Anomaly processing system and warehousing management system

Abstract

An anomaly processing system and a warehousing management system, relating to the technical field of warehousing. The anomaly processing system (100) comprises a sorting apparatus (110) and a prompt apparatus (120). The sorting apparatus (110) comprises a support (111), and a moving mechanism (112), a pick-and-place mechanism (113), a controller (114), and a sensor group (115) which are arranged on the support (111), wherein a plurality of sensors in the sensor group (115) are provided at the position of at least one of the support (111), the moving mechanism (112), and the pick-and-place mechanism (113); and the plurality of sensors are configured to detect an anomaly signal indicating that an anomaly occurs at the position of at least one of the support (111), the moving mechanism (112) and the pick-and-place mechanism (113), and / or configured to detect, during sorting of goods to be sorted, an anomaly signal indicating that a sorting anomaly occurs at the position of least one of the support (111), the moving mechanism (112), and the pick-and-place mechanism (113), and send the anomaly signal to the controller (114), so that the controller (114) sends a prompt signal to the prompt apparatus (120) on the basis of the received anomaly signal, and the prompt apparatus (120) provides an anomaly prompt on the basis of the prompt signal.

Description

Exception handling system and warehouse management system

[0001] This disclosure claims priority to Chinese Patent Application No. 202520560023.1, filed with the State Intellectual Property Office of China on March 27, 2025, entitled "Abnormal Handling System and Warehouse Management System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of warehousing technology, specifically to an anomaly handling system and a warehouse management system. Background Technology

[0003] To improve the efficiency of goods sorting, some warehousing environments use automated sorting devices to sort goods. These devices can quickly and accurately allocate goods to designated locations through functions such as identification, classification, and conveying. Summary of the Invention

[0004] The present disclosure provides the following technical solutions:

[0005] In a first aspect, embodiments of this disclosure provide an anomaly handling system, the system including a sorting device and a prompting device. The sorting device includes a support, a moving mechanism, a pick-and-place mechanism, a controller, and a sensor group. The prompting device and the sensor group are respectively communicatively connected to the controller. The sensor group includes multiple sensors disposed at at least one location of the support, the moving mechanism, and the pick-and-place mechanism. The multiple sensors are at least configured to detect an anomaly signal at at least one location of the support, the moving mechanism, and the pick-and-place mechanism, and / or an anomaly signal indicating a sorting anomaly occurs at at least one location of the support, the moving mechanism, and the pick-and-place mechanism during the sorting process, and to send the anomaly signal to the controller. The controller is configured to send a prompting signal to the prompting device based on the received anomaly signal. The prompting device is configured to provide an anomaly prompt based on the prompting signal.

[0006] In some embodiments, the pick-and-place mechanism is movably disposed on the support, and the support is movably disposed on the moving mechanism; or, the pick-and-place mechanism is movably disposed on the moving mechanism, and the moving mechanism is movably disposed on the support; the pick-and-place mechanism is configured to move relative to the support and / or the moving mechanism to a designated position to pick up the goods to be sorted, and move relative to the support and / or the moving mechanism to deliver the goods to be sorted to a target container on a target slot.

[0007] In some embodiments, the plurality of sensors include at least one first sensor, which is communicatively connected to the controller, and the at least one first sensor is disposed on the pick-and-place mechanism; the at least one first sensor is configured to send a storage abnormality signal to the controller before the pick-and-place mechanism delivers the goods to be sorted into the target container, and when the remaining storage capacity of the target container is less than a storage capacity threshold; wherein the abnormality signal includes the storage abnormality signal, and the storage abnormality signal carries a storage abnormality information code.

[0008] In some embodiments, the controller is further configured to lock the target compartment upon receiving the storage anomaly signal, thereby stopping the delivery of goods into the target container.

[0009] In some embodiments, the plurality of sensors includes at least one second sensor, which is communicatively connected to the controller, and the at least one second sensor is disposed on the pick-and-place mechanism; the at least one second sensor is configured to collect the time when the pick-and-place mechanism delivers the goods to be sorted to the target container, and to send a delivery timeout abnormal signal to the controller if the delivery of the goods to be sorted exceeds the timeout; wherein the abnormal signal includes the delivery timeout abnormal signal, and the delivery timeout abnormal signal carries a delivery timeout abnormal information code.

[0010] In some embodiments, the plurality of sensors includes at least one third sensor, which is communicatively connected to the controller, and the at least one third sensor is disposed on the pick-and-place mechanism; the at least one third sensor is configured to collect first size information of the goods to be sorted during the process of the pick-and-place mechanism delivering the goods to be sorted into the target container, and to send a first size abnormality signal to the controller when the size of the goods to be sorted is greater than a first size threshold; wherein the abnormality signal includes the first size abnormality signal, and the first size abnormality signal carries a first size abnormality information code.

[0011] In some embodiments, the plurality of sensors include a plurality of fourth sensors, which are communicatively connected to the controller. The plurality of fourth sensors are disposed at the bottom of the bracket and are respectively disposed opposite to each other. The fourth sensor is configured to acquire the transmission signal of the fourth sensor disposed opposite to it to obtain the occlusion information of the fourth sensor, and to send a sensor abnormality signal to the controller when the fourth sensor is not completely occluded. The abnormality signal includes the sensor abnormality signal and carries a sensor abnormality information code.

[0012] In some embodiments, the plurality of sensors includes at least one fifth sensor, which is communicatively connected to the controller and disposed at the bottom of the support. The at least one fifth sensor is configured to detect whether the goods to be sorted have fallen from the pick-and-place mechanism during the process of the pick-and-place mechanism acquiring the goods to be sorted and delivering the goods to be sorted into the target container, and to send a goods drop abnormal signal to the controller when the goods to be sorted have fallen from the pick-and-place mechanism; wherein the abnormal signal includes a goods drop abnormal signal, which carries a goods drop abnormal information code.

[0013] In some embodiments, the sorting device includes a workbench configured to pick up the goods to be sorted and transfer the goods to be sorted to the pick-and-place mechanism; the pick-and-place mechanism includes a delivery mechanism disposed on the moving mechanism and configured to deliver the goods to be sorted to the target container under the drive of the moving mechanism.

[0014] In some embodiments, the plurality of sensors includes at least one sixth sensor, which is communicatively connected to the controller and disposed on the workbench; the at least one sixth sensor is configured to collect second size information of the goods to be sorted during the process of acquiring the goods to be sorted on the workbench and transferring the goods to be sorted to the delivery mechanism, and to send a second size abnormality signal to the controller when the size of the goods to be sorted is greater than a second size threshold; wherein the abnormal signal includes a second size abnormality signal, which carries a second size abnormality information code.

