Multi-circulation cargo sorting system and control method thereof

Abstract

A multi-circulation cargo sorting system and a control method thereof are provided. The system comprises a cargo transport platform (1), a cargo transport device, a sorting platform (2), an automatic guided vehicle (22), a positioning means, and a cargo transport device. The cargo transport device is configured to transport a plurality of cargo boxes (12) from a cargo transport entrance (11) to a cargo unloading port (13), and after unloading the cargo, to carry the cargo boxes (12) out of a cargo transport exit (10). Each cargo box (12) is equipped with an identification means. The sorting platform (2) is provided with a sorting entrance (21), a sorting exit (20), and a circulating movement section (23). The circulating movement section (23) is provided with a cargo loading port (24). A plurality of automated guided vehicles (22) are arranged, enter through a sorting entrance (21), and are ordered based on the position of cargo sent by the cargo transport device as they pass through the circulating movement section (23), and are configured to load cargo at a cargo loading port (24) and then exit through a sorting exit (20), a positioning means is configured to measure the position of the automated guided vehicles (22), the cargo transport device is equipped with an identification means for reading the identified means of the cargo boxes (12), and the identification means is fixed near the cargo unloading port (13), so that a worker or a robot can remove the cargo from the cargo boxes (12) and load it onto the automated guided vehicles (22) located at the cargo loading port (24). This system has the beneficial effects of requiring a small space for sorting, contributing to the preparation of cargo in bulk, and high sorting efficiency.

Description

[Technical field]

[0001] This application relates to cargo sorting systems.

[0002] CROSS REFERENCE TO RELATED APPLICATIONS This application claims priority based on a Chinese application filed with the China National Intellectual Property Office on February 21, 2021, bearing application number 202110194578.5 and entitled "Multi-circulation cargo sorting system and control method thereof," the entire contents of which are incorporated herein by reference. [Background technology]

[0003] Sorting goods by automated guided vehicles, i.e., robots, has been widely applied. In practical applications, for example, an e-commerce seller sells many products online, and a buyer selects different products through online shopping and places an order. After the seller receives the order, the seller takes out each of these products from a warehouse, packs them together, and sends them to the buyer. If the goods are prepared in bulk entirely by workers, the cost will increase significantly, but a sorting method that is entirely by machines or a combination of sorting by workers and sorting by machines can meet various needs. Summary of the Invention

[0004] The present application provides a multi-circulation cargo sorting system and a method for controlling the same.

[0005] In some embodiments, the multi-circulation cargo sorting system includes a cargo transport platform, a cargo transport device, a sorting platform, an automated guided vehicle, a positioning means, a cargo transport device, and a server, the cargo transport platform is provided with a cargo transport entrance, a cargo transport exit, and a cargo unloading port, the cargo transport device is configured to sequentially transport a plurality of cargo boxes from the cargo transport entrance to the cargo unloading port, and after unloading the cargo, to carry the cargo boxes out of the cargo transport exit, one or more cargoes of the same type are accommodated in the cargo boxes, different cargo boxes can accommodate the same or different cargoes, each cargo box is respectively equipped with an identification means, the sorting platform is provided with a sorting entrance, a sorting exit, and a circulating movement section, the circulating movement section is provided with a cargo loading port, and a plurality of automated guided vehicles are arranged. the automatic transport carts are arranged so that as they enter through the sorting entrance and pass through the circulating movement section, an order is determined based on the position of the cargo sent by the cargo transport device, and after loading the cargo at the cargo loading port, they exit through the sorting exit; a plurality of automatic transport carts are arranged so that they enter through the sorting entrance, pass through the circulating movement section, load the cargo at the cargo loading port, and then exit through the sorting exit; the positioning means is configured to measure the position of the automatic transport cart while it is traveling; an identification means for reading the identified means of the cargo box is installed on the cargo transport device, and the identification means is fixed near the cargo unloading port, so that a worker or a robot can remove the cargo in the cargo box and load it onto the automatic transport cart located at the cargo loading port; and the server is wirelessly connected to the automatic transport cart, and is wired or wirelessly connected to each of the identification means, the cargo transport device, and the robot.

