Product sorting system, product sorting method, and computer program product

Abstract

a servo motor for moving the pusher body along the carrier in a sorting direction; a central control server arranged to transmit destination data relating to sorting positions; a plurality of controllers in communication with the central control server, movable in the conveying direction and controlling two or more servo motors in accordance with the destination data received from the central control server; a stationary access point (AP) in communication with the server; and a pair of stationary radial cables connected to the AP, one radial cable extending in the conveying direction and the other radial cable extending in a direction opposite to the conveying direction, the pair of stationary radial cables arranged to be in communication with the controller.

Description

Technical Field

[0001] The present invention relates to a product sorting system. This system includes a conveyor that can move in the conveying direction along a path provided with a number of sorting positions. The conveyor includes a number of elongated carriers arranged adjacent to each other and extending parallel to each other in a direction perpendicular to the conveying direction. The carriers are configured to convey the products to be sorted. All or part of the carriers are associated with a pusher body to form a carrier-pusher body combination. Each carrier-pusher body combination includes a pusher body displacement device with a servo motor for moving the pusher body along the carrier in a sorting direction perpendicular to the conveying direction in order to push out the products carried by the carrier from the carrier.

Background Art

[0002] This type of system is disclosed in the specification of International Patent Application No. NL2019 / 050488. This specific patent application focuses on the idea that the system includes a distance determination device configured to determine a distance parameter. This distance determination device is related to the distance in the sorting direction between the pusher body of the combination and the product to be sorted carried by the carrier. The distance determination device is further configured to send the distance parameter to an on-board control system. The on-board control system is configured to control the on-board drive device of the combination based on this distance data.

Summary of the Invention

Problems to be Solved by the Invention

[0003] The above system has the disadvantage of having a centralized communication topology. The central server must provide data to the controllers related to the combinations. However, there is no topology that is effective in realizing the above specific configuration. The present invention aims to provide a product sorting system having a communication topology that is effective for exchanging data between a central server and multiple controllers. [Means for solving the problem]

[0004] In a first aspect of the present invention, a product sorting system is provided for sorting products. This system is -Conveyor belt and, -Central control server and, - Multiple controllers, - At least one stationary access point (AP) configured to communicate with a central control server, -A first pair of stationary radiating cables connected to the AP, Equipped with, The conveyor is capable of moving in the transport direction along a path with multiple sorting positions. The conveyor consists of numerous elongated transport units arranged adjacent to each other, extending parallel to each other and perpendicular to the transport direction. The transporter is configured to transport the products to be sorted. All or part of the carrier is associated with the pusher body to form a carrier-pusher body combination. Each carrier-pusher body combination is equipped with a pusher body displacement device with a servo motor for moving the pusher body along the carrier in a sorting direction perpendicular to the transport direction in order to push the products being transported by the carrier out of the carrier. The central control server is positioned to transmit sorting destination data regarding the sorting location where the products to be sorted are pushed out of the transporter. Multiple controllers are positioned to communicate with a central control server and are movable in the transport direction along with the transporter or group of transporters. Each of the multiple controllers is configured to control two or more of the servo motors of the pusher body displacement device according to destination data received from the central control server. One of the first pair of stationary radiation cables extends in the carrier direction relative to the AP, Of the first pair of stationary radiation cables, the other radiation cable extends in the direction opposite to the transport direction relative to the AP. The first pair of stationary radiation cables are positioned to communicate with multiple controllers.

[0005] According to the present invention, the conveyor may be, for example, an endless type. The conveyor is provided with sorting positions and forms a closed circuit having an upper loop portion that defines the path through which products are transported and a lower loop portion that serves as a return path. The conveyor may be, for example, a belt conveyor, or in principle, another type of conveyor.

[0006] For example, a conveyor can be driven by a conveyor displacement device, as is well known in the field of conveyor technology.

[0007] The products to be sorted are pushed onto or placed on elongated carriers. The dimensions of the elongated carriers, as viewed from the conveying direction of the conveyor, may be such that the products straddle at least two consecutively located elongated carriers. In this case, at least two pusher bodies must be controlled together to push the products out of each elongated carrying body.

[0008] A pusher body is provided on all or part of an elongated transport body. The pusher body is movable relative to the transport body in the sorting direction. The sorting direction is lateral to the transport direction. An electric motor (e.g., a DC motor) is provided for each combination of a carrying body and a pusher body to move the pusher body along the carrying body in the sorting direction. During operation, the pusher body presses against the products to be sorted so that the products to be sorted are pushed out of the corresponding elongated transport body.