[0015] In some embodiments, the plurality of sensors includes at least one seventh sensor, which is communicatively connected to the controller and disposed on the delivery mechanism; the at least one seventh sensor is configured to collect the location of the goods to be sorted during the process of the workbench transferring the goods to be sorted to the delivery mechanism, and to send a connection error signal to the controller if the goods to be sorted are not transferred to the delivery mechanism within a first transfer time; wherein the error signal includes the connection error signal, which carries a connection error information code.

[0016] In some embodiments, the workbench includes a conveyor line configured to transport goods, and the plurality of sensors include at least one eighth sensor, which is communicatively connected to the controller and disposed on the workbench; the at least one eighth sensor is configured to detect the quantity information of goods in any conveying segment of the conveyor line during the process of the conveyor line transporting the goods to be sorted to the delivery mechanism, and to send a goods quantity abnormality signal to the controller when the quantity of goods in any conveying segment of the conveyor line exceeds a quantity threshold; wherein the abnormality signal includes the goods quantity abnormality signal, and the goods quantity abnormality signal carries a goods quantity abnormality information code.

[0017] In some embodiments, the workbench includes a conveyor line configured to transport goods, and the plurality of sensors include at least one ninth sensor, which is communicatively connected to the controller and disposed on the workbench; the at least one ninth sensor is configured to send a transmission timeout exception signal to the controller if the conveyor line fails to transport the goods to be sorted to the target position on the conveyor line when a second transmission time has elapsed; wherein the exception signal includes the transmission timeout exception signal, and the transmission timeout exception signal carries a transmission timeout exception information code.

[0018] In some embodiments, the controller sends a control signal to the workbench based on the abnormal signal. The control signal is configured to control the workbench to transfer the goods to be sorted to an initial position, which is the position of the goods to be sorted on the workbench when the workbench acquires the goods to be sorted.

[0019] In some embodiments, the system further includes an emergency stop button, and the controller is further configured to control the sorting device to stop operating in response to a user pressing the emergency stop button when the workbench is unable to transfer the goods to be sorted to the initial position.

[0020] In some embodiments, the prompting device includes any one or more of a signal light, a display device, and a speaker, wherein: the signal light is configured to illuminate based on the prompting signal; the display device is configured to display abnormal prompt information based on the prompting signal; and the speaker is configured to play an abnormal prompt sound based on the prompting signal.

[0021] Secondly, embodiments of this disclosure provide a warehouse management system, including the exception handling system described above. Attached Figure Description

[0022] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this disclosure. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0023] Figure 1 shows a schematic diagram of the structure of an exception handling system provided in an embodiment of the present disclosure;

[0024] Figure 2 shows a bottom view of a sorting device provided in an embodiment of the present disclosure;

[0025] Figure 3 shows a structural diagram of a sorting device provided in an embodiment of the present disclosure;

[0026] Figure 4 shows a partial schematic diagram of a workbench provided in an embodiment of the present disclosure;

[0027] Figure 5 shows a partial schematic diagram of a delivery mechanism provided in an embodiment of this disclosure;

[0028] Figure 6 shows a partial schematic diagram of another workbench provided in an embodiment of this disclosure;

[0029] Figure 7 shows a schematic diagram of an abnormal prompt message provided in an embodiment of this disclosure. Detailed Implementation

[0030] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein.

[0031] This disclosure provides an anomaly handling system that can monitor anomalies in the sorting process of the sorting device and the goods to be sorted, ensuring the normal operation of the sorting device and improving the sorting efficiency of the goods. The anomaly handling system provided in this disclosure will be described below with reference to the accompanying drawings.

[0032] Figure 1 shows a schematic diagram of the structure of an exception handling system provided in an embodiment of this disclosure.

[0033] As shown in Figure 1, the exception handling system 100 may include a sorting device 110. The sorting device 110 is a device configured to automatically sort goods. The sorting device 110 is capable of identifying the acquired goods and distributing them to designated locations.

[0034] For example, the sorting device 110 includes a support 111, which can be fixedly installed in a certain position or movably installed in a certain position.

[0035] For example, the sorting device 110 includes a moving mechanism 112, which is movably disposed in other components or at a certain location.

[0036] For example, the sorting device 110 includes a pick-and-place mechanism 113, which is configured to pick up and transport goods.

[0037] For example, operators or upstream conveyors can place goods on the sorting device 110, which can then identify the goods. The moving mechanism 112 then transports the goods to the location of the shelf, which can be a storage rack with multiple compartments, each containing a container for storing goods. After the goods are transported to the location of the shelf, the picking and placing mechanism 113 delivers the goods to the containers in the corresponding compartments, thereby completing the sorting of the goods.

[0038] For example, the support 111 is movably mounted on the moving mechanism 112, and a movable picking and placing mechanism 113 can be mounted on the support 111. In this way, the support 111 and the picking and placing mechanism 113 can move, and the picking and placing mechanism 113 can pick up and transport goods during the movement.

[0039] For example, the support 111 can be fixedly installed in a certain position, and a movable moving mechanism 112 can be installed on the support 111, and a movable picking and placing mechanism 113 can be installed on the moving mechanism 112. During the movement of the moving mechanism 112, the picking and placing mechanism 113 moves accordingly to pick up and transport goods.

[0040] For example, the sorting device 110 includes a controller 114, which is the core processing module of the sorting device 110 and is responsible for coordinating and managing the entire sorting process. For example, the controller 114 can control the operation of the sorting device 110 and respond to operator operations through various control programs.

[0041] For example, the sorting device 110 includes a sensor group 115 configured to detect and provide feedback in real time on any abnormalities that may occur during the sorting process. The sensor group 115 may include multiple sensors, which may consist of one or more types of sensors. Each sensor may be responsible for the same or different detection tasks.

[0042] Sensor group 115 is communicatively connected to controller 114. In a warehouse environment, depending on operational requirements and actual conditions, sensor group 115 and controller 114 can be wirelessly connected or physically connected; this disclosure does not specifically limit this.

[0043] In this embodiment of the disclosure, the sorting device 110 may have different structures, but in terms of component composition, the sorting device 110 has at least a support 111, a moving mechanism 112, a pick-and-place mechanism 113, a controller 114, and a sensor group 115, wherein the support 111, the moving mechanism 112, and the pick-and-place mechanism 113 are physical structures on the sorting device 110, and the controller 114 is a computing device on the sorting device 110.

