CN112784619A

CN112784619A - Automatic goods sorting and filling system and method and intelligent post house

Info

Publication number: CN112784619A
Application number: CN202011623030.XA
Authority: CN
Inventors: 沈岗; 李德保
Original assignee: West Lake University Hangzhou Intelligent Industry Research Institute Co Ltd
Current assignee: West Lake University Hangzhou Intelligent Industry Research Institute Co Ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2021-05-11

Abstract

The present invention provides an automatic sorting and loading system for goods, which includes: a plurality of cargo boxes for collecting unsorted goods; an automatic truck for picking up goods between a cargo collection area, a temporary storage area of the cargo frames and a cargo sorting area cargo box; cargo placement platform; sorting robot, used to grab the cargo in the cargo box transported to the cargo sorting area and transfer and place it on the cargo placement platform; cargo information acquisition device, used to place the cargo The goods on the platform are used for information acquisition; the cargo container is used to store the goods; the loading robot is used to load the goods placed on the platform into the cargo container. The automatic sorting and filling system of goods of the present invention can realize the automatic sorting and filling of goods, so as to save labor cost and improve the efficiency of sorting and filling of goods. The invention also provides an automatic sorting and filling method for goods and an intelligent station.

Description

Automatic goods sorting and filling system and method and intelligent post house

Technical Field

The invention relates to the technical field of cargo sorting and filling, in particular to an automatic cargo sorting and filling system and method suitable for the tail end of a park and an intelligent post house.

Background

With the rapid development of the express logistics industry, the express sorting and distribution of the last kilometer at the tail end of a park are concerned more and more. The delivery of current garden end is mostly adopted is manual sorting post house, accomplishes last express delivery letter sorting delivery by the form that the addressee got to the post house or the form that adopts fixed intelligent express delivery cabinet. The manual letter sorting post house in garden also causes losing and the mistake of express delivery piece to get easily, has also improved the operation cost of express delivery simultaneously along with the increase of cost of labor. Moreover, the form that adopts intelligent express delivery cabinets such as rich nest needs the express delivery personnel to sweep the express delivery one by one and put into intelligent express delivery cabinet, and this is inefficient to the express delivery personnel, and natural cost of labor is just high.

Most of sorting processes of some existing automatic distribution systems adopt manual modes to load express into automatic distribution vehicles to complete distribution, and labor cost cannot be saved. Still some can load the automatic letter sorting post house systems of delivering the car of delivering into of express delivery comparatively complicated, and construction cost is comparatively high, and is not fit for the construction of ordinary garden and uses.

Disclosure of Invention

In order to solve the technical problems, the invention provides an automatic goods sorting and filling system and method and an intelligent post house, which can realize automatic sorting and filling of goods, so that the labor cost is saved, and the sorting and filling efficiency is improved.

The invention provides an automatic cargo sorting and loading system, which is provided with a cargo collecting area, a temporary cargo frame storage area, a cargo sorting area, a cargo information acquisition area and a cargo loading area, and comprises the following components:

the plurality of cargo frames are arranged in the temporary storage area of the cargo frames and are used for collecting the unsorted cargos;

an automated cart for transporting the cargo frames between the cargo collection area, the cargo frame staging area, and the cargo sorting area;

the cargo placement platform is arranged in the cargo information acquisition area;

the sorting robot is arranged in the goods sorting area and used for grabbing the goods in the goods frame conveyed to the goods sorting area and transferring the goods to the goods placing platform;

the cargo information acquisition device is arranged in the cargo information acquisition area and used for acquiring information of the cargo placed on the cargo placement platform;

the cargo cabinet is arranged in the cargo filling area and used for storing cargos;

and the loading robot is arranged in the goods loading area and used for loading the goods on the goods placing platform into the goods cabinet.

Further, the system also comprises an automatic distribution vehicle which is used for carrying the goods cabinet to execute distribution work when the goods cabinet is filled with goods.

Further, the system is further provided with a goods cabinet temporary storage area, the automatic delivery vehicle carries the goods cabinet to return to the goods cabinet temporary storage area after delivery is completed, and when the goods cabinet needs to be filled with goods, the automatic delivery vehicle carries the goods cabinet to move to the goods filling area for goods filling.

Furthermore, the system also comprises a goods temporary storage rack which is arranged in the goods loading area and used for temporarily storing goods which do not need to be delivered immediately; the loading robot is also used for loading goods which do not need to be immediately delivered into the goods temporary storage rack.

Furthermore, the number of the temporary storage racks for goods is two, and the two temporary storage racks are respectively arranged at the left side and the right side of the filling robot; the goods cabinet that is filling with goods placement platform sets up respectively fill robot's front and back both sides, just goods placement platform is located sorting robot with fill between the robot.

Furthermore, the temporary goods storage rack is arranged around the loading robot in a U shape, and an opening is formed in one side, facing the sorting robot, of the temporary goods storage rack; the goods placing platform and the goods cabinet which is being loaded are both positioned at the opening of the goods temporary storage rack.

Furthermore, the system also comprises an abnormal goods storage cabinet which is arranged in the abnormal goods storage area and used for storing goods which cannot be identified or are overlarge and overweight.

Furthermore, the system also comprises an abnormal cargo containing frame which is arranged in the cargo information acquisition area and in front of the cargo placement platform and is used for collecting the cargo which cannot be identified or is oversized and overweight; the automatic carrying vehicle is also used for carrying the abnormal goods containing frame to the abnormal goods storage area when the abnormal goods containing frame is full of goods.