[0009] The operation of the servo motors of the pusher body displacement device, and consequently the movement of the pusher body, is controlled by a controller. The controller is movable in the transport direction along with the transported object or group of transported objects. In other words, the controller is movable relative to a "fixed world," such as a building in which the product sorting system is installed. Operational instructions for the servo motors of the pusher body displacement device are received from a central control server with which the controller communicates, corresponding to destination data.

[0010] In contrast to a mobile controller, the central control server is, for example, stationary. In a typical implementation, the server may be located, for example, near the product sorting system. However, in another typical implementation, the server may instead be located "in the cloud." In this case, the server is located away from the building where the product sorting system is installed.

[0011] A hierarchical communication architecture is provided to enable communication between mobile controllers and a central control server when the product sorting system is in operation. The highest level of the hierarchical architecture, the "master," is the central control server. The lowest level of the hierarchical architecture, the "operator," is the controller. A stationary access point (AP) and a pair of stationary radiating cables are located between the central control server and the controllers. As mentioned above, part of the communication architecture is fixed, and part of the communication architecture is mobile.

[0012] Stationary access points (APs) are fixed to the "fixed world" and are positioned to communicate with a central control server. Stationary radiation cables are also fixed to the "fixed world" and are connected to the APs. Controllers, which are mobile to the "fixed world," move with the conveyor belt. Destination data transmitted from the central control server is first sent to the APs and then transmitted from the APs along the radiation cables. The cables act as elongated antennas, sending and receiving signals along their length. Therefore, destination data is picked up by controllers moving along the radiation cables, particularly by antennas attached to the controllers.

[0013] In this way, stationary radiation cables (such as leakage coaxial cables) can transition communications initiated by a central control server from a stationary environment, a "fixed world," to a mobile environment.

[0014] The inventors have found that by providing radiating cables connected to APs in pairs, particularly with one radiating cable of the pair extending in the opposite direction to the conveyor's transport direction relative to the AP, and the other radiating cable of the pair extending in the conveyor's transport direction relative to the AP, the number of components required to obtain a robust, reliable, and efficient communication architecture is minimized.

[0015] Each radiating cable has at least one end connected to an AP. The free end is connected to the termination impedance. The AP may be connected to the cables on both sides, or two cables may be connected to one side of the AP. More specifically, in some embodiments, a single AP may be sufficient to cover communications over path lengths of up to 250 or 300 meters.

[0016] One of the pair of radial cables extends in the opposite direction to the transport direction relative to the AP. The other of the pair of radial cables extends in the transport direction relative to the AP. Therefore, when viewed along the transport path of the conveyor, the AP may be positioned away from both the start and end points of the transport path. In the embodiment, the AP may be positioned at or near the center of the path (the center with respect to the start and end points of the path). However, the AP does not necessarily have to be positioned in the center of the path (although this may be desirable in some cases).

[0017] The inventors have discovered that the above-described communication architecture has several advantages.

[0018] Firstly, two radiating cables connected to the same AP but extending in different directions result in a relatively longer path length for the controller and conveyor to pick up the same signal. As is known to those skilled in the art, roaming refers to changing the communication path between the controller and a communication source, such as a first AP, to a different communication path between the same controller and a different communication source, such as a second AP. Preferably, if the path is shorter than about 300m, or about 250m, or about 200m, roaming can be avoided because the same signal transmitted by the radiating cable can be picked up along the entire length of the path.

[0019] Secondly, the communication architecture disclosed herein enables an effective architecture with only a single AP over relatively long path lengths. While the embodiments described below demonstrate that using two APs is actually advantageous over using one, the system can function properly with just one AP. The ability to use only one (or two) APs represents a significant reduction compared to known communication architectures.

[0020] Thirdly, fewer access points (APs) mean less wiring from a central location (e.g., a central control server) to different APs, further reducing the complexity of the architecture.

[0021] Fourth, since the central control server and the controller are not physically connected by a cable but communicate via a radiating cable, many wirings can be omitted, particularly in the part of the conveyor that moves relative to the "fixed world".

[0022] In this way, the object of the present invention is achieved.

[0023] The system according to the present disclosure (more specifically, the communication topology used in the system) may use different types of communication technologies, such as wireless local area network (WLAN), Bluetooth (registered trademark), and Zigbee (registered trademark).

[0024] It is desirable to use WLAN as the communication technology. This is because WLAN supports the bit rate required by the system. As described above, the system may include a plurality of controllers, and each of these controllers may need to communicate with the central control server. The total amount of data packets exchanged between the central control server and the plurality of controllers may be added together. The inventors have found that WLAN supports this type of communication.

