WO2019061846A1 - 包裹分拣平台、系统、方法及物品分拣系统数据处理 - Google Patents

包裹分拣平台、系统、方法及物品分拣系统数据处理 Download PDF

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Publication number
WO2019061846A1
WO2019061846A1 PCT/CN2017/115752 CN2017115752W WO2019061846A1 WO 2019061846 A1 WO2019061846 A1 WO 2019061846A1 CN 2017115752 W CN2017115752 W CN 2017115752W WO 2019061846 A1 WO2019061846 A1 WO 2019061846A1
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WIPO (PCT)
Prior art keywords
item
sorting
temporary storage
storage container
area
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/115752
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English (en)
French (fr)
Inventor
韩昊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Geekplus Technology Co Ltd
Original Assignee
Beijing Geekplus Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201710927640.0A external-priority patent/CN107511337B/zh
Priority claimed from CN201710919999.3A external-priority patent/CN107716322B/zh
Priority to AU2017434615A priority Critical patent/AU2017434615A1/en
Application filed by Beijing Geekplus Technology Co Ltd filed Critical Beijing Geekplus Technology Co Ltd
Priority to JP2019552907A priority patent/JP6712680B2/ja
Priority to EP17927474.1A priority patent/EP3689482A4/en
Priority to SG11202001877YA priority patent/SG11202001877YA/en
Priority to KR1020207007938A priority patent/KR102313900B1/ko
Priority to US16/616,072 priority patent/US11123770B2/en
Publication of WO2019061846A1 publication Critical patent/WO2019061846A1/zh
Anticipated expiration legal-status Critical
Priority to AU2021215147A priority patent/AU2021215147B2/en
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/008—Means for collecting objects, e.g. containers for sorted mail items
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/003—Destination control; Electro-mechanical or electro- magnetic delay memories
    • B07C3/006—Electric or electronic control circuits, e.g. delay lines

Definitions

  • the present application relates to the field of parcel sorting technology, and in particular to parcel sorting platforms, systems, methods, and item sorting system data processing.
  • the parcel sorting robot system is a logistics sorting system based on China's national conditions, geographical factors, comprehensive consideration of the labor cost of China's labor-intensive industries and the cost balance of sophisticated and complex automation equipment. Utilizing the robot's immediate response characteristics and the flexibility of a distributed system, the parcel sorting robot system can greatly reduce the overall cost of parcel sorting.
  • the embodiment of the present application provides a parcel sorting platform, system, and method, which can improve sorting efficiency and reduce sorting cost by changing the structure of the sorting platform.
  • a first aspect of the present application provides a parcel sorting platform.
  • the sorting platform includes a body portion having a first main surface and a second main surface opposite to each other, a cargo area disposed at a middle portion of the first main surface side, and a delivery area disposed at an edge position of the body portion; Wherein the transport device receives the cargo from the coded area and moves along the first major surface of the body portion to the delivery area such that the sorting robot delivers the package in the delivery area.
  • the delivery zone includes an opening through the first major surface and the second major surface such that the transport device delivers the package through the opening to a second major surface side of the sorting platform Inside the container.
  • the rim of the body portion includes a first portion that includes a structure that is recessed toward a central portion of the body portion.
  • the rim of the body portion is a serrated structure that projects toward the middle of the body portion.
  • the parcel sorting platform further includes a plurality of slides that are inclined along the edge of the body portion and laterally away from the first major surface side at the second major surface of the body portion.
  • the rim of the body portion is a sawtooth structure that is recessed toward the middle of the body portion.
  • a second aspect of the present application provides a sorting system comprising a sorting platform, a feeder device disposed in the middle of the sorting platform, a transport device for transporting and delivering the parcel; wherein the sorting platform includes a delivery area at its rim; the transport device receives the parcel from the feeder device and moves along a surface of the sorting platform to the delivery area and delivers the parcel in the delivery area.
  • the delivery area includes a plurality of openings through the sorting platform
  • the sorting system further includes a plurality of sorting containers respectively disposed corresponding to the plurality of openings, such that the sorting robot The parcel is delivered to the sorting container through the opening.
  • the edge of the sorting platform is a sawtooth structure that is recessed toward the middle of the sorting platform.
  • the sorting system further includes a plurality of slides disposed along an edge of the sorting platform.
  • the edge of the sorting platform is a sawtooth structure that is recessed toward the middle of the sorting platform.
  • the sorting system further includes a plurality of sorting containers disposed along the edge of the sorting platform and away from the side of the feeder.
  • the edge of the sorting platform is a sawtooth structure that is recessed toward the middle of the body portion.
  • a third aspect of the present application provides a parcel sorting method comprising: causing a parcel to enter a feeder device disposed in a middle portion of the sorting platform; the transport device receives the parcel from the infeed device and moves along the sorting platform To a delivery area located at the edge of the sorting platform; the transport device will include delivery to the sorting container in the delivery area.