Further, the system sets up in a post house, the goods is collected regional with unusual goods are deposited the region and are located outside the post house, goods frame temporary storage area, goods letter sorting is regional, goods information acquisition region, goods load the region and goods cabinet temporary storage area is located in the post house.

Further, the system still includes the 3D camera and is used for fixing the support of 3D camera, the 3D camera with the support all sets up goods letter sorting region, the 3D camera with sorting robot cooperates in order to snatch the goods that transport is to in the goods frame in goods letter sorting region.

Further, an automatic pushing tray with an automatic pushing function is installed at the tail end of the filling robot, and the automatic pushing tray is used for pushing goods into the goods cabinet to complete filling of the goods.

Further, install pushing mechanism on the goods placement platform, pushing mechanism is used for with goods on the goods placement platform push to fill the terminal automatic tray of releasing of robot on.

Further, the goods placement platform is fixed to be set up goods information acquisition region, just goods placement platform adopts transparent material, goods information acquisition device includes six bar code scanners, weighing sensor and size measurement sensor, six bar code scanners are used for respectively sweeping six faces of placing goods on the goods placement platform sign indicating number acquisition information, weighing sensor is used for acquireing the weight information of the goods on the goods placement platform, size measurement sensor is used for acquireing the size information of the goods on the goods placement platform.

Further, the goods cabinet is opened from front to back, the front part of the goods cabinet is a small split door, the rear part of the goods cabinet is a whole large door, and after the large door is opened, all grids for storing goods in the goods cabinet can be exposed, so that the goods can be conveniently filled.

The invention also provides an intelligent post house which comprises the automatic goods sorting and filling system.

The invention also provides an automatic goods sorting and filling method, which comprises the following steps:

the automated guided vehicle transporting an empty cargo frame to a cargo collection area for collecting cargo from a cargo handler;

the automatic transport vehicle transports the goods frames loaded with goods to a temporary storage area of the goods frames or a goods sorting area;

the sorting robot grabs and transfers the goods in the goods frame which is positioned in the goods sorting area and is provided with the goods to a goods placing platform arranged in the goods information acquisition area;

the goods information acquisition device acquires information of goods placed on the goods placement platform;

and a loading robot positioned in the goods loading area loads the goods on the goods placing platform into the goods cabinet.

Further, the method further comprises: the automatic distribution vehicle carries the goods cabinet filled with goods to execute distribution work, and carries the goods cabinet to return to the goods cabinet temporary storage area after distribution is completed.

Further, the loading robot that is located goods loading area will goods on the goods placement platform are loaded to the goods cabinet in, specifically include:

judging whether goods on the goods placing platform are abnormal or not according to the goods information acquired by the goods information acquiring device;

if the goods on the goods placing platform are in a normal state, pushing the goods on the goods placing platform onto an automatic pushing-out tray at the tail end of the filling robot through a pushing mechanism, and then pushing the goods into the goods cabinet through the automatic pushing-out tray;

if the goods on the goods placing platform are in an abnormal state, the goods on the goods placing platform are pushed away by the pushing mechanism and fall into the abnormal goods containing frame.

Further, the method further comprises: when the abnormal goods storage frame is full of goods, the automatic transport vehicle transports the abnormal goods storage frame to an abnormal goods storage area so as to store the goods which do not meet the delivery requirement in an abnormal goods storage cabinet located in the abnormal goods storage area.

Further, the method further comprises: the goods loading area is provided with a goods temporary storage rack, and the loading robot loads goods which do not need to be delivered immediately on the goods placing platform into the goods temporary storage rack for temporary storage.

Further, the method further comprises: the goods keep in the frame with the terminal automatic release tray of loading robot mutually supports the completion with goods on the automatic release tray pushes in on the goods keep in the frame or will the goods on the goods keep in the frame is automatic to be pushed in on the terminal automatic release tray of loading robot.

Further, the automatic handling vehicle carries the goods frame that is equipped with the goods and comes to goods frame temporary storage area or goods letter sorting region, specifically includes:

when no goods frame which is not sorted exists in the goods sorting area, the automatic transporting vehicle transports the goods frame loaded with goods to the goods sorting area directly;

when the goods sorting area has the goods frames which are not sorted, the automatic transport vehicle transports the goods frames loaded with goods to the goods frame temporary storage area firstly, and then when the goods sorting area has no goods frames which are not sorted, the automatic transport vehicle transports the goods frames loaded with goods from the goods frame temporary storage area to the goods sorting area.

Further, the goods information acquisition device is to placing goods on the goods placement platform carry out information acquisition, specifically include:

scanning six sides of the goods placed on the goods placement platform to obtain the names, the telephones and the addresses of the recipients or the names and the telephones of the recipients;

weighing the goods placed on the goods placing platform to obtain the weight of the goods;

and measuring the size of the goods placed on the goods placing platform to obtain the size of the goods.

Further, the method further comprises: after the information of the goods on the goods placement platform is acquired, a receiver is reminded through a telephone or a short message whether the goods arrive or not to be delivered immediately.

Further, the method further comprises: after the information of the goods on the goods placement platform is acquired, the addressee is reminded of the arrival of the goods through a telephone or a short message, and the addressee is informed of the arrival of the goods at the post station for pickup.