[0044] As shown in Figure 1, the anomaly handling system 100 also includes a prompting device 120, and the prompting device 120 and the sensor group 115 are respectively connected to the controller 114 in communication.

[0045] The alerting device 120 is configured to alert the sorting device to any abnormalities that occur during the sorting process. The alerting device 120 can use different alerting methods to indicate different abnormalities. For example, the alerting device 120 can be a signal light with different light colors, which can be configured to indicate different abnormalities.

[0046] It should be noted that at least a portion of the prompting device 120 can be integrated into the sorting device, or the prompting device 120 can be set independently of the sorting device. This disclosure does not limit the installation location of the prompting device 120.

[0047] The prompting device 120 is communicatively connected to the controller 114. The prompting device 120 may include one or more devices, such as a traffic light, a display device, or a speaker. Depending on the type of device 120, the connection between the prompting device 120 and the controller 114 can be physical or wireless. For example, if the prompting device 120 is a traffic light or a speaker, the connection between the prompting device 120 and the controller 114 is physical; while if the prompting device 120 is a display device, the connection between the prompting device 120 and the controller 114 can be either wireless or physical.

[0048] In some embodiments, when providing an error message, one or more devices can be used to provide a combined message, that is, one or more devices can be controlled to output message information simultaneously.

[0049] In some embodiments, sensor group 115 includes a plurality of sensors. The plurality of sensors are located at at least one position on the support 111, the moving mechanism 112, and the pick-and-place mechanism 113. The plurality of sensors are configured to detect an anomaly signal at at least one position on the support 111, the moving mechanism 112, and the pick-and-place mechanism 113, and / or an anomaly signal indicating a sorting anomaly at at least one position on the support 111, the moving mechanism 112, and the pick-and-place mechanism 113 during the sorting process, and to send the anomaly signal to controller 114. It is understood that the plurality of sensors are configured to detect anomalies at at least one position on the support 111, the moving mechanism 112, and the pick-and-place mechanism 113, and / or anomalies occurring on the support 111, the moving mechanism 112, and the pick-and-place mechanism 113 during the sorting process.

[0050] For example, sensors can be installed at corresponding positions on the support 111, the moving mechanism 112, and the picking and placing mechanism 113 to detect the state of the goods to be sorted as they pass through each component of the sorting device 110 during the sorting process. When an abnormality is detected, a corresponding abnormality signal is sent to the controller 114.

[0051] In some embodiments, the abnormal signal may carry an abnormality information code. The abnormality information code is an encoding configured to indicate a fault or abnormal condition occurring during the sorting process. Operators and controllers 114, etc., can quickly identify faults and abnormalities using the abnormality information code so that appropriate handling measures can be taken.

[0052] In some embodiments, the controller 114 is configured to send a notification message to the notification device 120 based on a received anomaly signal. For example, the controller 114 can determine the type of anomaly in the sorting device 110 or the goods to be sorted during the sorting process based on the received anomaly signal. The controller 114 is configured to send a notification message to the notification device 120 according to the anomaly type, so that the notification device 120 can inform the user of and help them handle the anomaly.

[0053] The alerting device 120 is configured to provide anomaly alerts based on an alert signal. For example, the alerting device 120 may be a signal light. The alerting device 120 can control the signal light to illuminate based on the alert signal, and different alert signals can control the signal light to illuminate in different colors or in different ways. For instance, when an abnormality signal indicates that an abnormality has occurred in the sorting device 110, the alert signal can instruct the signal light to flash. When an abnormality signal indicates that an abnormality has occurred in the goods to be sorted during the sorting process, the alert signal can instruct the signal light to remain constantly lit as a red light.

[0054] In some embodiments, in the specific structure of the sorting device 110, the pick-and-place mechanism 113 is movably mounted on the support 111, and the support 111 is movably mounted on the moving mechanism 112; or, the pick-and-place mechanism 113 is movably mounted on the moving mechanism 112, and the moving mechanism 112 is movably mounted on the support 111. The pick-and-place mechanism 113 is configured to move relative to the support 111 and / or the moving mechanism 112 to a designated position to retrieve the goods to be sorted, and to move relative to the support 111 and / or the moving mechanism 112 to deliver the goods to be sorted into the target container on the target slot.

[0055] For example, the moving mechanism 112 can be a self-moving structure, such as a robot or a mechanical structure equipped with a moving device. The support 111 is movably mounted on the moving mechanism 112, and the picking and placing mechanism 113 is movably mounted on the support 111. For example, the picking and placing mechanism 113 can be a cargo placement device such as a robotic arm, and this picking and placing mechanism 113 is movably mounted on the support 111. In this way, the picking and placing mechanism 113 can move along with the moving mechanism 112 and the support 111 during their movement, and pick up, place, and transport the cargo.

[0056] For example, the support 111 can be a frame structure fixed to the ground, and the picking and placing mechanism 113 can be movably mounted on the moving mechanism 112, which in turn can be movably mounted on the support 111. Similarly, the picking and placing mechanism 113 can pick up, place, and transport goods during the movement of the moving mechanism 112.

[0057] Based on the above structure, multiple sensors are installed at at least one location of the support 111, the moving mechanism 112, and the picking and placing mechanism 113. This allows multiple sensors to detect whether any abnormality occurs at at least one location of the support 111, the moving mechanism 112, and the picking and placing mechanism 113 during operation or sorting of goods.

[0058] With the above structure, sensors can be set up based on the specific structure and location of each component in the sorting device, thereby detecting whether any abnormality occurs in each component of the sorting device during operation or sorting of goods, and realizing abnormal monitoring of the sorting device and sorting process.

[0059] In some embodiments, the plurality of sensors may include at least one first sensor. The first sensor is communicatively connected to the controller 114. The at least one first sensor is disposed on the pick-and-place mechanism 113. The first sensor may be any one or more of a diffuse reflection sensor, an ultrasonic sensor, a radar sensor, etc. Depending on technical requirements and system design, the first sensor and the controller 114 may be wirelessly connected or physically connected.

[0060] At least one of the aforementioned first sensors is configured to send a storage quantity abnormality signal to the controller 114 before the pick-and-place mechanism 113 delivers the goods to be sorted into the target container, and when the remaining storage quantity in the target container is less than a storage quantity threshold. The abnormality signal may include a storage quantity abnormality signal carrying a storage quantity abnormality information code. This code is a unique identifier used to identify storage quantity abnormalities, allowing operators or the controller 114 to quickly determine the type of abnormality in the sorting device and the goods to be sorted during the sorting process.