  • the delivery area includes a plurality of openings through the sides of the sorting platform, and the transport device in the delivery area will include delivery to the sorting container including: the transport device passes through the opening Deliver the parcel to the corresponding sorting container.
  • the edge along the sorting platform includes a plurality of slides disposed on the sorting platform away from the feeder device side and the plurality of slides are away from each other Said sorting platform side tilting
  • said transport means comprising, in said delivery area, comprising delivering to the sorting container comprises: said transport means delivering the parcel to said chute, whereby parcels are delivered along said chute to corresponding points Pick the container.
  • the edge of the sorting platform is a sawtooth structure recessed toward the middle of the sorting platform.
  • the parcel sorting platform, system and method provided by the embodiments of the present application can greatly improve the sorting efficiency and reduce the sorting cost by changing the delivery position of the parcel.
  • an embodiment of the present application provides a data processing method for an item sorting system, including:
  • the item temporary storage container is divided into a first item temporary storage container area having a first direction and a second item temporary storage container area having a second direction.
  • the first item temporary storage container area and the second item temporary storage container area together form an annular area, and the annular area is located in the item sorting system. Outside.
  • the method further includes:
  • the item temporary storage container is divided into a third item temporary storage container area having a third direction.
  • the method further includes:
  • a first multiplexing area corresponding to the other way direction data is established in the item temporary storage container.
  • the method further includes:
  • a second multiplexing area corresponding to the other way direction data is established in the item temporary storage container.
  • the method further includes:
  • the first item temporary storage container area and the second item temporary storage container area are set to be folded.
  • the folded shape is any one of a zigzag shape, a triangular shape, and a wave shape.
  • an embodiment of the present application provides a data processing method for an item sorting system, including:
  • the calculating a round-trip transportation distance of each item to be sorted and a delivery selection probability of any direction includes:
  • the one-way round-trip delivery path distance S i corresponding to the i-th package temporary storage container and the probability P j in which the j-th way direction is selected in each delivery are calculated.
  • the setting of the direction of the temporary storage container of the item based on the round-trip transportation distance and the delivery selection probability includes:
  • the optimal mapping of the way direction to the item temporary storage container should satisfy the sum of the expected probability that the delivery probability of all paths is greater than the delivery path loss of its corresponding item temporary storage container.
  • an embodiment of the present application provides a data processing device for an item sorting system, including:
  • a first acquiring module configured to acquire the number of items to be sorted and the direction data of the item to be sorted in the preset time period of the supply end located at the center position of the item sorting system;
  • a first selection module configured to select an item temporary storage container that matches the quantity of the item to be sorted
  • a first sub-module configured to divide the item temporary storage container into a first item temporary storage container area having a first direction and a second direction having a second direction based on the road direction data of the item to be sorted The item is temporarily stored in the container area.
  • the first item temporary storage container area and the second item temporary storage container area together form an annular area, and the annular area is located in the item sorting system. Outside.
  • the device further includes:
  • the second segmentation module is configured to divide the item temporary storage container into a third item temporary storage container area having a third direction based on the road direction data of the item to be sorted.
  • the device further includes:
  • a second acquiring module configured to acquire other direction data other than the first direction and the second direction
  • a first establishing module configured to establish, in the item temporary storage container, a first multiplexing area corresponding to the other way direction data.
  • the device further includes:
  • a third acquiring module configured to acquire other direction data other than the first direction, the second direction, and the third direction
  • a second establishing module configured to establish, in the item temporary storage container, a second multiplexing area corresponding to the other way direction data.
  • the method further includes:
  • a fourth acquiring module configured to acquire other direction data other than the first direction and the second direction
  • a determining module configured to determine whether the direction of the other way direction data exceeds a preset threshold
  • a setting module configured to set the first item temporary storage container area and the second item temporary storage container area to be folded when the direction of the other way direction data exceeds a preset threshold.
  • the folded shape is any one of a zigzag shape, a triangular shape, and a wave shape.
  • an item sorting system data processing apparatus including:
  • a fifth obtaining module configured to acquire the quantity of the items to be sorted and the direction data of the items to be sorted in the preset time period of the supply end located at the center position of the item sorting system;
  • a second selection module configured to select an item temporary storage container that matches the quantity of the item to be sorted
  • a calculation module calculating a round-trip transportation distance of each item to be sorted and a delivery selection probability of any direction
  • an execution module configured to set a direction of the item temporary storage container based on the round-trip transportation distance and the delivery selection probability.
  • the calculating module is further configured to:
  • the one-way round-trip delivery path distance S i corresponding to the i-th package temporary storage container and the probability P j in which the j-th way direction is selected in each delivery are calculated.
  • the execution module is further configured to:
  • the optimal mapping of the way direction to the item temporary storage container should satisfy the sum of the expected probability that the delivery probability of all paths is greater than the delivery path loss of its corresponding item temporary storage container.