Further, the method further comprises: goods letter sorting region sets up the 3D camera, by the 3D camera with the letter sorting robot cooperates in order to realize snatching the goods that are located in the goods frame that goods are equipped with in goods letter sorting region.

According to the automatic sorting and filling system and method for the cargos, provided by the invention, after the overlarge and overweight cargos in the cargos to be delivered or transferred are removed by workers, all cargos are directly poured into the cargo frame, and the automatic sorting and filling process of the cargos is finished by the system without putting the cargos into the cargo cabinet one by one, so that the time of the workers is saved, the labor cost is reduced, and the working efficiency is improved.

Drawings

Fig. 1 is a schematic perspective view of a relay station according to a first embodiment of the present invention.

Fig. 2 is a partially exploded view of fig. 1.

Fig. 3 is a schematic view of the internal structure of fig. 1.

Fig. 4 is a schematic diagram of a sorting robot for sorting goods according to an embodiment of the present invention.

Fig. 5 is a schematic diagram illustrating information acquisition of goods on the goods placement platform according to the embodiment of the present invention.

FIG. 6 is a schematic diagram of an internal structure of a relay station according to a second embodiment of the present invention.

Fig. 7 is a schematic structural view of a temporary storage rack for goods according to another embodiment of the present invention.

Fig. 8 is a flow chart of the operation of the automatic goods sorting and loading system in the second embodiment of the invention.

Fig. 9 is a schematic view of a loading robot loading goods into a goods cabinet according to a second embodiment of the present invention.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

First embodiment

Referring to fig. 1 to 3, a cargo automatic sorting and loading system according to a first embodiment of the present invention is disposed in a post house 100. Taking the sorting and distribution of the last mile express at the end of the park as an example, the courier station 100 is an express cabinet courier station, the corresponding cargo cabinet 61 is an express cabinet, and the corresponding cargo is an express. Through setting up the automatic letter sorting loading system of goods at express delivery cabinet post house, can realize the automatic letter sorting of express delivery and load. After the express is loaded into the express cabinet, the delivery of the express is realized by informing the addressee to get the express at the post 100.

Specifically, the automatic goods sorting and loading system is provided with a goods collection area 10, a goods frame temporary storage area 20, a goods sorting area 30, a goods information acquisition area 40 and a goods loading area 50, and the system includes:

a plurality of goods frames 21 provided in the goods frame temporary storage area 20 for collecting goods that have not been sorted;

an automated guided vehicle 22 for transporting the cargo frame 21 between the cargo collection area 10, the cargo frame staging area 20, and the cargo sorting area 30;

a cargo placement platform 41 provided in the cargo information acquisition area 40;

a sorting robot 31, provided in the goods sorting area 30, for grabbing and transferring the goods in the goods frame 21 transported to the goods sorting area 30 onto the goods placing platform 41;

a cargo information acquisition device 42 provided in the cargo information acquisition area 40, for acquiring information of the cargo 12 placed on the cargo placement platform 41;

a cargo cabinet 61 provided at the cargo loading area 50 for storing cargo;

and a loading robot 51 disposed at the cargo loading area 50 for loading the cargo on the cargo platform 41 into the cargo cabinet 61.

Further, in the present embodiment, the number of the cargo cabinets 61 is plural, which is used for increasing the storage capacity of the cargo in the system and facilitating the turnover. The plurality of cargo cabinets 61 are arranged in a U shape around the loading robot 51, a notch 610 is formed in one side of the plurality of cargo cabinets 61 facing the cargo placing platform 41, the cargo placing platform 41 is located at the notch 610, and the cargo placing platform 41 is located between the sorting robot 31 and the loading robot 51.

Further, the system further comprises an abnormal goods storage cabinet 71 which is arranged in the abnormal goods storage area 70 and used for storing goods which cannot be identified or are too large and overweight.

Further, the system further comprises an abnormal cargo containing frame 43, which is arranged in the cargo information acquisition area 40 and in front of the cargo placement platform 41, and is used for collecting the cargo which cannot be identified or is oversized and overweight; the automated guided vehicle 22 is also configured to convey the abnormal-cargo receiving frame 43 to the abnormal-cargo storage area 70 when the abnormal-cargo receiving frame 43 is filled with the cargo.

Further, as shown in fig. 1 to 3, the post house 100 is formed by enclosing a cargo cabinet 61 (express delivery cabinet), a retaining wall 104 and a top cover 103. The loading side of the cargo cabinet 61 (express cabinet) is located inside the post house 100, and the pickup side of the cargo cabinet 61 (express cabinet) is located outside the post house 100.

Further, the cargo collection area 10 and the abnormal cargo storage area 70 are located outside the courier station 100, and the cargo frame temporary storage area 20, the cargo sorting area 30, the cargo information acquisition area 40, the cargo loading area 50, and the cargo cabinet temporary storage area 60 are located inside the courier station 100.

Further, please refer to fig. 3 and 4, the system further includes a 3D camera 32 and a fixing frame 33 for fixing the 3D camera 32, both the 3D camera 32 and the fixing frame 33 are disposed in the goods sorting area 30, and the 3D camera 32 cooperates with the sorting robot 31 to grab the goods in the goods frame 21 transported to the goods sorting area 30.

Further, referring to fig. 3 and 5, an automatic pushing tray 511 having an automatic pushing function is installed at an end of the filling robot 51, and the automatic pushing tray 511 is used for pushing the goods into the goods cabinet 61 to complete filling of the goods.