[0061] Taking a diffuse reflection sensor as an example, a diffuse reflection sensor can be installed at the end of the pick-and-place mechanism 113. When the pick-and-place mechanism 113 reaches the detection position (within the detection range) of the target container in the target compartment, it emits an infrared / visible beam and receives the reflected light reflected back when the beam encounters the surface of the goods. Based on the intensity of the reflected light and the reception time, the remaining storage amount in the target container is determined. If the remaining storage amount is less than the storage threshold, a storage abnormality signal is sent to the controller 114.

[0062] In some embodiments, the remaining capacity of the target container can also be detected by an ultrasonic sensor. For example, by mounting an ultrasonic sensor at the end of the pick-and-place mechanism 113, the ultrasonic sensor can measure the time it takes for a sound wave to travel from emission to impacting the surface of the goods in the target container and then back, thereby calculating the height from the surface of the goods to the bottom of the container to obtain the remaining capacity of the target container.

[0063] It should be noted that, in order to improve the accuracy of detecting the remaining storage capacity of containers, multiple sensors can be installed on the sorting device. That is, the remaining storage capacity of containers on the grid is detected by fusing multiple sensors. This disclosure does not specifically limit the type and number of sensors.

[0064] With the above setup, the remaining storage capacity of the container in the compartment can be detected by the first sensor installed on the loading and unloading mechanism 113. This determines whether goods can continue to be delivered into the container, thus enabling a judgment on the feasibility of goods delivery.

[0065] Since the target container may no longer be able to hold goods when the remaining storage capacity is less than a storage threshold, in some embodiments, the controller 114 is also configured to lock the target compartment upon receiving a storage abnormality signal to stop the delivery of goods into the target container.

[0066] In other words, the remaining storage capacity detected by the first sensor indicates the remaining storage capacity that the target container placed in the target compartment can hold. The state of the target compartment can be set based on this remaining storage capacity. In the locked state, the sorting device 110 will not deliver goods to the target container in the target compartment. In the unlocked state, the sorting device 110 can deliver goods to the target container in the target compartment. This method allows for control of goods delivery based on the remaining storage capacity of the container in the compartment, preventing malfunctions caused by continuing to deliver goods to a full container.

[0067] In some embodiments, the plurality of sensors may include at least one second sensor. This second sensor is communicatively connected to the controller 114. The connection between the second sensor and the controller 114 may be wireless or physical. For example, the second sensor may be a specular reflector, an ultrasonic sensor, a radar sensor, or a vision sensor, etc.

[0068] At least one second sensor is disposed on the pick-and-place mechanism 113, and is configured to collect the time when the goods to be sorted arrive at the detection point during the process of the pick-and-place mechanism 113 delivering the goods to be sorted into the target container. If the delivery of the goods to be sorted exceeds the time limit, a delivery timeout exception signal is sent to the controller 114. A delivery timeout can be understood as the time when the goods to be sorted arrive at the detection point exceeding a preset time threshold.

[0069] Among these, the abnormal signals include delivery timeout abnormal signals, which carry a delivery timeout abnormal information code. The delivery timeout abnormal information code is a unique code configured to identify the abnormal situation of delivery timeout.

[0070] For example, the picking and placing mechanism 113 can be a robotic arm, with at least one second sensor mounted on it. The robotic arm picks up, places, and moves goods under the control of the controller 114. During the process of the robotic arm delivering the goods to be sorted into the target container, the second sensor mounted on the robotic arm, such as a specular reflector, can record the time it takes for the goods to reach a certain location, i.e., the detection point, and determine whether the delivery of the goods has timed out. This can be determined by comparing the time between the arrival at the detection point and the time the robotic arm acquires the goods with a preset delivery time. If it is determined that the delivery of the goods has timed out, a delivery timeout exception signal is sent to the controller 114.

[0071] In some embodiments, image data collected by a vision sensor can be used to record the time when the goods to be sorted arrive at each detection point, thereby determining whether the goods to be sorted have exceeded the delivery time limit. Alternatively, an ultrasonic sensor can be used to measure the time when the goods to be sorted arrive at a certain detection point and the duration of their stay at that detection point to determine whether the goods to be sorted have exceeded the delivery time limit.

[0072] Accordingly, to ensure accuracy, multiple sensors can be installed on the pick-up and drop-off mechanism 113. That is, the delivery process is detected as timed out by fusing multiple sensors. This embodiment does not specifically limit the type or number of sensors.

[0073] By setting up a second sensor, the delivery process can be monitored, which helps ensure the normal operation of the sorting device and the efficiency of goods sorting.

[0074] In some embodiments, the plurality of sensors may include at least one third sensor. This third sensor is communicatively connected to the controller 114. The third sensor and the controller 114 may be wirelessly connected or physically connected. For example, the third sensor may be a specular reflection sensor, a laser sensor, a vision sensor, etc.

[0075] At least one third sensor is disposed on the pick-and-place mechanism 113. The at least one third sensor is configured to collect first size information of the goods to be sorted during the process of the pick-and-place mechanism 113 delivering the goods to be sorted into the target container. When the size of the goods to be sorted is greater than the first size threshold, a first size abnormality signal is sent to the controller 114.

[0076] The abnormal signal includes a first size abnormality signal. The first size abnormality signal carries a first size abnormality information code. This first size abnormality information code is a unique code identifying an abnormality in the size of the goods. The first size threshold can be set according to the actual structure of the sorting device, the size of the containers placed on the slots, etc., and this embodiment does not specifically limit this setting.

[0077] Taking a specular reflection sensor as an example, multiple specular reflection sensors can be set at different positions on the pick-and-place mechanism 113, with each sensor corresponding to a size detection point. During the transport of goods to be sorted, the first size information is calculated using the reception time of the reflected light from the goods received by each specular reflection sensor and the distance between the sensors. It is then determined whether the size of the goods to be sorted exceeds the first size threshold. If the size exceeds the first size threshold, a first size anomaly signal is sent to the controller 114.

[0078] In some embodiments, a vision sensor may be installed on the pick-and-place mechanism 113 when acquiring the first size information of the goods to be sorted. The vision sensor on the pick-and-place mechanism 113 captures an image of the goods to be sorted. For example, a two-dimensional image of the goods to be sorted can be acquired. The first size information of the goods to be sorted is obtained by analyzing the geometric features in the image of the goods to be sorted based on computer vision algorithms.