  • an embodiment of the present application provides an electronic device, where the electronic device includes:
  • At least one processor and,
  • the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform any of the aforementioned fourth or fourth aspects
  • the data processing method described in the implementation manner is not limited to:
  • the embodiment of the present application provides a non-transitory computer readable storage medium, where the non-transitory computer readable storage medium stores computer instructions, where the computer instructions are used to cause the computer to execute the foregoing fourth The data processing method of any of the aspects or the implementation of the fourth aspect.
  • an embodiment of the present application provides an electronic device, where the electronic device includes:
  • At least one processor and,
  • the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform any of the foregoing fifth or fifth aspects The data processing method described in the implementation manner.
  • the embodiment of the present application provides a non-transitory computer readable storage medium, where the non-transitory computer readable storage medium stores computer instructions for causing the computer to execute the foregoing fifth
  • the data processing method of any of the aspects or the implementation of the fifth aspect
  • the embodiment of the present application further provides a computer program product, the computer program product comprising a computing program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when When the program instructions are executed by the computer, the computer is caused to perform the data processing method of any of the foregoing fourth aspect or the fourth aspect.
  • the embodiment of the present application further provides a computer program product, the computer program product comprising a computing program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when When the program instructions are executed by the computer, the computer is caused to perform the data processing method of any of the foregoing fifth or fifth aspects.
  • the data processing method, device and electronic device of the item sorting system provided by the embodiment of the present application, by extracting data of the item sorting system, and arranging the item temporary storage container in the item sorting system by using the data, and the road direction information and the item An optimized map of the physical location of the scratch container. Through special layout and optimized mapping, the sorting efficiency is improved.
  • FIG. 1 is a schematic diagram of a sorting platform according to an embodiment of the present application.
  • FIG. 2 is a schematic diagram of a sorting platform having a sawtooth structure according to an embodiment of the present application.
  • FIG. 3a and FIG. 3b are schematic diagrams showing the structure of the inclined slide rail according to the embodiment of the present application.
  • FIG. 4 is a schematic diagram of a sorting system according to an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a sorting system of a sorting platform having a sawtooth structure according to an embodiment of the present application.
  • 6a and 6b are schematic views of a sorting system with inclined slides according to an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a sorting system for setting a sorting container at an edge of a sorting platform according to an embodiment of the present application.
  • FIG. 8 is a schematic diagram of a parcel sorting method according to an embodiment of the present application.
  • FIG. 9 is a schematic flowchart of a data processing method for an item sorting system according to an embodiment of the present application.
  • FIG. 10 is a schematic flowchart of establishing a second multiplexing area according to an embodiment of the present application.
  • FIG. 11 is a schematic flow chart of setting a temporary storage container area to a folded shape according to an embodiment of the present application.
  • FIG. 12 is a schematic flowchart of a data processing method of another item sorting system according to an embodiment of the present application.
  • FIG. 13 is a schematic structural diagram of an item sorting system according to an embodiment of the present application.
  • FIGS. 14a-14b are schematic structural diagrams of another item sorting system according to an embodiment of the present application.
  • 15 is a schematic structural diagram of another item sorting system according to an embodiment of the present application.
  • 16 is a schematic structural diagram of another item sorting system according to an embodiment of the present application.
  • 17 is a schematic structural diagram of a data processing device for an item sorting system according to an embodiment of the present application.
  • FIG. 18 is a schematic structural diagram of another apparatus for processing data of an item sorting system according to an embodiment of the present application.
  • FIG. 19 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
  • the steel platform structure-based parcel transport system is a special form of the parcel transport system. It is characterized by: a steel structure platform is set in the sorting warehouse, and the parcel is transported by the conveyor line to the steel platform, and then manually The package is removed from the conveyor line and placed on the robot. Finally, the robot delivers the package through the well to a specific location below the steel platform, and finally realizes the sorting of the package.
  • the wells are evenly distributed in the site, and the partitions leave space with the partitions, and there is a certain distance.
  • the reserved space has the following effect: above the steel platform, the spacing between the partition and the partition can be used for the robot to travel. Under the steel platform, the packing table below the partition can have more space, otherwise the area of the packing table will be greatly compressed if the partition is in close proximity.
  • the spaced apart partitions are marked as obstacles by the robot in the field, and the presence of too many obstacles will affect the route planning of the robot, reduce the efficiency of use of some sites, and ultimately affect the sorting efficiency.
  • the robot system divides the field into square cells of equal sides, for example, to establish a grid coordinate system composed of cells in the field. After the robot accepts the motion task, it will know the starting point and the end point, and walk in the grid according to the path planned by the system.
  • the route planned by the system can be a route that is connected by several cells. For example, a robot can only reach its neighboring front and rear four cells from any cell, but not directly to the four cells of its diagonal.
  • the sorting platform 1 includes a body portion 10 having a first main surface and a second main surface opposite to each other, and is disposed on the first main body. a cargo area 11 in the middle of the surface side and a delivery area 3 disposed at the edge of the body portion 11; wherein the transport device receives the goods from the code area 11 and along the first main body of the body portion 10 The surface moves to the delivery zone 3 such that the transport device delivers the package in the delivery zone 3.