[0006] Optionally, the automated guided vehicle can travel multiple revolutions around the circulating portion.

[0007] Optionally, the rotation is unidirectional, either clockwise or counterclockwise.

[0008] Optionally, the automated guided vehicle can load cargo through a cargo loading port multiple times.

[0009] Optionally, the identified means is a barcode, a two-dimensional code, a graphic mark, a color mark, a mark by size or an RFID tag, and correspondingly, the identifying means is a camera or an RFID reader.

[0010] Optionally, the cargo transport device further comprises at least one of a display means and a sound player electrically connected to the server, and a worker loads the cargo according to guidance by at least one of the display means and the sound player.

[0011] Optionally, the cargo transport device is a roller conveyor, the cargo boxes are placed on the roller conveyor for transport, and the roller conveyor is electrically connected to the server.

[0012] Optionally, the roller conveyor is U-shaped.

[0013] Optionally, the cargo transport device is an automated guided vehicle, the automated guided vehicle is wirelessly connected to a server, and the cargo transport platform is equipped with a positioning means for measuring the position of the automated guided vehicle while it is traveling.

[0014] Optionally, the cargo transport entrance and cargo transport exit are connected to a warehouse, the cargo transport device is arranged extending to the warehouse, the server acquires cargo information by scanning a two-dimensional code of the cargo with a code reader, and acquires cargo box information by identifying the identified means of the cargo box with an identification means, and the sorting entrance and sorting exit are connected to a packing location.

[0015] Optionally, the positioning means adopts a number of barcodes, two-dimensional codes, graphic marks, color marks, size-based marks or RFID tags attached to the platform, and a camera is mounted on the automated guided vehicle.

[0016] The method for controlling a multi-circulation cargo sorting system includes the following steps.

[0017] Step S1. A plurality of cargo boxes loaded with cargo are transported from a cargo transport entrance, the cargo is unloaded at a cargo unloading entrance, and the cargo boxes are carried out from a cargo transport exit.

[0018] Step S2: When a plurality of automated guided vehicles enter through the sorting entrance and pass through the circulating movement section, an order is determined based on the position of the cargo sent by the cargo transport device, and after loading the cargo at the cargo loading port, they exit through the sorting exit.

[0019] Step S3: A worker or a robot moves the cargo in the cargo box passing through the cargo unloading entrance to an automatic guided vehicle passing through the cargo loading entrance.

[0020] Step S4: For a cargo on the same automated guided vehicle, if the purchaser of the cargo purchases only this cargo, the automated guided vehicle will exit directly from the sorting exit without further circulating through the circulating movement section, thereby completing sorting.

[0021] Step S5. When the purchaser of a cargo on the same automated guided vehicle also purchases other cargo, the automated guided vehicle waits for the next cargo to be loaded at the cargo loading port, or travels along the circulating moving section to wait for cargo to be loaded. When the other cargo has been transported to the cargo unloading port, the automated guided vehicle travels to the cargo loading port to load more cargo, and the process is repeated. After that, the automated guided vehicle exits the sorting exit and completes sorting.

[0022] The present application has at least the following advantages:

[0023] The cargo transport platform and the cargo transport device can use a roller conveyor to transport the cargo, which has a lower cost and a larger load capacity than an automated guided vehicle. When an automated guided vehicle is used, the automated guided vehicles can be arranged in a line, which increases the cost a little but also increases the load capacity.

[0024] For the cargo conveying device, a worker or a robot can be selected. When a worker is selected, the worker's action is a single repetitive action, and is less likely to make mistakes, so the efficiency is very high and the cost is relatively low. When conveying multiple cargoes in the same cargo box, the efficiency of the worker is significantly higher than that of the robot.

[0025] The automatic guided vehicle moves very quickly. For an automatic guided vehicle loaded with only one cargo, it can go out directly after passing through the circulating section, so there is no obstruction on the road, and for an automatic guided vehicle loaded with multiple cargo, it can enter through the circulating section and wait its turn, and it can wait while moving, so it is very free, the waiting time can be set relatively short, and the efficiency of cargo loading is very high.