[0025] In one embodiment, each controller is configured to control a maximum of 32 pusher body displacement devices, for example, 8 or more and 32 or less pusher body displacement devices, and more preferably 8 or more and 16 or less pusher body displacement devices.

[0026] In principle, from a control standpoint, there is no upper limit to the number of pusher body displacement devices that can be controlled by a single controller. On the other hand, from the perspective of minimizing the number of parts, the more pusher body displacement devices that can be controlled by a single controller, the better. However, if a controller fails for any reason, all pusher body displacement devices controlled by that controller become uncontrollable, making it impossible to sort products on the elongated conveyor bodies associated with these pusher body displacement devices. From such a standpoint, it is desirable to limit the number of pusher body displacement devices controlled by a single controller to a reasonable number. Practical tests have shown that it is acceptable for the number of uncontrollable conveyor bodies to be up to 32 at a time without seriously affecting the efficiency of the system.

[0027] When measured along the conveying direction of the conveyor, the total length of the first pair of stationary radial cables is greater than 100 meters, and preferably less than 300 meters.

[0028] When a radiating cable "leaks" a signal for a mobile controller to pick up, the signal strength weakens as the length of the radiating cable increases. As the length of the radiating cable increases, the signal power from the AP to the radiating cable should gradually increase in order to obtain a sufficiently strong signal at the end of the cable. In practice, it has been found that the maximum length of a single cable is optimal at about 150m, preferably about 125m. Since pairs of cables extend in opposite directions, in this case the maximum total length per pair is about 300m, preferably about 250m.

[0029] In a further embodiment, the system further comprises a second pair of stationary radiating cables connected to a further second AP. Thus the system comprises at least two pairs of stationary radiating cables and at least two APs. In this example, the pairs of stationary radiating cables are positioned either partially overlapping each other or directly behind each other. The length of the path is at least 200 meters.

[0030] In a further embodiment, the length of the radiation cable extending in the transport direction relative to the AP is 50% to 200%, preferably 70% to 150%, and more preferably 90% to 110%, of the length of the radiation cable extending in the direction opposite to the transport direction relative to the AP.

[0031] Preferably, the radiating cables extending in the direction opposite to the transport direction are approximately the same length as the radiating cables extending in the transport direction. However, in principle, one cable may be, for example, up to three times or up to twice as long as the other cable. Preferably, the outer end of one cable extends to the start of the path, and the outer end of the other cable extends to the end of the path, with the AP positioned between these ends.

[0032] In a further embodiment, the system further comprises a second pair of stationary radiating cables arranged to communicate with APs. The first pair of stationary radiating cables are arranged parallel to the second pair of stationary radiating cables. One radiating cable of the second pair of stationary radiating cables extends in the transport direction relative to APs, and the other radiating cable of the second pair of stationary radiating cables extends in the opposite direction relative to APs. The second pair of stationary radiating cables are arranged to communicate with a plurality of mobile controllers.

[0033] This embodiment relates to a situation where two pairs of fixed cables are arranged parallel to each other (i.e., adjacent when viewed from above). Both pairs may be connected to the same AP. However, as will be discussed later, the two pairs may also be connected to two different APs. When there are two pairs of radiating cables, a redundant system is advantageous, as if one cable fails, the redundant cable can take over the function of the failed cable. This prevents system failure. Therefore, overall system downtime is significantly reduced.

[0034] In a further embodiment, the system further comprises a second stationary access point (AP) arranged to communicate with a central control server and connected to a first set of stationary radiating cables.

[0035] In this way, a redundant system is provided. In this case, even if one AP fails, the redundant AP can take over the functions of the failed AP. This prevents system failure. Therefore, the overall system downtime is significantly reduced.

[0036] In yet another example, the system consists of two pairs of radiating cables. The cables are arranged parallel to each other (as described above) and have two access points (APs) (as described above). Each radiating cable is connected to each AP. This provides optimal redundancy. Thus, it is possible to transmit multiple inputs and receive multiple outputs.

[0037] When there are two access points (APs), it is desirable that the communication frequency bands of the first AP and the second AP are different. When a radiating cable is connected to two or more APs, ensure that the two different frequency bands do not overlap to avoid interference.

[0038] Preferably, each frequency band is within the 5GHz band, particularly between 5.1GHz and 5.8GHz. Advantageously, this bandwidth is currently relatively underutilized. Therefore, using this frequency band allows for relatively low levels of interference (i.e., "noise") with other signals.