  • the present application reduces the obstacles located on the sorting platform by setting the delivery area at the edge of the sorting platform, thereby improving the package sorting efficiency of the transport device.
  • the present application will be described below with a specific sorting robot instead of a transport device, but those skilled in the art should understand that the transport device of the present application is not limited to the sorting robot, and may also be other devices that can carry the package motion. .
  • the sorting platform 1 may be a commonly used steel platform structure or a platform made of other materials.
  • the first major surface and the second major surface of the sorting platform 1 are the two largest surfaces thereof.
  • One of the main surfaces is used to set the code area 11, for example, the code area 11 can be provided with a feeder device.
  • sorting containers may be provided on the second main surface side of the sorting platform so that the sorting robot can deliver the packages to the containers.
  • the delivery zone 3 includes an opening extending through the first major surface and the second major surface such that the sorting robot delivers the package through the opening to a second disposed on the sorting platform 1 Inside the container on the main surface side.
  • the above opening is also commonly referred to as a partition, and its function is that the sorting robot moves on one side surface of the sorting platform, and after moving to the delivery area, the parcel can be delivered into the opening, and the parcel can be worn by gravity. Pass through the partition into the sorting container set below. It can be seen that the size of the opening should ensure that the package can pass.
  • the opening is a circular opening to allow the package to pass through the opening more easily without being scratched by the opening.
  • the sorting platform usually has a certain distance from the placement surface of the sorting container, and the sorting container is arranged in one-to-one correspondence with the opening, so that the parcel can pass through the opening by gravity and fall into the corresponding sorting container. in.
  • the rim of the body 10 includes a first portion that includes a structure 32 that is recessed toward the center of the body portion 10. That is, the outer edge of the body portion 10 is not a flush structure, and may include a structure that is recessed toward the center of the body portion 10, that is, includes a notch to increase the size of the body portion edge.
  • the sorting site where the sorting platform is located may have certain restrictions. For example, there may not be enough space at the corresponding position on the edge of the sorting platform; on the other hand, when there are more sorting containers required, the edge of the sorting platform The length may not be able to place too many sorting containers. At this time, since the opening for the parcel is arranged along the edge of the sorting container, the number of openings on the sorting platform is increased by increasing the length of the outer edge of the sorting container, so that more sorting can be correspondingly placed. container.
  • the outer edge of the sorting platform 1 may be a sawtooth structure 32 to further increase the perimeter of the outer edge of the sorting platform 1, and thus may correspond below the sorting platform 1.
  • the recessed portion of the sawtooth structure 32 may be an arcuate structure (not shown).
  • each side may be a circular arc structure (not shown) that is recessed toward the center of the body portion 10, thereby reducing the processing difficulty of the sorting platform and improving the mechanical properties. .
  • the parcel sorting platform 1 further includes a rim along the body portion 10 and laterally away from the first major surface 21 at the second major surface 22 of the body portion 10.
  • a plurality of slides 32 extending obliquely on the side.
  • the sorting containers can be arranged in one-to-one correspondence. That is, the sorting robot puts the parcel into the upper side of the chute 32 in the delivery area 3 (near the side of the sorting platform), and the parcel slides along the chute 32 and advances. It enters the sorting container corresponding to the slide 32.
  • barrier structures 33 may be provided on both sides of the slideway 32 to prevent the package from slipping out of the slide.
  • the inclination angle of the slide can be, for example, in the range of 38-72°, thereby preventing the package from being stuck on the slide.
  • the rim of the body portion 10 is a sawtooth structure 31 that is recessed toward the middle of the body portion 10. That is, by increasing the number of the slides 32 by extending the length of the rim of the body portion 10, more inclined slides 32 are provided, thereby improving the sorting ability of the package.
  • the inclined slide in order to prevent the package from being damaged due to the gravity drop, can be disposed at the opening position.
  • the inclined slides 32 can be mated with the openings 30, and the sorting container is disposed below the inclined slides 32 so that the packages can be slowly slid into the sorting container.
  • the sorting system includes a sorting platform 1, a feeder device 2 disposed in the middle of the sorting platform 1, and a sorting robot (not shown) for transporting and delivering packages.
  • the sorting platform 1 comprises a delivery zone 3 at its edge; the sorting robot receives the parcel from the feeder device 2 and moves along a surface of the sorting platform 1 to the delivery zone and delivers in the delivery zone 3 The package.
  • the sorting system sets the parcel delivery area 3 of the sorting platform 1 at the edge of the sorting platform 1, thereby reducing the roadblock of the sorting platform 1, and improving the movement efficiency of the sorting robot.
  • the feeder device provided on the sorting platform 1 is usually connected to a parcel conveyor (not shown), and the parcel is transported to the feeder device 2 through the conveyor belt. Thereafter, the package is swung on the feeder unit 2, and the worker can place the package on the sorting robot so that the sorting robot can carry the package to the delivery area 3 for delivery.
  • the feeder device 2 is an endless swivel belt (as shown in the figures) so that the operator can stand in the middle of the endless swivel belt to operate the parcel, thereby separating the movement area of the sorting robot and the active area of the operator. Avoid operator collisions with the sorting robot.