[0026] The present application at least has the beneficial effects of reasonable structure, low cost, small sorting space, contributing to bulk preparation of cargo, and high sorting efficiency. [Brief description of the drawings]

[0027] [Figure 1] FIG. 1 is a schematic diagram showing the overall structure of the invention according to the present application. [Diagram 2] 1 is a diagram showing the sequence of loading cargo according to a first embodiment of the present application. [Diagram 3] 1 is a diagram showing the sequence of loading cargo according to a second embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] The present application will now be further described with reference to the drawings.

[0029] As shown in FIG. 1, the multiple circulation cargo sorting system includes a cargo transport platform 1, a cargo transport device, a sorting platform 2, an automated guided vehicle 22, a positioning means, a cargo transport device, and a server.

[0030] The freight transport platform 1 is provided with a freight transport entrance 11, a freight transport exit 10 and a freight unloading entrance 13.

[0031] The cargo transport device is configured to sequentially transport a plurality of cargo boxes 12 from a cargo transport entrance 11 to a cargo unloading entrance 13, and after unloading the cargo, to carry the cargo boxes 12 out of a cargo transport exit 10, where one or more cargoes of the same type are accommodated in the cargo boxes 12, and different cargo boxes 12 can accommodate the same or different cargoes, and each cargo box 12 is fitted with an identification means.

[0032] The sorting platform 2 is provided with a sorting entrance 21, a sorting exit 20 and a circulating movement section 23, and the circulating movement section 23 is provided with a cargo loading opening 24.

[0033] A plurality of automatic transport vehicles 22 are arranged, enter from a sorting entrance 21, and when passing through a circulating movement part 23, an order is determined based on the position of cargo sent by a cargo transport device, and after loading the cargo at a cargo loading port 24, exit from a sorting exit 20.

[0034] The positioning means is configured to measure the position of the automated guided vehicle 22 while it is traveling.

[0035] An identification means for reading the identified means of the cargo box 12 is installed in the cargo transport device, and the identification means is fixed near the cargo unloading port 13, so that a worker or a robot 3 can take out the cargo in the cargo box 12 and load it onto an automatic transport vehicle 22 positioned at a cargo loading port 24.

[0036] The server is wirelessly connected to the automated guided vehicle 22, and is wired or wirelessly connected to each of the identification means, the cargo transport device, and the robot.

[0037] The cargo transport platform 1 and sorting platform 2 of the present application may be installed in parallel, at a specified angle, or in a row, and may be freely installed, have very high space efficiency, and are suitable for transportation by both workers and robots 3.

[0038] The loading of the cargo into the cargo box 12 has already been completed before entering through the cargo transport entrance 11. Usually, in order to arrange work in advance, the server acquires cargo information by scanning the two-dimensional code of the cargo with a two-dimensional code reader, and acquires information of the cargo box 12 by identifying the identified means of the cargo box 12 with an identification means.

[0039] The cargo transport platform 1 and the cargo transport device are mainly for picking up and unloading cargo from the warehouse, and the order of the cargo boxes 12 is basically constant; the sorting platform 2 and the automated guided vehicles 22 are mainly for sorting cargo, loading cargo and final unloading cargo, and the order of the automated guided vehicles 22 is set according to the position of the cargo, and the two lines do not interfere with each other, so that the sorting effect is significantly improved, especially when the sorting space is relatively small.

[0040] Optionally, an automated guided vehicle 22 that needs to be loaded with cargo multiple times can travel multiple times around the circulating movement section 23 .

[0041] The circulation may be a short route or a long route, and can be freely adjusted by calculation using the server software. Even if the automated guided vehicle 22 does not carry any cargo for a while, it may be made to make another circulation so as not to interfere with the progress of other automated guided vehicles 22. The circulation is mainly in one direction, such as clockwise or counterclockwise.

[0042] The sorting platform 2 according to the present application is divided into two rows, and the automated guided vehicles 22 can only travel in these two rows.

[0043] The sorting entrance 21 is provided in one of the two rows, and the sorting exit 20 is provided in the other of the two rows, in which case the required platform space is the smallest and the space utilization rate is the highest.

[0044] When the same purchaser purchases multiple different goods, the automated guided vehicle 22 can pass through the goods loading port 24 multiple times to load the goods.