Further, referring to fig. 3 and 5, a pushing mechanism 44 is installed on the goods placing platform 41, and the pushing mechanism 44 is used for pushing the goods on the goods placing platform 41 onto the automatic pushing-out tray 511 at the end of the filling robot 51.

Further, please refer to fig. 3 and 5, the cargo placement platform 41 is fixedly disposed in the cargo information obtaining area 40, the cargo placement platform 41 is made of a transparent material, the cargo information obtaining device 42 includes six code scanners 421, a weighing sensor 422 and a size measuring sensor 423, the six code scanners 421 are respectively configured to scan six sides of the cargo placed on the cargo placement platform 41 to obtain information, the weighing sensor 422 is configured to obtain weight information of the cargo on the cargo placement platform 41, and the size measuring sensor 423 is configured to obtain size information of the cargo on the cargo placement platform 41.

Further, the post 100 is provided with an entrance 101 for the automatic transportation vehicle 22 or maintenance personnel to enter and exit, and an electric door 102 is installed at the entrance 101.

Referring to fig. 3, an embodiment of the present invention further provides an automatic sorting and loading method for goods, including:

the automated guided vehicle 22 carries an empty cargo frame 21 to the cargo collection area 10 to collect the cargo from the worker;

the automatic handling vehicle 22 carries the goods frame 21 loaded with goods to the goods frame temporary storage area 20 or the goods sorting area 30;

the sorting robot 31 picks and transfers the goods in the goods frame 21 with the goods in the goods sorting area 30 and places the goods on the goods placing platform 41 arranged in the goods information acquiring area 40;

the cargo information acquisition device 42 acquires information of the cargo placed on the cargo placement platform 41;

the loading robot 51 located at the goods loading area 50 loads the goods on the goods placing platform 41 into the goods cabinet 61.

Further, the method further comprises: after the information of the goods on the goods placing platform 41 is acquired, the receiver is reminded of the arrival of the goods through a telephone or a short message and is informed to get to the post 100 for pickup.

Further, the above-mentioned loading robot 51 located in the cargo loading area 50 loads the cargo on the cargo platform 41 into the cargo cabinet 61, and specifically includes:

judging whether goods on the goods placing platform 41 are abnormal (including but not limited to whether the size of the goods meets the requirement, whether the weight of the goods meets the requirement, whether the information of the goods can be identified, etc.) according to the goods information obtained by the goods information obtaining device 42;

if the goods on the goods placing platform 41 are in a normal state, pushing the goods on the goods placing platform 41 onto an automatic pushing-out tray 511 at the end of the filling robot 51 through a pushing mechanism 44, and then pushing the goods into the goods cabinet 61 through the automatic pushing-out tray 511;

if the cargo on the cargo platform 41 is in an abnormal state, the cargo on the cargo platform 41 is pushed away and dropped into the abnormal cargo storage frame 43 by the pushing mechanism 44.

Further, the method further comprises: when the abnormal-goods storage frame 43 is filled with goods, the automatic guided vehicle 22 conveys the abnormal-goods storage frame 43 to the abnormal-goods storage area 70 to store the goods that do not satisfy the delivery requirement in the abnormal-goods storage 71 located in the abnormal-goods storage area 70.

Further, the above-mentioned automatic guided vehicle 22 transports the goods frame 21 loaded with goods to the goods frame temporary storage area 20 or the goods sorting area 30, which specifically includes:

when the goods sorting area 30 has no unsorted goods frame 21, the automated guided vehicle 22 carries the goods frame 21 loaded with goods directly to the goods sorting area 30;

when the goods sorting area 30 has the unsorted goods frame 21, the automated guided vehicle 22 carries the goods frame 21 with the goods to the goods temporary storage area 20, and then when the goods sorting area 30 has no unsorted goods frame 21, the automated guided vehicle 22 carries the goods frame 21 with the goods from the goods temporary storage area 20 to the goods sorting area 30.

Further, the above cargo information acquiring device 42 acquires information of the cargo placed on the cargo placing platform 41, specifically including:

scanning six faces of the goods placed on the goods placement platform 41 to obtain the names and the phone numbers of the recipients (the addresses of the recipients can be not obtained by adopting a distribution mode of informing the recipients to take the goods at the post 100);

weighing the goods placed on the goods placing platform 41 to obtain the weight of the goods;

the goods placed on the goods placing platform 41 are subjected to size measurement to obtain the size of the goods.

Further, the method further comprises: a 3D camera 32 is arranged in the goods sorting area 30, and the 3D camera 32 cooperates with the sorting robot 31 to realize the grabbing of the goods in the goods frame 21 with the goods in the goods sorting area 30.

According to the automatic goods sorting and filling system and method provided by the embodiment of the invention, after the workers remove the oversized and overweight goods in the goods to be delivered or transferred, all the goods are directly poured into the goods frame 21, and the automatic sorting and filling process of the goods is completed by the system without putting the goods into the goods cabinet 61 one by one, so that the time of the workers is saved, the labor cost is reduced, and the working efficiency is improved.

Second embodiment

As shown in fig. 6, a second embodiment of the present invention provides an automatic sorting and loading system for goods, which is substantially the same as the first embodiment, and is different in that the automatic sorting and loading system for goods further includes an automatic distribution vehicle 62 and a goods cabinet temporary storage area 60, and after loading goods into a goods cabinet 61, the goods cabinet 61 is distributed to a receiver residence by the automatic distribution vehicle 62, that is, the goods are distributed at the upper door.