  • the delivery area 3 includes a plurality of openings through the sorting platform
  • the sorting system further includes a plurality of sorting containers respectively disposed corresponding to the plurality of openings, whereby the sorting robot delivers the parcels to the points through the openings Pick the container. Since the delivery area 3 is located at the edge of the sorting platform, a plurality of openings are also provided along the outer edge of the sorting platform 1 to avoid affecting the movement of the sorting robot. Again, the opening should be sized to ensure that the package passes through, and preferably the opening can be a circular opening.
  • the edge of the sorting platform 1 is a structure that is recessed toward the middle of the sorting platform 1. That is to say, the outer edge of the sorting platform may be a non-flush structure, and may specifically include a structure 31 that is recessed toward the center of the sorting platform, that is, includes a notch.
  • the sorting site where the sorting platform 1 is located may have certain restrictions. For example, there may not be enough space at the corresponding position on the edge of the sorting platform 1; on the other hand, when there are more sorting containers required, the sorting platform The edge length of 1 may not be able to place too many sorting containers.
  • the opening for the parcel is disposed along the edge of the sorting container, thereby increasing the length of the outer edge of the sorting container, the number of openings on the sorting platform 1 is also increased, and thus more correspondingly can be placed. Sort the container.
  • the outer edge of the sorting platform 1 may be a sawtooth structure 31, thereby further increasing the circumference of the outer edge of the sorting platform 1, and thus corresponding to the lower portion of the sorting platform 1 Set more sorting containers.
  • the recessed portion of the sawtooth structure 31 may be an arcuate structure (not shown).
  • each side may be a circular arc structure recessed toward the center of the body portion, thereby reducing the processing difficulty of the sorting platform and improving the mechanical properties.
  • the sorting system further includes a plurality of slides 32 disposed along the edges of the sorting platform 1. Below the slides 32, for example, the sorting containers can be arranged in one-to-one correspondence.
  • the sorting robot places the parcel above the chute 32 in the delivery area, and the parcel can slide down the chute 32 and into the sorting container corresponding to the chute 32.
  • barrier structures 33 may be provided on both sides of the slideway 32 to prevent the package from slipping out of the slide.
  • the angle of inclination of the slide 32 can be, for example, in the range of 38-72°, thereby preventing the package from being caught on the slide 32.
  • the rim of the body portion is a serrated structure 31 that is recessed toward the middle of the body portion. That is, by increasing the number of the slides 32 by extending the edge length of the body portion, more inclined slides 32 are provided to improve the sorting ability of the package.
  • the inclined chute 32 may be disposed at the position of the opening 30, that is, the inclined chute 32 may be fitted with the opening 30 one by one, and the sorting container is disposed below the inclined chute 32. So that the package can be slowly slid into the sorting container.
  • the opening 30 of the structure is disposed in the outermost edge of the sorting platform, and can also prevent the robot from falling to the sorting platform 1 due to motion errors after moving to the edge of the sorting platform 1, thereby ensuring the safety of the sorting robot. Reliable exercise.
  • the sorting system further includes a plurality of sorting containers 4 disposed along the edge of the sorting platform 1 and disposed away from the side of the feeder device 2.
  • the openings of these sorting containers 4 include at least portions located outside the sorting platform 1, so that the sorting robot can directly deliver the packages to the sorting container 4 when moving to the delivery area.
  • the method includes:
  • S800 passing the package into the feeding device disposed in the middle of the sorting platform, for example, the package can be transferred to the feeding device through the wrapping belt, so that the package can rotate with the feeding device;
  • the sorting robot receives the parcel from the feeding device (for example, the operator can take the parcel from the feeding device and place it on the sorting robot), and moves along the sorting platform to the sub-segment Picking up the delivery area at the edge of the platform;
  • the feeding device for example, the operator can take the parcel from the feeding device and place it on the sorting robot
  • the sorting robot will include delivery to the sorting container in the delivery area.
  • the parcel sorting method of the embodiment of the present application reduces the movement obstacle of the sorting robot, so that the position between the delivery area and the swing area is substantially equal by the sorting robot, thereby improving the sorting efficiency and reducing The sorting cost.
  • the delivery area 3 includes a plurality of openings 30 extending through the sides of the sorting platform 1, and the sorting robot will include delivery to the sorting container 4 in the delivery area 3 including: the sorting robot passes through the opening 30 Deliver the parcel to the corresponding sorting container 4.
  • a plurality of slides 32 are provided along the edge of the sorting platform 1, and the plurality of slides 32 are disposed on the side of the sorting platform 1 away from the feeder device 2 and the plurality of slides 32 are away from the sorting platform 1 side Tilting extension (for example, one end of these slides away from the sorting platform can protrude to the outside of the sorting platform, that is, the sorting platform is viewed from directly above the sorting platform, and one end of the chute is outside the sorting platform, thereby facilitating
  • the operator is arranged to operate the sorting container under the chute, and the sorting robot will include delivery to the sorting container 4 in the delivery area 3 including: the sorting robot delivers the parcel to one of the plurality of chutes 32 so that the parcel can be This slide 32 enters the corresponding sorting container 4. Damage to the package can be avoided by providing a sloped slide at the edge of the sorting platform.