[0039] As mentioned above, the length of the radiation cable should preferably be a maximum of 150m.

[0040] In a further embodiment, each of one or more controllers is positioned to control the pusher body displacement device based on sorting parameters. The sorting parameters are: - Outfeed angle, i.e., the angle between the transport direction and the outfeed direction of the outfeed connected to the product sorting system. - Outfeed width - Outfeed location - Expected speed of sorting products on the outfeed It is one of the following:

[0041] In this case, each of the multiple controllers may be positioned to determine the sorting profile of the corresponding pusher body based on one of the sorting parameters. The sorting profile is related to the position of the pusher body relative to the corresponding elongated carrier.

[0042] The inventors have found that taking sorting parameters into consideration can be beneficial in determining an effective method for extruding a specific product from a corresponding elongated body.

[0043] Sorting parameters relate to parameters of the system itself, such as the outfeed angle, outfeed width, outfeed position, and / or the expected speed of products being sorted on the outfeed. These types of parameters may be considered when sorting specific products, i.e., when pushing specific products out of their corresponding elongated bodies.

[0044] For example, the controller may consider the expected speed of the products being sorted on the outfeed in order to determine the exit speed of the corresponding pusher body. That is, it may be beneficial if the exit speed of the corresponding pusher body is synchronized with the expected speed of the products being sorted.

[0045] Each controller is, - A pusher body displacement device is used to control the corresponding pusher body so that it is initially positioned facing or close to the product to be sorted. or - By controlling the pusher body displacement device so that the corresponding pusher body follows a sorting profile starting from its initial position, the products to be sorted are sorted at the sorting position. It has been found that it is beneficial to control the pusher body to its initial position and, in a second step, sort the products so that the corresponding pusher body follows a determined (or predetermined) sorting profile. The sorting profile may be determined by the controller based on sorting parameters, or it may be predetermined, for example, by the system operator. This enables efficient sorting of products and reduces the risk of errors.

[0046] A second aspect of the present invention is a product sorting method for sorting products to be sorted using any of the product sorting systems described above. This method is - Using one of the controllers, receive sorting destination data from a central control server via at least one stationary AP and stationary radiation cable, regarding the sorting location from which the products to be sorted should be pushed off the conveyor. - The process includes the step of controlling the pusher body displacement device at the sorting position by driving the corresponding servo motor using one of the controllers according to the received sorting destination data.

[0047] It should be noted that the advantages and definitions disclosed in relation to the first aspect of the present invention also apply to the second aspect of the present invention, which is a method for sorting products to be sorted.

[0048] In one embodiment, The receiving step is, - A step that receives at least one sorting parameter. Includes, The sorting parameters are: - Outfeed angle, i.e., the angle between the transport direction and the outfeed direction of the outfeed connected to the product sorting system. - Outfeed width - Outfeed location - Expected speed of sorting products on the outfeed It is one of the following: Further control steps are performed based on one of the sorting parameters mentioned above.

[0049] A third aspect of the present invention is a computer program product comprising a computer-readable medium storing instructions. When these instructions are executed by a controller, the controller is instructed to perform one of the methods described above.

[0050] The present invention will be described in further detail below with reference to the following drawings, based on several possible embodiments. Similar parts or features will be denoted by the same reference numerals. [Brief explanation of the drawing]

[0051] [Figure 1] This is a schematic diagram of the product sorting system described herein. [Figure 2] This is a schematic top view of the product sorting system relating to this disclosure. [Figure 3] This is a schematic side view of a transporter-pusher body combination that forms part of the product sorting system according to the present disclosure. [Figure 4] This is a high-level design diagram of a communication architecture provided as part of the product sorting system related to this disclosure. [Figure 5] This is another high-level design diagram of the communication architecture provided as part of the product sorting system related to this disclosure. [Modes for carrying out the invention]

[0052] Figure 1 shows a very schematic side view of product sorting system 1. However, no products are shown in Figure 1. Product sorting system 1 consists of an endless type conveyor 11. The conveyor 11 is driven here by two conveyor displacement devices 124. However, one of them may be a guide, in which case only the other actually drives the conveyor 11. In fact, usually the conveyor displacement devices are located only on the downstream side of the conveyor, near the end of the transport path. The conveyor 11 is driven in the transport direction T. In the figure, the length of the conveyor 11 appears relatively small (at least compared to its height), but a person skilled in the art will understand that in practice the length is virtually unlimited and may be, for example, several hundred meters, for example, more than 100 meters, for example, 200 meters, 250 meters, 300 meters or more. The conveyor 11 has an upper loop section 122 that moves in the transport direction T from the starting point 120 of the conveyor 11's path to the end point 121 of the conveyor 11's path, transporting products. The conveyor 11 also has a return loop section 123 that moves in the opposite direction of the transport direction T, returning from the end point 121 of the path to the starting point 120 of the path.