[0045] Optionally, the identification means of the cargo box is a barcode, a two-dimensional code, a graphic mark, a color mark, a size mark or an RFID tag. Correspondingly, the identification means is a camera or an RFID reader.

[0046] Optionally, the cargo conveying device further includes at least one of a display means 31 and a sound player electrically connected to the server, and a worker loads the cargo according to guidance by at least one of the display means and the sound player. When multiple similar cargoes are loaded onto the same automated guided vehicle 22, the efficiency of the work by the worker is higher than the efficiency of loading by the robot 3.

[0047] When the cargo of two purchasers is loaded in the cargo box 12, the number of cargoes to be loaded is notified by at least one of the display means 31 and the sound player, and the remaining cargoes are loaded onto the next automatic guided vehicle 22.

[0048] Preferably, the cargo transport device is a roller conveyor, the cargo box 12 is placed on the roller conveyor for transport, and the roller conveyor is electrically connected to the server. The roller conveyor can be a conventional product, has a relatively low cost, and has a relatively large load capacity.

[0049] Preferably, the roller conveyor is U-shaped, the U-shape referring to the shape of the conveying path, and a U-shaped roller conveyor can reduce the required space.

[0050] In another embodiment, the cargo transport device is an automated guided vehicle, the automated guided vehicle is wirelessly connected to a server, and the cargo transport platform 1 is equipped with a positioning means for measuring the position of the automated guided vehicle 22 while it is traveling.

[0051] When an automatic guided vehicle is used as a cargo transport device, it is relatively agile when loading cargo.

[0052] Optionally, the cargo transport entrance 11 and the cargo transport exit 10 are connected to a warehouse, and a cargo transport device is arranged extending to the warehouse. The server acquires cargo information by scanning the two-dimensional code of the cargo with a code reader, and acquires information of the cargo box 12 by identifying the identified means of the cargo box 12 with an identification means.

[0053] A sorting entrance 21 and a sorting exit 20 communicate with a packing area, and an automatic guided vehicle 22 travels in a circular manner to perform sorting.

[0054] According to this proposal, a complete system can be created that includes picking, sorting and packing of cargo.

[0055] Conventional technology can be used as a positioning means for measuring the position of the automated guided vehicle 22 while it is traveling. As the positioning means, a number of barcodes, two-dimensional codes, graphic marks, color marks, size-based marks, or RFID tags affixed to the platform can be used. Correspondingly, a camera is attached to the automated guided vehicle 22.

[0056] The method for controlling a multi-circulation cargo sorting system includes the following steps.

[0057] Step S1: A plurality of cargo boxes 12 loaded with cargo are transported from the cargo transport entrance 11, the cargo is unloaded at the cargo unloading opening 13, and the cargo boxes 12 are carried out from the cargo transport exit 10.

[0058] Step S2: When the multiple automated guided vehicles enter through the sorting entrance and pass through the circulating movement section, the sequence of the automated guided vehicles is determined based on the positions of the cargo sent by the cargo transport device, and after loading the cargo at the cargo loading port, they exit through the sorting exit.

[0059] Step S3: The cargo in the cargo box 12 passing through the cargo unloading opening 13 is moved by a worker or the robot 3 to the automatic guided vehicle 22 passing through the cargo loading opening 24.

[0060] Step S4: For a cargo on the same automated guided vehicle 22, if the purchaser of that cargo purchases only that cargo, the automated guided vehicle 22 will exit directly from the sorting exit 20 without further circulating through the circulating movement section 23, thereby completing the sorting.

[0061] Step S5. If the purchaser of the cargo on the same automated guided vehicle 22 also purchases other cargo, the automated guided vehicle 22 waits for the next cargo to be loaded at the cargo loading opening 24, or travels along the circulating moving section 23 to wait for cargo to be loaded, and when the other cargo has been transported to the cargo unloading opening 13, the automated guided vehicle 22 travels to the cargo loading opening 24 to load more cargo, and the process is repeated, after which the automated guided vehicle 22 exits from the sorting exit 20 and completes the sorting.

[0062] Steps S4 and S5 are specific methods for determining the order, and specific examples for determining the order will be described below.