  • the edge of the sorting platform 1 may be a non-flush structure.
  • the edges can include A structure 31 recessed toward the middle of the sorting platform 1.
  • it is a sawtooth structure.
  • the parcel sorting platform, system and method provided by the embodiments of the present application can greatly improve the sorting efficiency and reduce the sorting cost by changing the delivery position of the parcel.
  • a data processing method for an item sorting system includes:
  • the item sorting system usually has a control server, and the control server can acquire the quantity of items that need to be sorted by the supply end within a certain period of time, and accordingly, the item to be sorted in the preset time period of the supply end can be known. The quantity and the direction data of the item to be sorted.
  • the solution in the embodiment of the present application can be applied to the system in which the supply end is located at the center of the item sorting system, see FIG. 13, the supply The ends may be located around an endless conveyor line, and the supply ends may have different orientations.
  • the item sorting system may be a parcel sorting system, and an item temporary storage container is distributed around the item sorting system, and the item temporary storage container may be a parcel temporary storage container.
  • the sorted items provided at the supply end can be transferred to a designated item temporary storage container by means of a logistics robot or the like.
  • the item temporary storage container is located at the periphery of the item sorting system to form one or more continuous patterns (straight lines, curves, squares, rectangles, circles, ovals, or other shapes).
  • S102 Select an item temporary storage container that matches the quantity of the item to be sorted.
  • the number of the item temporary storage containers can be selected. For example, if the number of items to be sorted at the supply end is 500, and the number of items to be accommodated in each item temporary storage container is 10, at least 50 items are required to be temporarily stored in the container. For example, if the destination of the items to be sorted at the supply end is 20 different places, then at least 20 items temporary storage containers are needed to place the sorted items of different destinations.
  • the item temporary storage container is divided into a first item temporary storage container area having a first direction and a second item temporary storage container area having a second direction according to the direction data of the item to be sorted.
  • the center of the site is an endless conveying line, and the parcel temporary storage container is placed around the site. Therefore, the distance from each infeed end to each parcel temporary storage container is different, and the path from the supply end to the parcel temporary storage container is referred to as the "delivery path".
  • the delivery distance is the shortest; when the robot accepts the package at the west side of the map, it needs to temporarily store the package on the east side of the map.
  • the container is delivered, it is necessary to round the venue for half a week, and the delivery distance is the longest.
  • the parcel temporary storage container is divided into a plurality of logical partitions in the field, and each logical partition corresponds to a specific supply end, and the package temporary storage container of the logical partition can only be Accept Specify packages for several invoice ends. Moreover, one of the supply ends can correspond to multiple logical partitions. Limit the delivery path to one logical partition, avoiding the delivery path spanning multiple logical partitions.
  • Figure 14b illustrates the distribution of the partition when the sorting site is divided into two logical zones.
  • each logical partition has its own corresponding parcel temporary container.
  • the directions corresponding to the containers are mirrored in the map and multiplexed in multiple logical areas, that is, each logical area covers all directions.
  • the delivery end in a logical area only delivers the package to the container in a specific logical area, and the delivery to the entire direction can be completed in the logical area.
  • FIG. 14b only illustrates the case where the logical partition divides the site into two. In the present method, according to the actual situation, various scenarios of one minute can be performed. At this point, the desired distance of the delivery path will therefore be shorter.
  • the method may further include:
  • the item temporary storage container is divided into a third item temporary storage container area having a third direction based on the road direction data of the item to be sorted;
  • the logical partition multiplexes the way when the logical partition multiplexes the way, the number of containers that need to be laid will be multiplied.
  • the logical partitions can be scaled down without having to accommodate all of the directions.
  • the roads not included in the logical partition are mixed and used outside the multiple logical partitions, and the site where the mixed containers are laid out is defined as a common area.
  • the logical partition multiplexing when the road direction is excessive, the logical partition multiplexing causes the number of containers to be excessive, and when the space required for the layout container is larger than the allowable range of the site edge, the common area can be added as shown in FIG. 15 .
  • Each logical partition contains the same partial way and shares the direction in the common area.
  • the location of the area laid out by the common area should be equal to the path of the supply end of each partition.
  • the common area is located at the center of the site.
  • the data processing method of the item sorting system may further include:
  • the folded shape may be zigzag, and of course, other similar shapes may be used.
  • all directions are too much, and even without partition multiplexing, there is not enough space around the site to accommodate all containers.
  • road-area multiplexing the direction of each logical partition is much smaller than the total number of directions, and most of the area is a common area.
  • the logical partition reduces the meaning of the distance of the delivery path, the meaning is gradually lost.
  • the jagged layout is shown in Figure 16: The zigzag container layout changes the edges around the field to a jagged shape, which is extended to extend the perimeter of the field, thus increasing the number of containers that can be packaged.