[0053] In the diagram, the path is shown as a straight path, but a person skilled in the art will understand that the path may alternatively have any kind of twists, bends, curves, or other non-linear sections. The conveyor 11 shown herein is equipped with two conveyor displacement devices 124, but a person skilled in the art will understand that more conveyor displacement devices 124 may be provided, especially if the conveyor 11 is relatively long, and that the conveyor 11 may consist of multiple sections of an endless loop, for example.

[0054] A notch 119 is provided near the starting point 120 of the path. Multiple outfeeds and sorting positions are provided along the path, as will be explained in detail below.

[0055] Figure 1 also shows numerous carrier-pusher body combinations 115, although only one is referenced, indicating that there are many such combinations 115. In this figure, the combinations 115, which are only visible from the side, extend in a direction perpendicular to the transport direction T, are arranged one after another, and different combinations 115 extend parallel to each other. As will be described in more detail later, each combination 115 consists of a carrier 113 (hereinafter referred to as a slat) that holds the product and a pusher body 114 (hereinafter referred to as a shoe) that can push the transported product out of the slat.

[0056] Further along the path, we can see an access point (AP) 14, a radiating cable 15 extending in the transport direction T relative to AP 14, and a radiating cable 16 extending in the opposite direction to T relative to AP 14. The functions of these radiating cables 15, 16 and AP 14 will be described later.

[0057] Looking at Figure 2, a top view of System 1 is shown. Here, only the upper loop of the conveyor 11 is shown. Here again, we can see a notch 119 near the starting point of the path defined by the conveyor 11. From the notch 119, the product P is placed on the conveyor 11. As is clear from Figure 1, the conveyor 11 is composed of a number of slats 113. The slats 113 are arranged one after the other and extend parallel to each other in a direction perpendicular to the transport direction T. As a typical example, though not mandatory, one product P is transported by multiple slats 113. Also, for easy understanding, each slat 113 is fitted with a shoe 114. As explained earlier with reference to Figure 1, the shoe 114 and the slat 113 form a transporter-pusher body combination 115 (hereinafter simply referred to as the combination). As can be seen from the figure, the position of the shoe 114 on the slat 113 is not static, and the shoe 114 can be moved relative to the slat 113, in a manner known to those skilled in the art, particularly in the sorting direction indicated by S. The sorting direction S is here perpendicular to the transport direction T. The sorting direction S is generally perpendicular to the transport direction T, but does not necessarily have to be perpendicular.

[0058] Two sorting positions 111 and 112 are indicated along the route. Outfeeds 118 are provided at sorting positions 111 and 112, and these outfeeds 118 can collect product P in a manner known in the art. As detailed below, a central control server controls the operation of the shoe 114 so that product P is pushed off the conveyor 11 at the "correct" or "desired" sorting position 111 or 112.

[0059] More specifically, the operation of the shoe 114 may be based on so-called sorting parameters, which include the outfeed angle α of the outfeed 118, i.e., the angle between the sorting transport direction T and the outfeed direction D, and / or the width W of the outfeed 118, and / or the sorting positions 111, 112 of the outfeed 118, and / or the expected speed of the products being sorted on the outfeed 118.

[0060] In particular, one or more controllers may be provided as part of the system (as described later). Each controller is positioned to determine the sorting profile of the corresponding shoe 114 controlled by the controller, based on any of the sorting parameters described above. The sorting profile is related in particular to the position of the shoe 114 relative to the corresponding slat 113 of the combination 115.

[0061] One particular advantage of the system described above is that, in this way, each shoe 114 can be controlled individually, separately, and independently so that the sorting process can be matched to individual products.

[0062] Next, looking at Figure 3, one of many methods for moving the shoe 114 relative to the slat 113 is shown. Apart from the specific embodiments shown herein, many other methods not shown for moving the shoe 114 relative to the slat 113 are known to those skilled in the art. It should be noted that this disclosure is not limited to any particular method for operating the shoe 114. Examples of such methods not shown include belt drive and direct drive by a servo motor located inside or on the shoe 114.