[0079] In some embodiments, various types of sensors may be installed on the pick-and-place mechanism 113. The first dimension information of the goods to be sorted is collected by fusing multiple sensors on the pick-and-place mechanism 113.

[0080] By setting up a third sensor, the size of the goods can be detected, and it can be determined whether the goods to be sorted can be sorted by the sorting device and delivered to the container on the grid, which can improve the success rate of goods delivery.

[0081] In some embodiments, the multiple sensors may include multiple fourth sensors that are communicatively connected to the controller 114, such as wirelessly or physically. For example, the fourth sensor may be a photoelectric sensor, a laser displacement sensor, etc.

[0082] Multiple fourth sensors are mounted on bracket 111. For example, multiple fourth sensors are mounted at the bottom of bracket 111. The multiple fourth sensors are positioned relative to each other. The fourth sensors are configured to collect the transmitted signals from the fourth sensors positioned opposite each other to obtain occlusion information. When a fourth sensor is not completely obstructed, a sensor abnormality signal is sent to controller 114. This abnormality signal includes a sensor abnormality code, which carries a sensor abnormality information code. This sensor abnormality information code is a unique code configured to identify sensor abnormalities, allowing operators to quickly understand the abnormality occurring in the equipment.

[0083] For example, Figure 2 shows a bottom view of a sorting device provided in an embodiment of this disclosure. As shown in Figure 2, multiple photoelectric sensors are respectively arranged at the bottom of the support 111 of the sorting device 110. These include at least two of the following: a first photoelectric sensor 131, a second photoelectric sensor 132, a third photoelectric sensor 133, a fourth photoelectric sensor 134, a fifth photoelectric sensor 135, and a sixth photoelectric sensor 136. Two photoelectric sensors arranged opposite each other will not receive photoelectric signals from each other due to the obstruction of the material rack at the bottom of the support 111. However, when the material rack position is offset or the sensor position is incorrect, the photoelectric sensors arranged opposite each other will receive photoelectric signals from each other.

[0084] Therefore, by setting multiple fourth sensors on the bracket 111, it is possible to determine whether there is an abnormality in the structure of the sensor or sorting device based on the occlusion information between two relatively set fourth sensors.

[0085] In some embodiments, the plurality of sensors may include at least one fifth sensor. This fifth sensor is communicatively connected to the controller 114, such as via a wireless connection or a physical connection. For example, the fifth sensor may be a specular reflector, a vision sensor, an ultrasonic sensor, a radar sensor, etc.

[0086] At least one fifth sensor is mounted on the support 111. For example, the fifth sensor may be mounted at the bottom of the support 111. The fifth sensor is configured to detect when the pick-and-place mechanism 113 receives the goods to be sorted. During the delivery of the goods to be sorted into the target container, it detects whether the goods have fallen from the pick-and-place mechanism 113. If the goods fall from the pick-and-place mechanism 113, an abnormal goods drop signal is sent to the controller 114.

[0087] The abnormal signals include cargo drop anomaly signals, which carry a cargo drop anomaly information code. This code is a unique identifier used to identify cargo drop anomalies. In some cases, depending on the location where the cargo fell, at least one of the fifth sensors can generate different cargo drop anomaly signals. Different cargo drop anomaly signals can correspond to different cargo drop anomaly information codes.

[0088] For example, at least one mirror reflection sensor can be installed on the bracket 111. During the process of the pick-and-place mechanism 113 acquiring the goods to be sorted and delivering them to the target container, the mirror reflection sensor can determine whether the goods have fallen by emitting a light beam and receiving reflected light. If the light beam emitted by the mirror reflection sensor is blocked by the goods located on the ground, causing the received reflected light to be weakened or interrupted, it can be determined that the goods have fallen, and a goods falling abnormality signal can be sent to the controller 114. For example, at least one mirror reflection sensor can be installed at the bottom of the bracket 111.

[0089] In some embodiments, when detecting whether the goods to be sorted have fallen, the position of the goods to be sorted can also be detected by a vision sensor or the like installed on the bracket 111. When it is determined that the goods to be sorted are located on the ground, it is determined that the goods to be sorted have fallen.

[0090] By setting up a fifth sensor, it is possible to detect whether goods have fallen during the sorting process, thus avoiding the negative impact caused by the inability to handle fallen goods in a timely manner.

[0091] Furthermore, Figure 3 shows a structural diagram of a sorting device provided in an embodiment of this disclosure. As shown in Figure 3, the sorting device 110 may include a workbench 116, which is configured to pick up goods to be sorted and transfer them to a pick-and-place mechanism 113. For example, an operator or robot can place the goods to be sorted on the workbench 116, or a conveyor line can be provided upstream of the sorting device 110 to place the goods to be sorted on the workbench 116.

[0092] As shown in Figure 3, the pick-and-place mechanism 113 includes a delivery mechanism 1131, which is disposed on the moving mechanism 112. The delivery mechanism 1131 is configured to deliver the goods to be sorted into the target container under the drive of the moving mechanism 112.

[0093] As shown in Figure 3, the moving mechanism 112 can move left and right on the support 111, and the delivery mechanism 1131 can move up and down on the moving mechanism 112. After the workbench 116 obtains the goods to be sorted, it can be transferred to the end of the workbench 116 along direction M, where the delivery mechanism 1131 picks up the goods to be sorted, that is, it places the goods to be sorted on the delivery mechanism 1131, so that the delivery mechanism 1131 can deliver the goods to be sorted into the target container (not shown in the figure) under the drive of the moving mechanism 112.

[0094] For example, direction M is the conveying direction of worktable 116.

[0095] In some embodiments, the plurality of sensors may include at least one sixth sensor. This sixth sensor is communicatively connected to the controller 114. This connection may be wireless or physical. For example, the sixth sensor may be a specular reflector, an ultrasonic sensor, a vision sensor, etc.

[0096] The aforementioned at least one sixth sensor is disposed on the workbench 116. The aforementioned at least one sixth sensor is configured to collect second size information of the goods to be sorted during the process of acquiring the goods to be sorted on the workbench 116 and transferring the goods to be sorted to the delivery mechanism, and to send a second size abnormality signal to the controller 114 when the size of the goods to be sorted is greater than the second size threshold.

[0097] The abnormal signal includes a second size abnormality signal, which carries a second size abnormality information code. This second size abnormality information code is an encoding that identifies an abnormality in the size of the goods. The second size abnormality information code is different from the first size abnormality information code. The second size threshold can be set according to the structure of the workbench 116, for example, in the sorting device shown in Figure 3, goods that are too large cannot pass through the transparent cover on the workbench 116. Therefore, the second size threshold can be set to the size of the workbench 116.