Specifically, in the present embodiment, the automatic goods sorting and filling system further includes an automatic distribution vehicle 62 for carrying the goods cabinet 61 to perform distribution work when the goods cabinet 61 is filled with goods.

Further, in this embodiment, the system is further provided with a cargo cabinet temporary storage area 60, the automatic distribution vehicle 62 carries the cargo cabinet 61 after completing distribution and returns to the cargo cabinet temporary storage area 60, and when the cargo cabinet 61 needs to be loaded, the automatic distribution vehicle 62 carries the cargo cabinet 61 and moves to the cargo loading area 50 for loading.

Further, in this embodiment, the system further includes a goods temporary storage rack 52 disposed at the goods loading area 50 for temporarily storing goods that do not need to be delivered immediately; the filling robot 51 is also used to fill the goods not requiring immediate delivery into the goods buffer 52.

Further, referring to fig. 6, in the present embodiment, the number of the temporary goods storage racks 52 is two, and the two temporary goods storage racks are respectively disposed on the left and right sides of the filling robot 51; the goods cabinet 61 and the goods placing platform 41 being loaded are respectively disposed at front and rear sides of the loading robot 51, and the goods placing platform 41 is located between the sorting robot 31 and the loading robot 51.

Further, referring to fig. 7, in another embodiment, the temporary goods storage rack 52 is disposed around the loading robot 51 in a U shape, and an opening 521 is disposed on a side of the temporary goods storage rack 52 facing the sorting robot 31, and the goods placing platform 41 and the goods cabinet 61 being loaded are both located at the opening 521 of the temporary goods storage rack 52. So, can increase the capacity of goods temporary storage frame 52, and can be compacter between goods temporary storage frame 52, loading robot 51, goods place the platform 41 and the goods cabinet 61 that is filling, reach the effect that further reduces occupation space.

Further, referring to fig. 6 and 9, in the present embodiment, the cargo cabinet 61 is in a form of a door which can be opened both front and back, the front part is a small divided door, and the back part is an entire gate 611, and the gate 611 can expose all the compartments for storing the cargo inside the cargo cabinet 61 after being opened.

Further, in the present embodiment, the interior space of the stager 100 is enclosed by the retaining wall 104.

Referring to fig. 6 and fig. 8, an embodiment of the present invention further provides an automatic cargo sorting and loading method, including:

Further, the method further comprises: the automatic distribution vehicle 62 carries the cargo box 61 filled with the cargo to perform distribution work, and carries the cargo box 61 to return to the cargo box buffer area 60 after completion of the distribution.

Further, the method further comprises: a temporary storage rack 52 is provided in the goods loading area 50, and the loading robot 51 loads goods that are not required to be immediately delivered from the goods placing platform 41 into the temporary storage rack 52 for temporary storage.

Further, the method further comprises: the temporary goods storage rack 52 and the automatic push-out tray 511 at the tail end of the filling robot 51 are matched with each other to push the goods on the automatic push-out tray 511 into the temporary goods storage rack 52 or automatically push the goods on the temporary goods storage rack 52 into the automatic push-out tray 511 at the tail end of the filling robot 51.

Further, the method further comprises: after the information of the goods on the goods placing platform 41 is acquired, a receiver is reminded whether the goods arrive or not to be delivered immediately through a telephone or a short message.

scanning six faces of the goods placed on the goods placement platform 41 to obtain addressee names, addressee telephones and addressee addresses;

Referring to fig. 4 to 6 and 9, taking a mode of delivering goods through the door as an example, the automatic sorting and loading system for goods according to an embodiment of the present invention is provided with a goods collecting area 10, a temporary storage area 20 for goods frames, a goods sorting area 30, a goods information acquiring area 40, a goods loading area 50, a temporary storage area 60 for goods cabinets, and an abnormal goods storage area 70 according to area division.

Cargo collection area 10: as shown in fig. 6, in the system, an identity input device 13 is disposed in a cargo collection area 10 for inputting identity information of a worker, after the worker enters the cargo collection area 10 of the system and inputs the identity information of the worker through the identity input device 13, an automatic transport vehicle 22 in the system transports an empty cargo frame 21 to the specific area outside the post 100, the worker can remove the cargo with an obviously oversized size, directly pour all the cargos to be delivered into the cargo frame 21, after the pouring is completed, the worker confirms that the automatic transport vehicle 22 transports the cargo frame 21 with the cargos to the inside of the post 100. The Automated Guided Vehicle 22 may be an AGV (Automated Guided Vehicle, AGV for short) equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation path, having safety protection and various transfer functions, and providing a power source for a Vehicle that does not require a driver in industrial applications, using a rechargeable battery.

The cargo frame buffer area 20: as shown in fig. 6, after the automated guided vehicle 22 carries the goods frame 21 with the goods to the inside of the system, it is determined whether there is any unsorted goods frame 21 in the goods sorting area 30 according to the system, if there is any, the automated guided vehicle 22 places the goods frame 21 with the goods in the temporary storage area of the unsorted goods, that is, the goods frame temporary storage area 20, and the system keeps track of which position of the goods frame 21 has the unsorted goods in the temporary storage area. At the same time, this area also stores empty cargo frames 21.