[0063] Next, Figure 3 shows a combination 115 of a slat 113 and a shoe 114 that is movable relative to the slat 113 in two opposite sorting directions S. For such movement, the combination 115 is equipped with a pusher body displacement device 116 (a spindle drive in this particular example) on the underside of the slat 112. The spindle drive 116 includes a threaded spindle 126 and a nut 127 that surrounds and engages with the threaded spindle 126. The nut 127 is connected to the pusher shoe 114 on its underside. The pusher body displacement device 116 further includes a servo motor 117, which is an electric motor, rigidly connecting the slat 113 to one end and to the threaded spindle 126 via a cross-sectional drive 125.

[0064] At the opposite end, the threaded spindle 126 is rotatably mounted on a bearing body 128 that is rigidly connected to the slat 113. Upon activation of the servo motor 117, the threaded spindle 126 rotates around the unsigned centerline in one of two directions indicated by the rotating double-headed arrow. The connection between the nut 127 and the pusher shoe 114 also causes the shoe 114 to move in one of two opposite sorting directions 4 parallel to the longitudinal direction of the slat 113.

[0065] The servo motor 117 is driven, for example, by a battery (not shown here). Charging of such a battery may be inductive (i.e., non-contact) or by sliding contacts.

[0066] Next, looking at Figure 4, the basic principle underlying the present invention is schematically shown. The basic principle of the present invention is defined in claim 1, but a more advantageous embodiment that includes features beyond the essential requirements of the claim is shown in Figure 4. Figure 4 shows two access points 14 and 19, each of which is connected on both sides via a combiner 20 to two radial cables 15, 16, 17, and 18 (hereinafter referred to as leaky coaxial cables 15, 16, 17, and 18). Although not shown in Figure 4, in practice the leaky coaxial cables 15, 16, 17, and 18 are arranged parallel to a conveyor (indicated by the general symbol T, which indicates the conveying direction of the conveyor). The leaky coaxial cables 15, 16, 17, and 18 are arranged in pairs. The first pair is formed by the upper leaky coaxial cables 17 and 18, and the second pair is formed by the lower leaky coaxial cables 15 and 16. The pairs are arranged parallel to each other. Each pair has one leaky coaxial cable 15, 17 extending in the transport direction T relative to AP14, 19, and another leaky coaxial cable 16, 18 extending in the opposite direction to the transport direction T relative to AP14, 19.

[0067] The total length of each of the leaky coaxial cables 15, 16, 17, and 18 may be a maximum of 150 meters, for example, a maximum of approximately 125 meters, when measured from the connection point to the combiner 20 to the opposite end. The total length of a pair of leaky coaxial cables may be a maximum of 300 meters, for example, a maximum of less than 100 meters, when measured from the far-side outer ends of cables 16 and 18 extending in the transport direction T to the far-side outer ends of cables 15 and 17 extending in the transport direction T to the far-side outer ends of the combiner 20.

[0068] The lengths of the leaky coaxial cables 15 and 17 extending in the transport direction T may be approximately equal to the lengths of the leaky coaxial cables 16 and 18 extending in the opposite direction. Alternatively, the length of one cable may be up to three times, for example, up to twice, the length of the other cable.

[0069] The communication frequency band of the first AP14 may be different from the communication frequency band of the second AP19.

[0070] Next, looking at Figure 5, we again see a number of slats 113 (although only two are referenced). Each or part of the slats 113 is associated with a shoe 114, and only two of these are shown in this figure. As described above, the slats 113 form a conveyor and move in the transport direction T. As described above, the shoe 114 is movable in the sorting direction S, which is perpendicular to the transport direction T relative to the slats 113.

[0071] As schematically shown at the bottom of Figure 5, there is a central control server 12. The central control server 12 does not necessarily have to be located in the same room or building as the conveyor. The central control server 12 is the “master” of the communication architecture and transmits sorting destination data related to the sorting location from which the products to be sorted should be pushed out of the transporter 113. This is the factor that ultimately determines how the shoe 114 should be operated. The central control server 12 is communicatively connected to a first AP 14 and a second AP 19. Each AP 14, 19 is connected to a pair of leaky coaxial cables 15, 16, 17, 18. The first AP 14 is connected to the first pair of leaky coaxial cables 15, 16 via a combiner 20. The second AP 19 is connected to the second pair of leaky coaxial cables 17, 18 via a combiner 20. Of each pair, one leaky coaxial cable 15, 17 extends in the transport direction T, and one leaky coaxial cable 16, 18 extends in the opposite direction to the transport direction T.