[0098] For example, Figure 4 shows a partial schematic diagram of a workbench provided in an embodiment of this disclosure. When collecting the second size information of goods to be sorted, at least one specular reflection sensor can be provided on the workbench 116. As shown in Figure 4, a first specular reflection sensor 141 can be provided at the entrance of the transparent cover on the workbench 116. For example, a first specular reflection sensor 141 can be provided at the upper right corner of the entrance of the transparent cover on the workbench 116. This allows the first specular reflection sensor 141 to collect the second size information of the goods to be sorted before they pass through the transparent cover. The first specular reflection sensor 141 is configured to send a second size abnormality signal to the controller 114 when the size of the goods to be sorted is greater than a second size threshold.

[0099] In some embodiments, the edges of the goods to be sorted can also be measured by using an ultrasonic sensor or similar device on the workbench 116. The ultrasonic sensor is configured to determine second size information of the goods to be sorted. The ultrasonic sensor is configured to send a second size anomaly signal to the controller 114 when the size of the goods to be sorted is greater than a second size threshold.

[0100] The sixth sensor mentioned above can be used to determine whether the size of the goods meets the transmission conditions when the goods are being transported on the workbench 116, thereby enabling size verification of the goods before delivery and improving the success rate of goods delivery.

[0101] To pinpoint the point where anomalies occur during the sorting process, multiple sensors may include at least one seventh sensor. This seventh sensor is communicatively connected to the controller 114. This connection may be wireless or physical. For example, the seventh sensor may be a specular reflector, ultrasonic sensor, radar sensor, or vision sensor.

[0102] At least one seventh sensor is disposed in delivery mechanism 1131. The at least one seventh sensor is configured to acquire the position of the goods to be sorted during the process of the workbench transferring the goods to be sorted to delivery mechanism 1131. The seventh sensor is configured to send a connection error signal to controller 114 if the goods to be sorted are not transferred to delivery mechanism 1131 within a first transfer time.

[0103] The abnormal signals include connection abnormality signals, which carry a connection abnormality information code. This connection abnormality information code is a unique code that identifies a connection abnormality. The first transmission time can be set according to the average transmission time of the goods, etc., and can be the maximum time required from when the workbench 116 obtains the goods to when the goods are transmitted to the delivery mechanism 1131.

[0104] For example, when the workbench 116 acquires the goods to be sorted, the workbench 116 can record the acquisition time and synchronize it to the controller 114. The controller 114 synchronizes the acquisition time to the seventh sensor, so that the seventh sensor can detect whether the goods to be sorted have been transferred to the delivery mechanism 1131 within the first transmission time. Under the control of the controller 114, the goods to be sorted continue to be transferred to the delivery mechanism 1131. If the goods to be sorted are not transferred to the delivery mechanism 1131 within the first transmission time, a connection abnormality signal can be sent to the controller 114.

[0105] For example, FIG5 shows a partial schematic diagram of a delivery mechanism provided in an embodiment of the present disclosure. Referring to FIG5, a plurality of specular reflection sensors may be provided on the delivery mechanism 1131. Such a plurality of specular reflection sensors include at least two of the second specular reflection sensor 142, the third specular reflection sensor 143, and the fourth specular reflection sensor 144 shown in FIG5. The specular reflection sensors may be configured to detect the time when the goods to be sorted arrive at the corresponding position of the delivery mechanism 1131 during the transmission on the conveyor line, thereby determining whether the goods to be sorted have been transmitted to the delivery mechanism 1131 within a first transmission time.

[0106] In some embodiments, the time it takes for two adjacent goods to be received at the delivery mechanism 1131 can be the same. That is, at time t1, goods 1 is transferred to the delivery mechanism 1131, and at time t2, goods 2 is transferred to the delivery mechanism 1131. The time required for any two adjacent goods to be transferred to the delivery mechanism 1131 is the first transmission time, i.e., t2-t1 (t2>t1). Therefore, the delivery mechanism 1131 can determine whether the goods to be sorted have been transferred to the delivery mechanism 1131 within the first transmission time based on the receiving time of the previous goods and the receiving time of the goods to be sorted.

[0107] In some embodiments, the sorted goods may be detected by any one or more of ultrasonic sensors, radar sensors, and vision sensors to determine whether they have been transferred to the delivery unit 1131 within the first transmission time.

[0108] The aforementioned seventh sensor can detect whether the delivery mechanism 1131 experiences any abnormalities such as timeouts in receiving goods, thus completing the abnormality detection of the goods transfer between the delivery mechanism 1131 and the workbench 116.

[0109] In some embodiments, the workbench 116 includes a conveyor line configured to transport goods. The plurality of sensors includes at least one eighth sensor, which is communicatively connected to the controller 114; this connection can be wireless or physical, etc. Exemplarily, the eighth sensor can be a specular reflector, ultrasonic sensor, radar sensor, vision sensor, etc.

[0110] At least one eighth sensor is disposed on the workbench 116. The at least one eighth sensor is configured to detect the quantity of goods at any point on the conveyor line during the process of transferring goods to be sorted to the delivery mechanism 1131. The eighth sensor is configured to send a goods quantity abnormality signal to the controller 114 when the quantity of goods at any point on the conveyor line exceeds a quantity threshold. The abnormality signal includes a goods quantity abnormality signal carrying a goods quantity abnormality information code.

[0111] In other words, the conveyor line of the workbench can consist of one or more conveyor segments. At any given time, a conveyor segment is configured to transport a limited number of goods. Therefore, when the eighth sensor detects that the number of goods in any conveyor segment of the conveyor line exceeds a quantity threshold, an abnormal goods quantity signal can be generated.

[0112] For example, FIG6 shows a partial schematic diagram of another workbench provided in an embodiment of the present disclosure. Referring to FIG6, an eighth sensor disposed on the workbench 116 can be used to detect the quantity of goods in each conveyor segment of the conveyor line. The eighth sensor includes at least one of a fifth specular reflector sensor 145 and a sixth specular reflector sensor 146. As shown in FIG6, the fifth specular reflector sensor 145 and the sixth specular reflector sensor 146 detect the quantity of goods in each conveyor segment. When it is determined that the quantity of goods in any conveyor segment is greater than a quantity threshold, an abnormal quantity signal can be sent to the controller 114.