The goods sorting area 30: as shown in fig. 4 and 6, the area is mainly used for placing the goods frame 21 with goods carried by the automatic transporting vehicle 22 at the position, and the sorting robot 31 performs the grabbing and sorting tasks of the goods 12 in the goods frame 21 through the end suction cup or other multifunctional sucking or gripping device 311 under the guidance of the 3D camera 32. The 3D camera 32 may be fixed on the fixing frame 33 and located at a position right above the cargo frame 21.

Cargo information acquisition area 40: as shown in fig. 5 and 6, a single cargo grabbed by the sorting robot 31 is placed on a fixed cargo placing platform 41 in the area, and the table surface of the platform is made of a transparent material, so that six code scanners 421 can be installed to complete the information acquisition of six code scanning of the cargo placed on the platform 41. Meanwhile, the platform 41 is mounted on the load cell 422 to obtain weight information of the cargo. The platform 41 is also equipped with a dimension measuring sensor 423 for measuring the dimension of the cargo. A pushing mechanism 44 is also mounted on the top of the platform 41 to push the cargo 12 on the top. In this embodiment, taking the pushing mechanism 44 including two rodless cylinders 441 moving synchronously as an example, the two rodless cylinders 441 are connected through a push plate 442, and the push plate 442 can be driven to move by the extension and contraction of the two rodless cylinders 441, so as to push the goods 12 on the table top. It is to be understood that the pushing mechanism 44 is not limited to this form, and the rodless cylinder 441 is only one specific pushing form, and may take other forms as long as the pushing motion can be achieved. In addition, an abnormal goods receiving frame 43 is provided in front of the platform 41, and when the platform cannot recognize information of goods or detects that the goods are overweight or oversized and cannot be automatically delivered, the goods are pushed out of the abnormal goods receiving frame 43. After the platform 41 obtains the cargo information, the system can call or short message to remind the recipient whether the cargo has arrived at the post 100 for immediate delivery. Six scanners 421, load cells 422, and dimensional measurement sensors 423 may be mounted on the mounting block 45. This system adopts six yard recognition modes of sweeping of static state to compare traditional transmission line on automatic yard discernment of sweeping, and the recognition rate is higher, and area is littleer.

Cargo loading area 50: as shown in fig. 6 and 9, the area has a filling robot 51, and an automatic ejecting tray 511 having an automatic ejecting function is mounted at the end thereof. It is understood that the automatic ejecting tray 511 is provided with a pushing mechanism for pushing the goods, and the structure of the pushing mechanism may refer to the pushing mechanism 44 provided on the goods placing platform 41, which will not be described in detail herein. When the goods placed on the goods placing platform 41 satisfy the automatic distribution requirement, the loading robot 51 places the automatic push-out tray 511 on the front of the goods placing platform 41, and the goods on the platform are pushed onto the automatic push-out tray 511 at the end of the loading robot 51. When the automatic ejecting tray 511 is loaded with the goods, the loading robot 51 selects whether to place the goods on the temporary goods storage rack 52 or to place the goods inside the goods cabinet 61 according to the system's judgment criteria, which are whether the goods cabinet 61 exists at a specific position in the area and whether the goods are to be immediately delivered. When a cargo cabinet 61 exists at a specific location of the area and the cargo needs to be immediately delivered, the filling robot 51 places the cargo inside the cargo cabinet 61; when no goods cabinet 61 exists at a specific position of the area or the goods do not need to be delivered immediately, the loading robot 51 places the goods on the goods temporary storage rack 52 for temporary storage, and when the goods need to be delivered in future, the goods are taken out from the goods temporary storage rack 52 and transferred to be placed inside the goods cabinet 61, specifically, the goods temporary storage rack 52 and the automatic push-out tray 511 at the tail end of the loading robot 51 can cooperate with each other to push the goods on the automatic push-out tray 511 onto the goods temporary storage rack 52 or automatically push the goods on the goods temporary storage rack 52 onto the automatic push-out tray 511 at the tail end of the loading robot 51. Preferably, the cargo cabinet 61 is opened in a front and back manner, the front portion is a small split door, and the back portion is a whole main door 611, so that the cargo cabinet 61 in the area can be filled with the cargo by opening one main door 611 at the back portion by the automatic door opening device 53, and all the boxes for storing the cargo in the cargo cabinet 61 can be exposed, and the automatic pushing-out tray 511 at the end of the filling robot 51 can push the cargo into the cargo cabinet 61 to complete the filling of the cargo.

Cabinet buffer area 60: as shown in fig. 6, the area is used for temporarily storing empty cargo tanks 61, and at the same time, automatic distribution vehicles 62 are parked there, and automatic charging of the automatic distribution vehicles 62 can be completed in the area.

Abnormal cargo storage area 70: as shown in fig. 6, the area is used for storing the oversized overweight goods picked up by the staff, the oversized overweight goods detected in the system and the goods which cannot be identified by the system. After the abnormal-goods storage frame 43 is pushed with the goods that cannot be recognized by the system or the goods that are detected to be oversized and overweight by the system, when the abnormal-goods storage frame 43 is filled with the goods, the abnormal-goods storage frame 43 is transported to the abnormal-goods storage area 70 by the automatic transport vehicle 22.

When the cargo cabinet 61 is filled with the cargo to be delivered, the automatic delivery vehicle 62 carries the cargo cabinet 61, and performs automatic navigation to complete the door-to-door delivery of the cargo according to the address information of the cargo to be delivered.

It will be appreciated that the automated guided vehicles 22 and the automated delivery vehicles 62 are provided in a plurality to improve the efficiency of automated sorting delivery.

