrow-belt sorter, which includes a mechanical transport device. The mechanical transport device includes: curved-track sections 1 located at a head end and a tail end of the sorter, a straight-track section 2 between the head end and the tail end, and front-mounted motor sets 5 and rear-mounted motor sets 6 that are uniformly distributed along a track to supply power; narrow-belt trolleys 3 laid above the curved-track sections 1 and the straight-track section 2, and end-traveling assemblies 4 arranged on both sides of the narrow-belt trolleys 3; an infrared communication mounting assembly 7 and a reset and anti-collision assembly for a permanent magnet linear synchronous motor 8 on a straight-track gantry 204 of the straight-track section 2; a power supply assembly 9 configured to supply power...

Claims

1. A narrow-belt sorter, characterized by comprising a mechanical transport device, characterized in that the mechanical transport device comprises: curved-track sections (1), characterized in that the curved-track sections (1) are located at a head end and a tail end of the sorter; a straight-track section (2), characterized in that the straight-track section (2) is located between the head end and the tail end of the sorter; front-mounted motor sets (5) and rear-mounted motor sets (6), characterized in that the front-mounted motor sets (5) and the rear-mounted motor sets (6) are uniformly distributed along a track to supply power; narrow-belt trolleys (3), characterized in that the narrow-belt trolleys (3) are laid above the curved-track sections (1) and the straight-track section (2), and end-traveling assemblies (4) are arranged on both sides of the narrow-belt trolleys (3); an infrared communication mounting assembly (7) and a reset and anti-collision assembly for a permanent magnet linear synchronous motor (8), characterized in that the infrared communication mounting assembly (7) and the reset and anti-collision assembly for a permanent magnet linear synchronous motor (8) are located on a straight-track gantry (204) of the straight-track section (2); a power supply assembly (9), characterized in that the power supply assembly (9) is configured to supply power to the narrow-belt trolleys (3), and the power supply assembly (9) is a wired power supply assembly or a wireless power supply assembly; and a laser ranging assembly (10), characterized in that the laser ranging assembly (10) is configured to detect a trolley belt surface and trolley bolts.

2. The narrow-belt sorter according to claim 1, characterized in that each curved-track section (1) comprises cast curved tracks (103); the cast curved tracks (103) are integrally cast structures, and the cast curved tracks (103) are assembled on a support frame (101) via a support shaft (104) and support seats (106); two cast curved tracks (103) located on opposite sides of the track are mounted on the support shaft (104), and support shaft ends of the support shaft (104) define axial positions of the cast curved tracks (103); and the support shaft ends extending outward the cast curved tracks (103) in an axial direction are fitted on the support frame (101) via mounted bearings (108), and outer side surfaces of the two cast curved tracks (103) that face away from each other are securely fastened and fixed to the support frame (101) via a plurality of the support seats (106); two of the support seats (106) are fixed to a transverse brace (107) having an inclined F-shaped structure, and form a three-point support arrangement with the other four support seats (106) outside a circumference of the mounted bearings (108); a curved-track gantry (105) is arranged on an end face of an opening end of the U-shaped structure of the cast curved track (103) in front of the support frame (101), and the curved-track gantry (105) is securely fastened and fixed to the end face of the cast curved track (103); and curved-track foot sleeves (102) are installed at bottom ends of both the curved-track gantry (105) and the support frame (101), and the curved-track foot sleeves (102) are fixed to a ground; and the support frame (101) is further provided with an end plate (109).

3. The narrow-belt sorter according to claim 1, characterized in that the straight-track section (2) comprises an upper straight track (201), a lower straight track (202), a guard plate mounting frame (203), a straight-track gantry (204), and straight-track foot sleeves (205); and the upper straight track (201) and the lower straight track (202) are fixed to the positioned straight track gantries (204) that are arranged at intervals via bolts; the guard plate mounting frame (203) is arranged at hole positions corresponding to the upper straight track (201) and the lower straight track (202) for mounting track cover plates; and the straight-track foot sleeves (205) are mounted at bottom ends of the straight-track gantry (204).