[0063] When only one cargo is contained in the cargo box and the purchaser of the cargo only purchases this cargo, any one of the automatic guided vehicle can be dispatched, and typically, the automatic guided vehicle parked at the cargo loading port is dispatched to load the cargo.

[0064] If the same purchaser purchases two different cargoes, for example, one cargo is in cargo box number 1 and the other cargo is in cargo box number 3, as shown in Figure 2. In this case, after loading the cargo, the automatic guided vehicle number 1 immediately travels along the circulating transport section and cuts in just behind the automatic guided vehicle number 2, and after the cargo in the cargo box number 2 is loaded onto the automatic guided vehicle number 2, the cargo in the cargo box number 3 is loaded onto the automatic guided vehicle number 1.

[0065] When two cargoes contained in the same cargo box belong to different purchasers, for example, two similar cargoes are contained in cargo box number 1, as shown in Figure 3. In this case, after one cargo in cargo box number 1 is loaded onto automatic guided vehicle number 1, automatic guided vehicle number 2 will arrive immediately behind automatic guided vehicle number 1 in advance, and the other cargo will be loaded onto automatic guided vehicle number 2 immediately after the previous loading is completed. [Industrial Applicability]

[0066] The present application provides a multiple circulation cargo sorting system and a control method thereof. The system includes a cargo transport platform, a cargo transport device, a sorting platform, an automated guided vehicle, a positioning means, and a cargo transport device. The cargo transport device is configured to transport a plurality of cargo boxes from a cargo transport entrance to a cargo unloading port, and after unloading the cargo, to carry out the cargo boxes from the cargo transport exit, and each cargo box is provided with an identification means. The sorting platform is provided with a sorting entrance, a sorting exit, and a circulation movement section, and the circulation movement section is provided with a cargo loading port. A plurality of automated guided vehicles are arranged, and when they enter from the sorting entrance and pass through the circulation movement section, an order is determined based on the position of the cargo sent by the cargo transport device, and after loading the cargo at the cargo loading port, they exit from the sorting exit. The positioning means is configured to perform positioning of the automated guided vehicle. The cargo conveying device is provided with an identification means for reading the identified means of the cargo box, and the identification means is fixed near the cargo unloading port, so that the cargo in the cargo box can be removed by an operator or a robot and loaded onto an automatic guided vehicle located at the cargo loading port. The present invention has the beneficial effects of reducing the space required for sorting, contributing to preparing cargo collectively, and increasing the efficiency of sorting.

[0067] In addition, the multi-circulation cargo sorting system and the control method thereof according to the present application are feasible and can be applied to various industries. For example, the multi-circulation cargo sorting system and the control method thereof according to the present application can be applied to the field of sorting cargo by robots.

Claims

1. The system includes a cargo transport platform (1), a cargo transport device, a sorting platform (2), an automated guided vehicle (22), a positioning means, a cargo transport device, and a server; The cargo transport platform (1) is provided with a cargo transport entrance (11), a cargo transport exit (10) and a cargo unloading entrance (13); The cargo transport device is configured to sequentially transport a plurality of cargo boxes (12) from the cargo transport entrance (11) to the cargo unloading entrance (13), and after unloading the cargo, to transport the cargo boxes (12) out of the cargo transport exit (10), wherein one or more cargoes of the same kind are accommodated in the cargo boxes (12), and different cargo boxes (12) can accommodate the same or different cargoes, and each cargo box (12) is respectively equipped with an identification means; The sorting platform (2) is provided with a sorting entrance (21), a sorting exit (20) and a circulating movement section (23), and the circulating movement section (23) is provided with a cargo loading opening (24); a plurality of the automated guided vehicles (22) are arranged, and are configured to enter through the sorting entrance (21), and when passing through the circulating movement section (23), an order is determined based on the position of the cargo transported by the cargo transport device, and to exit through the sorting exit (20) after loading the cargo at the cargo loading port (24); the sorting platform (2) is divided into two rows, the automated guided vehicles (22) can only travel in these two rows, the sorting entrance (21) is provided in one of the two rows, and the sorting exit (20) is provided in the other of the two rows; The positioning means is configured to perform positioning while the automated guided vehicle (22) is traveling, The cargo conveying device is provided with an identification means for reading the identified means of the cargo box (12), the identification means is fixed near the cargo unloading opening (13), and a worker or a robot (3) can take out the cargo in the cargo box (12) and load it onto the automated guided vehicle (22) located at the cargo loading opening (24); The server is wirelessly connected to the automated guided vehicle (22), and is wired or wirelessly connected to each of the identification means, the cargo transport device, and the robot; The automated guided vehicle (22) can travel around the circulating portion (23) multiple times; The rotation is unidirectional, either clockwise or counterclockwise. A multi-circulation cargo sorting system.