  • System data processing methods including:
  • the item sorting system usually has a control server, and the control server can acquire the quantity of items that need to be sorted by the supply end within a certain period of time, and accordingly, the item to be sorted in the preset time period of the supply end can be known. The quantity and the direction data of the item to be sorted.
  • the solution in the embodiment of the present application can be applied to the system in which the supply end is located at the center of the item sorting system, see FIG. 13, the supply The ends may be located around an endless conveyor line, and the supply ends may have different orientations.
  • the item sorting system may be a parcel sorting system, and an item temporary storage container is distributed around the item sorting system, and the item temporary storage container may be a parcel temporary storage container.
  • the sorted items provided at the supply end can be transferred to a designated item temporary storage container by means of a logistics robot or the like.
  • the item temporary storage container is located at the periphery of the item sorting system to form one or more continuous patterns (straight lines, curves, squares, rectangles, circles, ovals, or other shapes).
  • the number of the item temporary storage containers can be selected. For example, if the number of items to be sorted at the supply end is 500, and the number of items to be accommodated in each item temporary storage container is 10, at least 50 items are required to be temporarily stored in the container. For example, if the destination of the items to be sorted at the supply end is 20 different places, then at least 20 items temporary storage containers are needed to place the sorted items of different destinations.
  • an item sorting system data processing apparatus including:
  • the first obtaining module 901 is configured to acquire the quantity of the item to be sorted and the direction data of the item to be sorted in the preset time period of the supply end located at the center position of the item sorting system;
  • the first selection module 902 is configured to select an item temporary storage container that matches the quantity of the item to be sorted;
  • a first sub-module 903 configured to divide the item temporary storage container into a first item temporary storage container area having a first direction and a second direction based on the road direction data of the item to be sorted Two items are temporarily stored in the container area.
  • an embodiment of the present application further provides an item sorting system data processing apparatus, including:
  • the fifth obtaining module 1001 is configured to acquire the quantity of the item to be sorted and the direction data of the item to be sorted in the preset time period of the supply end located at the center position of the item sorting system;
  • a second selection module 1002 configured to select an item temporary storage container that matches the quantity of the item to be sorted
  • the calculating module 1003 calculates a round-trip transportation distance of each item to be sorted and a delivery selection probability of any direction;
  • the executing module 1004 is configured to set a direction of the item temporary storage container based on the round-trip transportation distance and the delivery selection probability.
  • FIG. 19 is a schematic structural diagram of an electronic device 11 according to an embodiment of the present application.
  • the electronic device 11 can be used to perform the steps or contents in the method embodiment of the present application.
  • the electronic device 11 includes at least one processor 1101 (for example, a CPU).
  • At least one input/output interface 1104, memory 1102, and at least one communication bus 1103 are used to implement connection communication between these components.
  • At least one processor 1101 is configured to execute an executable module, such as a computer program, stored in the memory 1102.
  • the memory 1102 is a non-transitory memory, which may include a volatile memory, such as a random access memory (RAM), or a non-volatile memory. , for example, at least one disk storage.
  • a communication connection with at least one other network element is achieved by at least one input/output interface 1104 (which may be a wired or wireless communication interface).
  • the memory 1102 stores a program 11021 that executes a program 11021 for performing any of the aforementioned electronic device-based embodiments of image processing methods including moving objects.
  • the electronic device can exist in a variety of forms including, but not limited to:
  • Mobile communication devices These devices are characterized by mobile communication functions and are mainly aimed at providing voice and data communication.
  • Such terminals include: smart phones (such as iPhone), multimedia phones, functional phones, and low-end phones.
  • Ultra-mobile personal computer equipment This type of equipment belongs to the category of personal computers, has computing and processing functions, and generally has mobile Internet access.
  • Such terminals include: PDAs, MIDs, and UMPC devices, such as the iPad.
  • Portable entertainment devices These devices can display and play multimedia content. Such devices include: audio, video players (such as iPod), handheld game consoles, e-books, and smart toys and portable car guides. Navigation equipment.
  • the server consists of a processor, a hard disk, a memory, a system bus, etc.
  • the server is similar to a general-purpose computer architecture, but is capable of processing and is stable due to the need to provide highly reliable services. Sex, reliability, security, scalability, manageability, etc. are highly demanding.
  • An entity or operation is distinguished from another entity or operation without necessarily requiring or implying these.
  • the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment.
  • a "computer readable medium” can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with such an instruction execution system, apparatus, or device.
  • computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.
  • multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
  • the term “a” is understood to mean “at least one” or “one or more”, that is, in one embodiment, the number of one element may be one, and in other embodiments, the element The number can be multiple, and the term “a” cannot be construed as limiting the quantity.
  • ordinal numbers such as “first”, “second”, etc. will be used to describe various components, those components are not limited herein. This term is only used to distinguish one component from another. For example, a first component could be termed a second component, and as such, a second component could also be termed a first component without departing from the teachings of the inventive concept.