4. The narrow-belt sorter according to claim 1, characterized in that each narrow-belt trolley (3) comprises a trolley frame (304), a driving roller assembly (306), an idler roller assembly (301), a belt (308), and anti-deviation limiting members (302); characterized in that the driving roller assembly (306) and the idler roller assembly (301) are respectively mounted at opposite ends of the trolley frame (304) in a length direction; a driving roller is rotatably mounted in the driving roller assembly (306), and an idler roller parallel to the driving roller is rotatably mounted in the idler roller assembly (301); the belt (308) is mounted and looped around the driving roller and the idler roller; and the anti-deviation limiting members (302) are mounted on outer portions of both sides of the driving roller assembly (306) and the idler roller assembly (301) in a width direction of the belt (308), and a tangent direction of an outer circumferential surface of a self-rotating wheel of the anti-deviation limiting member (302) is parallel to or in contact with a side surface of a conveying direction of the belt (308); and during unloading, the belt (308) is driven by the driving roller assembly (306) to rotate to unload a parcel to a designated chute.

5. The narrow-belt sorter according to claim 1, characterized in that a plurality of the end-traveling assemblies (4) are mounted symmetrically on opposite sides of a bottom of the narrow-belt trolley (3), and the plurality of the end-traveling assemblies (4) on a same side are connected in series to form a loop for use; and each end-traveling assembly (4) comprises a U-shaped integrated chain plate (401), a guide wheel set (402), an articulated bolt (403), a mounting plate (404), and a traveling wheel set (405); characterized in that a reinforcing plate (410) is mounted on the chain plate (401) via pins; a rotation centerline of guide wheel set (402) in a vertical direction coincides with a mounting center of the mounting plate (404) on a side plate of the chain plate (401), but is offset from a hole connection line for mounting of the narrow-belt trolley on the chain plate (401); the guide wheel set (402) is mounted on the mounting plate (404); and the traveling wheel set (405) is also mounted on the chain plate (401) via a wheel axle bolt (406), a plurality of bushings (407), and a locking nut (408); and each set of the chain plates (401) is connected and fastened via the articulated bolt (403), the locking nut (408), and a fastening nut (409).

6. The narrow-belt sorter according to claim 1, characterized in that mounting positions of the front-mounted motor sets (5) and the rear-mounted motor sets (6) are staggered and evenly distributed; each front-mounted motor set (5) comprises three front-mounted motors (501) and one front-mounted Hall sensor (502); the front-mounted motors (501) and the front-mounted Hall sensor (502) are fixed to a front-mounted support plate (503); and the front-mounted support plate (503) is fixed to the straight-track gantry (204) via three front-mounted motor brackets (504); and each rear-mounted motor set (6) comprises three rear-mounted motors (601) and one rear-mounted Hall sensor (602); the rear-mounted motors (601) and the rear-mounted Hall sensor (602) are fixed to a rear-mounted mounting square tube (603); and the rear-mounted mounting square tube (603) is fixed to the straight-track gantry (204) via three rear-mounted motor brackets (604).

7. The narrow-belt sorter according to claim 1, characterized in that the infrared communication mounting assembly (7) is mounted on the straight-track gantry (204) adjacent to the straight-track section; and the infrared communication mounting assembly (7) comprises a first infrared mounting plate (701), a second infrared mounting plate (702), an infrared heightening bracket (703), a first infrared mounting bracket (705) and a second infrared mounting bracket (706); characterized in that the first infrared mounting plate (701), the second infrared mounting plate (702), and the infrared heightening bracket (703) are arranged around a square tube of an infrared emitting welding strip (704) in a surrounding manner via bolts; an infrared transceiver controller (707) and a photoelectric sensor (708) are mounted on the first infrared mounting bracket (705); a single-channel Hall encoder (709) is mounted on the second infrared mounting bracket (706); the second infrared mounting bracket (706) is fixed to the first infrared mounting bracket (705) via bolts, and the first infrared mounting bracket (705) is fixed to the infrared heightening bracket (703) via bolts; a waist hole for vertical adjustment is formed on the first infrared mounting bracket (705); a reflector (710) is arranged corresponding to the photoelectric sensor (708), the reflector (710) is mounted on a reflector bracket (711), and the reflector bracket (711) is fixed to a bracket of a driver (305) and is mounted only on a leading trolley; and the infrared transceiver controller (707) faces directly toward the driver (305) of the narrow-belt trolley (3), enabling left-right infrared communication for transmitting a signal to the driver of the narrow-belt trolley and to drive the narrow-belt trolley to sort parcels; and when the narrow-belt trolley travels forward along the track rotating vertically in a loop, the photoelectric sensor (708) illuminates the reflector (710) on the leading trolley, and the infrared transceiver controller (707) acquires a position of the leading trolley directly above.