2. The automated guided vehicle (22) can load cargo by passing through the cargo loading port (24) multiple times.

2. A multi-circulation cargo sorting system according to claim 1.

3. The identified means is a barcode, a two-dimensional code, a graphic mark, a color mark, a mark by size, or an RFID tag, and the identifying means is a camera or an RFID reader.

3. A multi-circulation cargo sorting system according to claim 1 or 2.

4. The cargo transport device further includes at least one of a display means (31) and a sound player electrically connected to the server, and the worker loads the cargo according to guidance by at least one of the display means and the sound player. A multi-circulation cargo sorting system according to any one of claims 1 to 3.

5. The cargo transport device is a roller conveyor, the cargo box (12) is placed on the roller conveyor and transported, and the roller conveyor is electrically connected to the server. A multi-circulation cargo sorting system according to any one of claims 1 to 4.

6. The roller conveyor is U-shaped. A multi-circulation cargo sorting system according to claim 5.

7. The cargo transport device is an automated guided vehicle, the automated guided vehicle is wirelessly connected to the server, and a positioning means is attached to the cargo transport platform (1) for measuring the position of the automated guided vehicle (22) while it is traveling. A multi-circulation cargo sorting system according to any one of claims 1 to 4.

8. the cargo transport entrance (11) and the cargo transport exit (10) are connected to a warehouse, the cargo transport device is disposed extending to the warehouse, the server acquires cargo information by scanning a two-dimensional code of the cargo with a code reader, and acquires information of the cargo box (12) by identifying the identified means of the cargo box (12) with the identification means, The sorting inlet (21) and the sorting outlet (20) are in communication with a packaging location. A multi-circulation cargo sorting system according to any one of claims 1 to 7.

9. As the positioning means, a plurality of bar codes, two-dimensional codes, graphic marks, color marks, size-based marks or RFID tags are attached to the platform, and a camera is attached to the automatic transport vehicle. A multi-circulation cargo sorting system according to any one of claims 1 to 8.

10. A method for controlling a multiple circulation cargo sorting system according to any one of claims 1 to 9, comprising: Step S1: transporting a plurality of cargo boxes (12) loaded with cargo from a cargo transport entrance (11), unloading the cargo at a cargo unloading entrance (13), and carrying the cargo boxes (12) out of a cargo transport exit (10); Step S2, in which a plurality of automated guided vehicles (22) enter from a sorting entrance (21) and pass through a circulating movement section (23), an order is determined based on the position of cargo sent by a cargo transport device, and after loading the cargo at a cargo loading port (24), the automated guided vehicles exit from a sorting exit (20); Step S3: transferring the cargo in the cargo box (12) passing through the cargo unloading opening (13) to the automated guided vehicle (22) passing through the cargo loading opening (24) by a worker or a robot (3); In the case where a buyer of a cargo on the same automated guided vehicle (22) purchases only that cargo, the automated guided vehicle (22) is caused to directly exit the sorting exit (20) without further circulating through the circulating movement section (23), thereby completing sorting, step S4; and step S5, in which, when a buyer of the cargo on the same automated guided vehicle (22) also purchases other cargo, the automated guided vehicle (22) waits for the next cargo to be loaded at the cargo loading opening (24) or travels along the circulating movement section (23) to wait for cargo to be loaded, and when the other cargo has been transported to the cargo unloading opening (13), the automated guided vehicle (22) travels to the cargo loading opening (24) to load more cargo, and then the automated guided vehicle (22) exits from the sorting exit (20) to complete sorting. A method for controlling a multi-circulation cargo sorting system.

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