[0072] AP14, 19 and the leaky coaxial cables 15, 16, 17, 18 are stationary relative to the fixed world. In contrast, the elements associated with the conveyor, particularly the combination 115, shoe 114, slat 113, servo motor 117, controller 13, and controller antenna 131, move relative to the fixed world. The leaky coaxial cables 15, 16, 17, 18 provide communication between this fixed world and these moving components by communicating with the controller 13 (e.g., the controller antenna 131). For example, the antenna may be an integrated antenna.

[0073] The controller 13, which is configured to communicate with the central control server 12, picks up destination data transmitted from the central control server 12 and controls the operation of two or more servo motors 117 associated with the shoe 114 in response to the destination data.

[0074] As can be seen from the diagram, each controller 13 controls, for example, up to 32 servo motors. Advantageously, groups of servo motors 117 controlled by one controller 13 are coupled to each other in a daisy-chain configuration.

[0075] As will be understood by those skilled in the art, each of the controllers 13 arranged in this manner is positioned for the following purposes: - The shoe 114 is controlled via a pusher body displacement device and associated servo motors to an initial position where the corresponding shoe faces (or is in close proximity to) the product being sorted. -The products to be sorted are sorted by controlling the pusher body displacement device, in particular its servo motor 117, at the sorting position so that the corresponding shoe follows an established sorting profile starting from the initial position.

[0076] The controller 13 can be configured, for example, as a microprocessor or a field-programmable gate array (FPGA). The controller 13 is configured to receive data, at least from a central control server, directly, for example, relating to sorting positions 111, 112 to which products to be sorted should be pushed from the associated slats 113, and relating to the positions of at least a combination 115 viewed in the transport direction T along the sorting path, and to control the associated servo motor 117.

[0077] The controller 13 may further include ROM and / or RAM for storing data related to the sorting positions and for determining the longitudinal position of the shoe relative to the associated slats.

[0078] Regarding power transmission, a power rail can be attached to one side frame of the sorting device. The current collector is attached to the moving transporter and connected to a power pickup unit fixed to the transporter. [Explanation of Symbols]

[0079] 1. Product sorting system, 11. Conveyor, 111... Sorting location, 112... Sorting location, 113. Transport vehicle, 114... Pusher body, 115 ··Carrier-pusher body combination, 116. Pusher body displacement device, 117. Servo motor, 118. Outfeed, 119..Infeed, 120... Starting point of the route, 121...the end of the route, 122. Upper loop section, 123 ··Return loop, 124. Conveyor displacement device, 125. Orthogonal transmission, 126 threaded spindle, 127. Nut, 128...Bearing body, 12. Central control server, 13. Controller, 131... Antenna, 14. Access point, 15. Radiation cable, 16. Radiation cable, 17. Radiation cable, 18. Radiation cable, 19. Access point, 20. Combiner, α··Angle between the outfeed direction and the transport direction, D... Outfeed direction, P··Product, S··Sorting direction, T...Conveying direction, W... Cutting width.

Claims

1. A product sorting system for sorting products (P), - Conveyor (11), - Central control server (12), - Multiple controllers (13), - At least one stationary access point (AP) (14) arranged to communicate with the central control server (12), - A first pair of stationary radiation cables (15, 16) connected to the stationary AP (14), Equipped with, The conveyor (11) is movable in the transport direction (T) along a path provided with multiple sorting positions (111, 112), The conveyor (11) comprises a number of elongated transport bodies (113) arranged adjacent to each other, extending in directions parallel to each other and perpendicular to the transport direction (T). The transporter (113) is configured to transport the products (P) to be sorted. All or part of the transport body (113) is associated with a pusher body (114) to form a transport body-pusher body combination (115), Each of the transporter-pusher body combinations (115) is equipped with a pusher body displacement device (116) having a servo motor (117) for moving the pusher body (114) along the transporter (113) in a sorting direction (S) perpendicular to the transport direction (T) in order to push the products (P) being transported by the transporter (113) out of the transporter (113). The central control server (12) is positioned to transmit sorting destination data relating to the sorting positions (111, 112) from which the products (P) to be sorted are pushed out of the transport body (113). The plurality of controllers (13) are arranged to communicate with the central control server (12) and are movable in the transport direction (T) together with the transport body (113) or a group of transport bodies (113). Each of the plurality of controllers (13) is arranged to control two or more of the servo motors (117) of the pusher body displacement device (116) according to the sorting destination data received from the central control server (12). One of the first pair of stationary radiation cables (15, 16), radiation cable (15), extends in the transport direction (T) relative to the stationary AP (14), Of the first pair of stationary radiation cables (15, 16), the other radiation cable (16) extends in the direction opposite to the transport direction (T) relative to the stationary AP (14), The first pair of stationary radiation cables (15, 16) are arranged to communicate with a plurality of controllers (13), The system further includes a second pair of stationary radiating cables (17, 18) arranged to communicate with the stationary AP (14), The second pair of stationary radiation cables (17, 18) are arranged parallel to the first pair of stationary radiation cables (15, 16). One of the second pair of stationary radiation cables (17, 18), radiation cable (17), extends in the transport direction (T) relative to the stationary AP (14), Of the second pair of stationary radiation cables (17, 18), the other radiation cable (18) extends in the direction opposite to the transport direction (T) relative to the stationary AP (14), The product sorting system (1) is characterized in that the second pair of stationary radiation cables (17, 18) are arranged to communicate with a plurality of controllers (13).