8. The narrow-belt sorter according to claim 1, characterized in that the reset and anti-collision assembly for a permanent magnet linear synchronous motor (8) comprises an anti-collision device (801), an anti-collision mounting bracket (802), a brush mounting bracket (803), and a brush (804); the anti-collision mounting bracket (802) and the brush mounting bracket (803) are mounted on the straight-track gantry (204); the anti-collision device (801) is mounted on the anti-collision mounting bracket (802); the brush (804) is mounted on the brush mounting bracket (803); a proximity sensor is mounted on the anti-collision device (801); and the brush (804) and the anti-collision device (801) are arranged at a front end of a first motor when the narrow-belt trolley runs past the front-mounted motor sets (5) and the rear-mounted motor sets (6); the wired power supply assembly adopts a power transmission structure in which a carbon-brush collector cooperates with a conductor line; a conductor line track (901) is arranged on a conductor line track bracket (902) on an upper layer on a left side in a main line travel direction, the conductor line track bracket (902) is mounted on the straight-track gantry (204), a plurality of power-supply trolleys are arranged at intervals, and the carbon-brush collectors are mounted on the power-supply trolleys to draw power from the conductor line; a direct current (DC) power cabinet is arranged to supply power to the conductor line to energize the entire conductor line, and the carbon-brush collectors are fixed to the power-supply trolleys via brackets, slide with the movement of the power-supply trolleys, enter the conductor line track (901) through a conductor line track entry port (903), and compress the carbon-brush collectors (309) during the movement, such that the carbon-brush collectors (309) are pressed firmly against the conductor line to slide and draw the power; and the wireless power supply assembly adopts a wireless power transmission form in which a U-shaped power pickup (310) cooperates with a transmitting track (904); the transmitting track (904) is mounted on a transmitting track bracket (905) on the upper layer on the left side in the main line travel direction, the transmitting track bracket (905) is mounted on the straight-track gantry (204), a plurality of power-supply trolleys are arranged at intervals, and the U-shaped power pickup (310) is arranged on the power-supply trolleys to draw power from the transmitting track (904).

9. The narrow-belt sorter according to claim 1, characterized in that the laser ranging assembly (10) comprises trolley belt surface laser ranging detection and bolt laser ranging detection; the trolley belt surface laser ranging detection is to mount a laser ranging sensor (1002) on a laser measuring bracket (1001); the laser ranging sensor (1002) is mounted symmetrically downward on both sides of the curved-track gantry (105) located at the tail end of the sorter, and the laser ranging sensor (1002) is configured to detect a surface of the belt (308) based on the laser ranging detection; and the bolt laser ranging detection is to mount the laser ranging sensor (1002) on a laser trolley screw bracket detect trolley bolts based on the laser ranging detection.

10. A sortation method for the narrow-belt sorter, characterized by comprising the following steps: step 1: conveying a parcel by a parcel feeder, passing through Photoelectric Sensor No. 0 before entering the narrow-belt sorter, and calculating a length of the parcel and a number of narrow-belt trolleys (3) occupied by the parcel according to a duration that Photoelectric Sensor No. 0 is blocked; step 2: triggering a camera to capture an image when the parcel passes through Photoelectric Sensor No. 0, processing the parcel via the camera to obtain parcel barcode information and sending the information to SDS software of an upper computer, uploading the parcel barcode information to a server via the upper computer to obtain a sortation chute information position corresponding to the parcel barcode information, and forwarding information of the parcel to a main controller via a user datagram protocol (UDP) before Photoelectric Sensor No. 1 is triggered; step 3: matching a sortation command corresponding to the chute information of the SDS software of the upper computer when the parcel enters a narrow-belt sorter from a curved-track section (1) at a head end of the sorter, that is, reaching a position of Photoelectric Sensor No. 1, and identifying a leading trolley occupied by the parcel when it enters the narrow-belt sorter at the position of Photoelectric Sensor No. 1 according to positions of the narrow-belt trolleys on an entire track via the main controller; and step 4: identifying the narrow-belt trolley (3) matching a parcel chute for control to complete the sortation based on the length of the parcel and the number of narrow-belt trolleys (3) occupied by the parcel according to a duration that Photoelectric Sensor No. 0 is blocked obtained in the step 1, and the leading trolley occupied by the parcel when it enters the narrow-belt sorter obtained in the step 3.

11. A narrow-belt sortation control method, characterized in that the method is applied to an infrared controller in a narrow-belt sortation system; the narrow-belt sortation system comprises a plurality of narrow-belt trolleys and a master control unit; and the method comprises: acquiring first position information and parcel status information corresponding to each narrow-belt trolley within a target monitoring area from the master control unit; and the first position information is position information of the narrow-belt trolley in a movement direction of a main conveyor belt; determining a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information; and sending the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enabling the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, such that a parcel to be sorted on the first target narrow-belt trolley is conveyed to a target sortation lane.