[0113] In some embodiments, the quantity of goods in each conveying segment can be detected by setting any one or more sensors such as ultrasonic sensors, radar sensors, and vision sensors on the workbench 116, and when it is determined that the quantity of goods in any conveying segment is greater than the quantity threshold, an abnormal quantity signal can be sent to the controller 114.

[0114] The eighth sensor can detect the quantity of goods in each conveyor section on the workbench 116, ensuring that the goods are successfully transferred and delivered, thus improving the success rate of goods delivery.

[0115] In some embodiments, the workbench 116 includes a conveyor line configured to transport goods, and the plurality of sensors include at least one ninth sensor, which is communicatively connected to the controller 114, the connection being either wireless or physical. The at least one ninth sensor is disposed on the workbench. Exemplarily, the ninth sensor may be a specular reflection sensor, an ultrasonic sensor, a radar sensor, or a vision sensor, etc.

[0116] At least one ninth sensor is configured to send a transmission timeout error signal to controller 114 if the goods to be sorted are not transferred to the target position on the conveyor line when the second transmission time is reached.

[0117] The abnormal signals include transmission timeout abnormal signals. These signals carry a transmission timeout abnormal information code, which is a unique code configured to identify the transmission timeout abnormality. The target position on the conveyor line can be any position along the conveyor line in the transmission direction. The ninth sensor can be configured to verify the transmission position and speed of the goods. The second transmission time can be customized according to the length and speed of the conveyor line.

[0118] For example, the ninth sensor includes at least one of a fifth specular reflector sensor 145 and a sixth specular reflector sensor 146. The position of the goods to be sorted on the conveyor line can be detected using the specular reflector sensor 4 and specular reflector sensor 5 as shown in FIG. 6, and it can be determined whether the conveyor line will transfer the goods to be sorted to the target position on the conveyor line when the second transfer time is reached.

[0119] To improve detection accuracy, multiple sensors can be installed on the workbench to improve the detection of whether the goods to be sorted have been transferred to the target position on the conveyor line during the second transfer time.

[0120] The aforementioned ninth sensor can detect whether the conveyor line has exceeded the time limit for transporting goods, thereby enabling the inspection of the conveyor line's operation and helping to ensure the normal operation of the sorting device.

[0121] It is understood that the number and type of sensors are not specifically limited in this embodiment. For example, multiple sensors may include at least one of the first to ninth sensors, and the specific number of the first to ninth sensors is not limited.

[0122] In some embodiments, the controller 114 may also send a control signal to the workbench 116 based on an abnormal signal. The control signal is configured to control the workbench 116 to transfer the goods to be sorted to an initial position, which is the position of the goods to be sorted on the workbench 116 when the workbench 116 acquires the goods to be sorted.

[0123] For example, in the sorting device 110 shown in Figure 3, when an abnormal signal is received, the controller 114 can control the workbench 116 to transport the goods to be sorted to the initial position, that is, the position at the very end along the M direction, such as controlling the conveyor line on the workbench 116 to reverse the direction to transport the goods to be sorted to the initial position. After reaching the initial position, operators or robots can deliver or sort the goods to be sorted.

[0124] In some embodiments, the exception handling system may also include an emergency stop button, and the controller 114 may also control the sorting device 110 to stop operating in response to the user pressing the emergency stop button when the workbench 116 is unable to transfer the goods to be sorted to the initial position.

[0125] The emergency stop button can be installed on the sorting device 110. When the workbench 116 is unable to transfer the goods to be sorted to the initial position, the controller 114 can receive the user's control operation, and upon receiving the user's press of the emergency stop button, control the sorting device to stop running immediately to avoid further abnormal situations.

[0126] In some embodiments, the prompting device 120 includes one or more of a signal light, a display device, and a speaker. The signal light is configured to illuminate based on a prompt signal. For example, when a prompt signal is received, the signal light can be controlled to remain constantly lit or flash according to the prompt signal.

[0127] The display device is configured to display abnormality alerts based on prompt signals. The display device may be a display device communicatively connected to the controller 114 of the sorting device 110. The display device can display abnormality alerts on a corresponding interface based on the prompt signals. These abnormality alerts may include the specific type of abnormality and corresponding prompts, such as text information.

[0128] Figure 7 illustrates a schematic diagram of an anomaly notification message provided in an embodiment of this disclosure. As shown in Figure 7, the anomaly notification message in the interface includes the task number, sorting device ID, target compartment, working status, cause of the anomaly, and anomaly handling. Operators can select "remote delivery" to remotely control the corresponding delivery device to re-deliver the abnormal goods.

[0129] The speaker is configured to play anomaly alert sounds based on prompt signals. The speaker can be placed within a short distance of the operator's location in the storage area so that the operator can hear the alert sound promptly and handle the situation, such as manually entering the area or dispatching robots.

[0130] The anomaly handling system provided in this embodiment can monitor the operation of the sorting device, effectively identify various abnormal situations during the operation of the sorting device, and output prompts in a timely manner so as to handle the abnormal situations, thereby ensuring the efficient operation of the sorting device and improving the sorting efficiency of goods.

[0131] This disclosure also provides a warehouse management system that includes the anomaly handling system described above. This anomaly handling system enables anomaly detection of sorting devices within the warehouse management system, helping operators understand the operational status of the sorting devices and ensuring their normal operation.

[0132] Those skilled in the art will understand that the modules in the device of the embodiment can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiment can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components, except that at least some of such features and / or processes or units are mutually exclusive.

[0133] All embodiments disclosed herein can be executed individually or in combination with other embodiments, and are all considered to be within the scope of protection claimed by this disclosure.

[0134] It should be noted that the above embodiments are illustrative of this disclosure and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This disclosure can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. An anomaly handling system, the system comprising a sorting device and a prompting device, the sorting device comprising a support, a moving mechanism, a pick-and-place mechanism, a controller, and a sensor group, wherein the prompting device and the sensor group are respectively communicatively connected to the controller, wherein: The sensor group includes multiple sensors, which are located at at least one position of the support, the moving mechanism, and the picking and placing mechanism. The multiple sensors are configured to detect abnormal signals at at least one position of the support, the moving mechanism, and the picking and placing mechanism, and / or abnormal signals indicating sorting abnormalities at at least one position of the support, the moving mechanism, and the picking and placing mechanism during the sorting process, and to send the abnormal signals to the controller. The controller is configured to send a prompt signal to the prompting device based on the received abnormal signal; The alerting device is configured to provide an error alert based on the alert signal.