It is to be understood that the post 100 is further provided with one or more gateway 101 for the automated guided vehicle 22, the automated delivery vehicle 62, or maintenance personnel to enter and exit, and each gateway 101 is installed with a power door 102.

According to the automatic goods sorting and filling system and method provided by the embodiment of the invention, the automatic distribution vehicle 62 is arranged, after the goods are filled in the goods cabinet 61, the goods cabinet 61 is distributed to the residence of a receiver by the automatic distribution vehicle 62, so that the goods are distributed at home, the life of people is greatly facilitated, the time of distribution personnel is saved, and the labor cost is reduced.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. An automatic sorting and loading system for goods, characterized in that the system is provided with a goods collection area (10), a goods frame temporary storage area (20), a goods sorting area (30), and a goods information acquisition area (40). ) and a cargo loading area (50), the system comprising:

a plurality of cargo boxes (21), arranged in the temporary storage area (20) of the cargo boxes, for collecting unsorted cargoes;

an automatic truck (22) for transporting the cargo frame (21) between the cargo collection area (10), the cargo frame staging area (20) and the cargo sorting area (30);

a cargo placement platform (41), arranged in the cargo information acquisition area (40);

A sorting robot (31) is arranged in the goods sorting area (30), and is used for grabbing the goods in the goods frame (21) transported to the goods sorting area (30), transferring and placing them to the goods sorting area (30). The said goods are placed on the platform (41);

a cargo information acquisition device (42), arranged in the cargo information acquisition area (40), for acquiring information on the cargo placed on the cargo placing platform (41);

a cargo container (61), arranged in the cargo loading area (50), for storing cargo;

A loading robot (51) is provided in the cargo loading area (50), and is used for loading the cargo on the cargo placing platform (41) into the cargo container (61).

2. The system according to claim 1, characterized in that the system further comprises an automatic distribution vehicle (62) for carrying the cargo container (61) when the cargo container (61) is filled with goods Perform delivery work.

3. The system according to claim 2, characterized in that, the system is further provided with a cargo container temporary storage area (60), and the automatic distribution vehicle (62) carries the cargo container (61) after completing the distribution Return to the cargo container temporary storage area (60), and when the cargo container (61) needs to be loaded with goods, the automatic distribution vehicle (62) carries the cargo container (61) and moves to the cargo loading area ( 50) Carry out cargo loading.

4. The system according to claim 1, characterized in that, the system further comprises an abnormal cargo storage cabinet (71), which is arranged in the abnormal cargo storage area (70) and is used for storing unidentifiable or oversized and overweight goods.

5. The system according to claim 4, characterized in that, the system further comprises an abnormal cargo storage box (43), which is arranged in the cargo information acquisition area (40) and is located on the side of the cargo placing platform (41). The front is used to collect unidentifiable or oversized and overweight goods; the automatic truck (22) is also used to transport the abnormal goods storage frame (43) when the abnormal goods storage frame (43) is full of goods to the abnormal cargo storage area (70).

6. The system according to any one of claims 1-5, characterized in that, the system is provided in a post (100), the cargo collection area (10) and the abnormal cargo storage area (70) Located outside the post station (100), the cargo box temporary storage area (20), the cargo sorting area (30), the cargo information acquisition area (40), the cargo loading area (50) and all The cargo container temporary storage area (60) is located in the post station (100).

7. The system according to claim 1, characterized in that, the system further comprises a goods temporary storage rack (52), which is arranged in the goods loading area (50) and is used for temporarily storing goods that do not need to be delivered immediately; The loading robot (51) is also used for loading goods that do not need to be delivered immediately into the temporary storage rack (52).

8. The system according to claim 7, characterized in that, the number of the temporary cargo storage racks (52) is two, which are respectively arranged on the left and right sides of the loading robot (51); The cargo container (61) and the cargo placing platform (41) are respectively disposed on the front and rear sides of the loading robot (51), and the cargo placing platform (41) is located between the sorting robot (31) and the Between the loading robots (51).

9. The system according to claim 7, characterized in that the cargo temporary storage rack (52) is arranged in a U shape around the loading robot (51), and the cargo temporary storage rack (52) faces the One side of the sorting robot (31) is provided with an opening (521), and both the cargo placing platform (41) and the cargo container (61) being loaded are located in the opening (521) of the cargo temporary storage rack (52). ) at.

10. The system according to claim 1, characterized in that the system further comprises a 3D camera (32) and a fixing frame (33) for fixing the 3D camera (32), the 3D camera (32) and the fixing frame (33) are both arranged in the goods sorting area (30), and the 3D camera (32) cooperates with the sorting robot (31) to carry the goods to the goods sorting area (31). 30) to grab the goods in the goods frame (21).

11. The system according to claim 1, wherein an automatic ejection tray (511) with an automatic ejection function is installed at the end of the loading robot (51), and the automatic ejection tray (511) is used to The cargo is pushed into the cargo container (61) to complete the loading of the cargo.

12. The system according to claim 11, wherein a pushing mechanism (44) is installed on the cargo placing platform (41), and the pushing mechanism (44) is used for placing the cargo on the platform (41) The goods are pushed onto the automatic push-out tray (511) at the end of the loading robot (51).