12. The narrow-belt sortation control method according to claim 11, characterized in that the method further comprises: performing status monitoring on each narrow-belt trolley within the target monitoring area to acquire second position information corresponding to each narrow-belt trolley; and sending the second position information to the master control unit; the second position information is position information of a self-driving direction of each narrow-belt trolley, and the second position information is used by the master control unit to determine target path information of the parcel to be sorted according to the second position information.

13. The narrow-belt sortation control method according to claim 12, characterized in that the performing status monitoring on each narrow-belt trolley within the target monitoring area to acquire second position information corresponding to each narrow-belt trolley further comprises: acquiring detection pulse signals of each narrow-belt trolley within the target monitoring area; counting the detection pulse signals of each narrow-belt trolley to determine a number of detected pulses; when the number of detected pulses is less than a preset reset threshold, the second position information is acquired according to the number of detected pulses; and when the number of detected pulses is equal to the preset reset threshold, a reset command is generated; and the second position information is acquired according to the reset command.

14. A narrow-belt sortation control method, characterized in that the method is applied to a master control unit in a narrow-belt sortation system; the narrow-belt sortation system comprises a plurality of narrow-belt trolleys and an infrared controller; and the method comprises: acquiring parcel status information corresponding to a parcel to be sorted and second position information corresponding to each narrow-belt trolley; obtaining a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted according to the parcel status information and the second position information; and conveying the parcel to be sorted onto the second target narrow-belt trolley according to the target path information.

15. The narrow-belt sortation control method according to claim 14, characterized in that after the obtaining a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted, the method further comprises: acquiring trolley status information; determining status information corresponding to the second target narrow-belt trolley according to the trolley status information; and conveying the parcel to be sorted onto the second target narrow-belt trolley according to the target path information when the status information corresponding to the second target narrow-belt trolley indicates a normal state.

16. The narrow-belt sortation control method according to claim 15, characterized in that the method further comprises: re-determining a second target narrow-belt trolley and target path information when the status information corresponding to the second target narrow-belt trolley indicates an abnormal state.

17. A narrow-belt sortation control apparatus, characterized in that the apparatus is applied to an infrared controller in a narrow-belt sortation system; the narrow-belt sortation system comprises a plurality of narrow-belt trolleys and a master control unit; and the apparatus comprises: a data acquisition module configured to acquire first position information and parcel status information corresponding to each narrow-belt trolley within a target monitoring area from the master control unit; and the first position information is position information of the narrow-belt trolley in a movement direction of a main conveyor belt; a command generation module configured to determine a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information; and a command sending module configured to send the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enable the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, such that a parcel to be sorted on the first target narrow-belt trolley is conveyed to a target sortation lane.

18. A narrow-belt sortation control apparatus, characterized in that the apparatus is applied to a master control unit in the narrow-belt sortation system; the narrow-belt sortation system comprises a plurality of narrow-belt trolleys and an infrared controller; and the apparatus comprises: an information acquisition module configured to acquire parcel status information corresponding to a parcel to be sorted and second position information corresponding to each narrow-belt trolley; a path planning module configured to acquire a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted according to the parcel status information and the second position information; and a loading control module configured to convey the parcel to be sorted onto the second target narrow-belt trolley according to the target path information.

19. A narrow-belt sortation control system, characterized by comprising: a master control unit configured to acquire parcel status information corresponding to a parcel to be sorted and second position information corresponding to each narrow-belt trolley; acquire a second target narrow-belt trolley and target path information corresponding to the parcel to be sorted according to the parcel status information and the second position information; and convey the parcel to be sorted onto the second target narrow-belt trolley according to the target path information; and an infrared controller configured to acquire first position information corresponding to each narrow-belt trolley within a target monitoring area and parcel status information corresponding to the parcel to be sorted from the master control unit, and the first position information being position information of the narrow-belt trolley in a movement direction of a main conveyor belt; determine a first target narrow-belt trolley from the narrow-belt trolleys and a drive command corresponding to the first target narrow-belt trolley according to the first position information and the parcel status information; and send the drive command to a trolley driver corresponding to the first target narrow-belt trolley, and enable the trolley driver to drive the first target narrow-belt trolley to move based on the drive command, such that the parcel to be sorted on the first target narrow-belt trolley is conveyed to a target sortation lane.

20. A computer device, characterized by comprising a memory and a processor; the memory stores a computer program, and the processor implements the steps of the narrow-belt sortation control method in any one of claims 11-16 when executing the computer program.

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