2. The product sorting system according to claim 1, characterized in that each of the controllers (13) controls up to 32 pusher body displacement devices (116).

3. The product sorting system according to claim 1 or 2, characterized in that, when measured along the transport direction (T) of the conveyor (11), the total length of the first pair of stationary radial cables (15, 16) exceeds 100 meters and is less than 300 meters.

4. The product sorting system according to any one of claims 1 to 3, characterized in that the length of the radiating cable (15) extending in the transport direction (T) relative to the stationary AP (14) is 50% or more and 200% or less of the length of the radiating cable (16) extending in the direction opposite to the transport direction (T) relative to the stationary AP (14).

5. Further equipped with a second stationary access point (AP) (19), The second stationary access point (AP) (19) is configured to communicate with the central control server (12), The product sorting system according to any one of claims 1 to 4, characterized in that the second stationary access point (AP) (19) is connected to the first pair of stationary radiating cables (15, 16) and / or to the second pair of stationary radiating cables (17, 18).

6. The product sorting system according to claim 5, characterized in that the communication frequency band on the stationary AP (14) is different from the communication frequency band on the second stationary AP (19).

7. A product sorting system according to any one of claims 1 to 6, characterized in that the length of the radiating cables (15, 16, 17, 18) is a maximum of 150 m.

8. Each of the one or more controllers (13) is positioned to control the pusher body displacement device (116) based on sorting parameters. The aforementioned sorting parameters are: - The angle between the outfeed angle (α), i.e., the transport direction (T), and the outfeed direction (D) of the outfeed (118) connected to the product sorting system (1), - The width (W) of the outfeed (118), - Positions (111, 112) of the outfeed (118), - Expected speed of products (P) sorted on the outfeed (118), A product sorting system according to any one of claims 1 to 7, characterized in that it is one of the following.

9. Each of the controllers (13) is positioned to determine the sorting profile of the corresponding pusher body (114) based on any of the sorting parameters. The product sorting system according to claim 8, characterized in that the sorting profile relates to the position of the pusher body (114) relative to the corresponding elongated transport body (113).

10. Each of the controllers (13) is - The corresponding pusher body (114) is controlled using the pusher body displacement device (116) so that it is initially positioned facing or close to the product (P) to be sorted. or - The product sorting system according to claim 9, characterized in that the corresponding pusher body (114) is sorted at the sorting positions (111, 112) by controlling the pusher body displacement device (116) so that it follows a sorting profile starting from an initial position.

11. A product sorting method for sorting products (P) to be sorted using a product sorting system according to any one of claims 1 to 10, - Using one of the controllers (13), receive sorting destination data from a central control server (12) via at least one stationary AP (14, 19) and stationary radiation cables (15, 16, 17, 18) regarding sorting positions (111, 112) from which the products to be sorted (P) should be pushed out of the conveyor (11), - A step of controlling the pusher body displacement device (116) at the sorting position (111, 112) by driving the corresponding servo motor (117) using one of the controllers (13) according to the sorting destination data received, A product sorting method characterized by including [a certain element].

12. The step of receiving the sorting destination data is: - Step of receiving at least one sorting parameter Includes, The aforementioned sorting parameters are: - The angle between the outfeed angle (α), i.e., the transport direction (T), and the outfeed direction (D) of the outfeed (118) connected to the product sorting system (1), - The width (W) of the outfeed (118), - Positions (111, 112) of the outfeed (118), - Expected speed of the products (P) to be sorted on the outfeed (118), The product sorting method according to claim 11, characterized in that it is one of the following.

13. A computer-readable medium that stores instructions, A computer-readable medium characterized in that, when the instruction is executed by the controller (13), the controller (13) causes the controller (13) to carry out the product sorting method described in claim 11 or 12.

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