13. The system according to claim 1, wherein the cargo placing platform (41) is fixedly arranged in the cargo information acquisition area (40), and the cargo placing platform (41) is made of a transparent material, so The cargo information acquisition device (42) includes six code scanners (421), a load cell (422) and a size measurement sensor (423), and the six code scanners (421) are respectively used to The six sides of the cargo on the cargo placing platform (41) are scanned to obtain information, the load sensor (422) is used to obtain the weight information of the cargo on the cargo placing platform (41), and the size measuring sensor ( 423) is used to obtain the size information of the goods on the goods placing platform (41).

14. The system according to claim 1, characterized in that, the cargo container (61) adopts a form that can be opened at the front and rear, the front part is a small divided door, the rear part is a whole door (611), and the door (611) After opening, all the compartments for storing goods in the cargo container (61) can be exposed.

15. A method for automatic sorting and filling of goods, comprising:

The automatic truck (22) transports an empty cargo box (21) to the cargo collection area (10) to collect the cargo from the cargo personnel;

The automatic truck (22) transports the cargo frame (21) loaded with the cargo to the cargo frame temporary storage area (20) or the cargo sorting area (30);

The sorting robot (31) grabs the goods located in the goods frame (21) containing goods in the goods sorting area (30) and transfers and places them on the goods placing platform ( 41) on;

The cargo information acquiring device (42) acquires information on the cargo placed on the cargo placing platform (41);

The loading robot (51) located in the cargo loading area (50) loads the cargo on the cargo placing platform (41) into the cargo container (61).

16. The method according to claim 15, characterized in that, the method further comprises: an automatic distribution vehicle (62) carrying the cargo container (61) filled with goods to perform distribution work, and carrying the cargo container (61) after the distribution is completed. The cargo container (61) is returned to the cargo container temporary storage area (60).

17. The method according to claim 15, characterized in that, the method further comprises: disposing a temporary cargo storage rack (52) in the cargo loading area (50), and the loading robot (51) also The goods on the goods placing platform (41) that do not need to be delivered immediately are loaded into the goods temporary storage rack (52) for temporary storage.

18. The method according to claim 17, characterized in that, the method further comprises: the cargo temporary storage rack (52) and the automatic push-out tray (511) at the end of the loading robot (51) cooperate with each other to complete the The goods on the automatic ejection tray (511) are pushed into the temporary goods storage rack (52) or the goods on the temporary goods storage rack (52) are automatically pushed into the end of the loading robot (51). on the automatic ejection tray (511).

19. The method according to claim 15, characterized in that, the method further comprises: after acquiring the information of the goods on the goods placing platform (41), reminding the recipient that the goods have arrived by phone or text message Whether to ship immediately.

20. The method according to claim 15, wherein the loading robot (51) located in the cargo loading area (50) loads the cargo on the cargo placing platform (41) into the cargo container (61), specifically include:

According to the cargo information obtained by the cargo information obtaining device (42), it is judged whether the cargo on the cargo placing platform (41) is abnormal;

If the goods on the goods placing platform (41) are in a normal state, the goods on the goods placing platform (41) are pushed to the automatic ejection tray ( 511), and then the goods are pushed into the cargo container (61) by the automatic push-out tray (511);

If the cargo on the cargo placing platform (41) is in an abnormal state, the pushing mechanism (44) will push the cargo on the cargo placing platform (41) away and drop it into the abnormal cargo storage frame (43). .

21. The method according to claim 20, characterized in that the method further comprises: when the abnormal goods receiving frame (43) is full of goods, the automatic transport vehicle (22) receives the abnormal goods The frame (43) is transported to the abnormal goods storage area (70) to store the goods that do not meet the delivery requirements in the abnormal goods storage cabinet (71) located in the abnormal goods storage area (70).

22. The method according to claim 15, wherein the automatic truck (22) transports the cargo frame (21) loaded with goods to the cargo frame temporary storage area (20) or the cargo sorting area (30) ), including:

When there is no unsorted cargo frame (21) in the cargo sorting area (30), the automatic pallet truck (22) transports the cargo frame (21) loaded with cargo to the cargo sorting directly area(30);

When an unsorted cargo frame (21) exists in the cargo sorting area (30), the automatic pallet truck (22) transports the cargo frame (21) loaded with goods to the cargo frame temporarily storage area (20), and then when there is no unsorted cargo frame (21) in the cargo sorting area (30), the automatic pallet truck (22) will temporarily store the cargo frame from the cargo frame (20). ) carries the cargo frame (21) loaded with the cargo to the cargo sorting area (30).

23. The method according to claim 15, characterized in that, the cargo information acquisition device (42) acquires information on the cargo placed on the cargo placing platform (41), specifically comprising:

Scan the code on six sides of the goods placed on the goods placing platform (41) to obtain the recipient's name, recipient's phone number and recipient's address or obtain the recipient's name and recipient's phone number;

weighing the goods placed on the goods placing platform (41) to obtain the weight of the goods;

The size of the goods placed on the goods placing platform (41) is measured to obtain the size of the goods.

24. The method according to claim 15, characterized in that, the method further comprises: after acquiring the information of the goods on the goods placing platform (41), reminding the recipient that the goods have arrived by phone or text message And notify the recipient to pick up at the post station (100).

25. The method according to claim 15, characterized in that the method further comprises: setting a 3D camera (32) in the goods sorting area (30), and the 3D camera (32) and the sorting The picking robot (31) cooperates to grasp the goods located in the goods box (21) containing goods in the goods sorting area (30).

26. An intelligent station, characterized in that it comprises the automatic sorting and filling system for goods according to any one of claims 1-14.