2. The system according to claim 1, wherein, The picking and placing mechanism is movably mounted on the support, and the support is movably mounted on the moving mechanism; or, the picking and placing mechanism is movably mounted on the moving mechanism, and the moving mechanism is movably mounted on the support. The pick-and-place mechanism is configured to move relative to the support and / or the moving mechanism to a designated position to pick up the goods to be sorted, and to move relative to the support and / or the moving mechanism to deliver the goods to be sorted into a target container on the target slot.

3. The system according to claim 2, wherein, The plurality of sensors includes at least one first sensor, which is communicatively connected to the controller, and the at least one first sensor is disposed on the pick-and-place mechanism; The at least one first sensor is configured to send a storage abnormality signal to the controller before the pick-and-place mechanism delivers the goods to be sorted into the target container and when the remaining storage of the target container is less than a storage threshold. The abnormal signal includes the reserve abnormal signal, which carries a reserve abnormality information code.

4. The system according to claim 3, wherein, The controller is also configured to lock the target compartment upon receiving the storage anomaly signal, thereby stopping the delivery of goods into the target container.

5. The system according to any one of claims 2-4, wherein, The plurality of sensors includes at least one second sensor, which is communicatively connected to the controller, and the at least one second sensor is disposed on the pick-and-place mechanism; The at least one second sensor is configured to collect the time when the goods to be sorted arrive at the detection point during the process of the pick-and-place mechanism delivering the goods to be sorted into the target container, and to send a delivery timeout abnormal signal to the controller if the delivery of the goods to be sorted exceeds the timeout. The abnormal signal includes the delivery timeout abnormal signal, which carries a delivery timeout abnormal information code.

6. The system according to any one of claims 2-5, wherein, The plurality of sensors includes at least one third sensor, which is communicatively connected to the controller, and the at least one third sensor is disposed on the pick-and-place mechanism; The at least one third sensor is configured to collect first size information of the goods to be sorted during the process of the pick-and-place mechanism delivering the goods to be sorted into the target container, and to send a first size abnormality signal to the controller when the size of the goods to be sorted is greater than the first size threshold. The abnormal signal includes the first size abnormal signal, which carries a first size abnormal information code.

7. The system according to any one of claims 1-6, wherein, The plurality of sensors include a plurality of fourth sensors, which are communicatively connected to the controller. The plurality of fourth sensors are disposed at the bottom of the bracket and are respectively disposed opposite to each other. The fourth sensor is configured to collect the transmission signal of the fourth sensor positioned opposite to the fourth sensor to obtain the occlusion information of the fourth sensor, and to send a sensor abnormality signal to the controller when the fourth sensor is not completely occluded. The abnormal signal includes the sensor abnormal signal, which carries a sensor abnormal information code.

8. The system according to any one of claims 2-7, wherein, The plurality of sensors includes at least one fifth sensor, which is communicatively connected to the controller, and the at least one fifth sensor is disposed at the bottom of the bracket; The at least one fifth sensor is configured to detect whether the goods to be sorted have fallen off the pick-and-place mechanism during the process of the pick-and-place mechanism acquiring the goods to be sorted and delivering the goods to be sorted into the target container, and to send a goods drop abnormal signal to the controller when the goods to be sorted fall off the pick-and-place mechanism. The abnormal signal includes the cargo drop abnormal signal, which carries a cargo drop abnormal information code.

9. The system according to any one of claims 2-8, wherein, The sorting device includes a workbench configured to pick up the goods to be sorted and transfer the goods to be sorted to the pick-and-place mechanism; The picking and placing mechanism includes a delivery mechanism, which is disposed on the moving mechanism and configured to deliver the goods to be sorted into the target container under the drive of the moving mechanism.

10. The system according to claim 9, wherein, The plurality of sensors includes at least one sixth sensor, which is communicatively connected to the controller and is disposed on the workbench; The at least one sixth sensor is configured to acquire second size information of the goods to be sorted during the process of acquiring the goods to be sorted at the workbench and transferring the goods to be sorted to the delivery mechanism, and to send a second size abnormality signal to the controller when the size of the goods to be sorted is greater than the second size threshold. The abnormal signal includes the second size abnormal signal, which carries a second size abnormal information code.

11. The system according to claim 9 or 10, wherein, The plurality of sensors includes at least one seventh sensor, which is communicatively connected to the controller and is disposed on the delivery mechanism; The at least one seventh sensor is configured to collect the location of the goods to be sorted during the process of the workbench transferring the goods to be sorted to the delivery mechanism, and to send a connection abnormality signal to the controller if the goods to be sorted are not transferred to the delivery mechanism within the first transfer time. The abnormal signal includes the connection abnormal signal, which carries a connection abnormality information code.

12. The system according to any one of claims 9-11, wherein, The workbench includes a conveyor line configured to transport goods, and the plurality of sensors include at least one eighth sensor that is communicatively connected to the controller and is disposed on the workbench. The at least one eighth sensor is configured to detect the quantity of goods in any segment of the conveyor line during the process of the conveyor line transferring the goods to be sorted to the delivery mechanism, and to send an abnormal quantity signal to the controller when the quantity of goods in any segment of the conveyor line is greater than a quantity threshold. The abnormal signal includes the cargo quantity abnormal signal, which carries a cargo quantity abnormality information code.

13. The system according to any one of claims 9-12, wherein, The workbench includes a conveyor line configured to transport goods, and the plurality of sensors include at least one ninth sensor, which is communicatively connected to the controller and is disposed on the workbench. The at least one ninth sensor is configured to send a transmission timeout error signal to the controller if the conveyor line fails to transfer the goods to be sorted to the target position on the conveyor line when the second transmission time is reached. The abnormal signal includes the transmission timeout abnormal signal, which carries a transmission timeout abnormal information code.

14. The system according to any one of claims 9-13, wherein, Based on the abnormal signal, the controller sends a control signal to the workbench. The control signal is configured to control the workbench to transfer the goods to be sorted to an initial position, which is the position of the goods to be sorted on the workbench when the workbench acquires the goods to be sorted.

15. The system according to claim 14, wherein, The system also includes an emergency stop button, and the controller is further configured to control the sorting device to stop operating in response to the user pressing the emergency stop button when the workbench is unable to transfer the goods to be sorted to the initial position.

16. The system according to any one of claims 1-15, wherein, The prompting device includes any one or more of the following: signal lights, display devices, and speakers, wherein: The signal light is configured to illuminate based on the prompt signal; The display device is configured to display an abnormality warning message based on the warning signal; The speaker is configured to play an abnormality alert sound based on the alert signal.

17. A warehouse management system, comprising the exception handling system as described in any one of claims 1 to 16.

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