  • the term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

Abstract

一种包裹分拣平台（1），该分拣平台（1）包括具有彼此相背的第一主表面（21）和第二主表面（22）的本体部（10）、设置于所述第一主表面侧中部的码货区（11）和沿所述本体部（10）边沿设置的投递区（3）；其中，运输装置从所述码货区（11）接收货物，并沿所述本体部（10）的所述第一主表面（21）运动至所述投递区（3），从而所述运输装置在所述投递区（3）投递包裹。该平台提高了包裹分拣效率。

Description

包裹分拣平台、系统、方法及物品分拣系统数据处理
本申请要求于2017年9月30日提交中国专利局、申请号为201710919999.3，发明名称为“包裹分拣平台、系统和方法”的中国专利申请的优先权，2017年9月30日提交中国专利局、申请号为201710927640.0，发明名称为“物品分拣系统数据处理方法、装置及电子设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及包裹分拣技术领域，具体涉及包裹分拣平台、系统、方法及物品分拣系统数据处理。
背景技术
包裹分拣机器人系统是基于我国国情、地理因素、综合考虑我国劳动密集型产业人力成本和精密复杂自动化设备成本平衡而应运而生的物流分拣系统。利用机器人的即时响应特性和分布式系统的灵活性，包裹分拣机器人系统可以大大降低包裹分拣的综合成本。
发明内容
有鉴于此，本申请实施例提供了一种包裹分拣平台、系统和方法，其通过改变分拣平台的结构，可以提升分拣效率、降低分拣成本。
本申请的第一方面提供了一种包裹分拣平台。该分拣平台包括具有彼此相背的第一主表面和第二主表面的本体部、设置于所述第一主表面侧中部的码货区和设置在所述本体部边沿位置的投递区；其中，运输装置从所述码货区接收货物，并沿所述本体部的所述第一主表面运动至所述投递区，从而所述分拣机器人在所述投递区投递包裹。
在一个实施例中，所述投递区包括贯穿所述第一主表面和所述第二主表面的开口，从而运输装置通过所述开口将包裹投递至设置在该分拣平台第二主表面侧的容器内。
在一个实施例中，所述本体部的边沿包括第一部分，所述第一部分包括向所述本体部中部凹陷的结构。
在一个实施例中，所述本体部的边沿为向所述本体部中部凸出的锯齿结构。
在一个实施例中，包裹分拣平台还包括沿所述本体部的边沿且在所述本体部的所述第二主表面侧向远离所述第一主表面侧倾斜的多个滑道。
在一个实施例中，所述本体部的边沿为向所述本体部中部凹陷的锯齿结构。
本申请的第二方面提供了一种分拣系统，包括分拣平台、设置于所述分拣平台中部的供件装置、用于运输及投递包裹的运输装置；其中所述分拣平台包括位于其边沿的投递区；所述运输装置接收来自所述供件装置的包裹，并沿所述分拣平台的一个表面运动至所述投递区，并在所述投递区投递所述包裹。
在一个实施例中，所述投递区包括贯穿所述分拣平台的多个开口，该分拣系统还包括与所述多个开口分别对应设置的多个分拣容器，从而所述分拣机器人通过所述开口将包裹投递至所述分拣容器。
在一个实施例中，所述分拣平台的边沿为向所述分拣平台中部凹陷的锯齿结构。
在一个实施例中，所述分拣系统还包括沿所述分拣平台的边沿设置的多个滑道。
在一个实施例中，所述分拣平台的边沿为向所述分拣平台中部凹陷的锯齿结构。
在一个实施例中，所述分拣系统还包括沿所述分拣平台边沿且在远离所述供件装置侧布置的多个分拣容器。
在一个实施例中，所述分拣平台的边沿为向所述本体部中部凹陷的锯齿结构。
本申请的第三方面提供了一种包裹分拣方法，包括：使包裹进入设置于分拣平台中部的供件装置；运输装置从所述供件装置接收包裹，并沿所述分拣平台运动到位于所述分拣平台边沿的投递区；所述运输装置在所述投递区将包括投递至分拣容器。
在一个实施例中，所述投递区包括贯穿所述分拣平台两侧的多个开口，所述运输装置在所述投递区将包括投递至分拣容器包括：所述运输装置通过所述开口将包裹投递至对应的分拣容器。
在一个实施例中，沿所述分拣平台的边沿包括多个滑道，所述多个滑道设置在所述分拣平台远离所述供件装置侧且所述多个滑道向远离所述分拣平台侧倾斜，所述运输装置在所述投递区将包括投递至分拣容器包括：所述运输装置将包裹投递至所述滑道，从而包裹沿所述滑道投递至对应的分拣容器。
在上述实施例中，所述分拣平台的边沿为向所述分拣平台中部凹陷的锯齿结构。
本申请的实施例提供的包裹分拣平台、系统和方法，通过改变包裹的投递位置，可以极大的提供分拣效率、降低分拣成本。
第四方面，本申请实施例提供了一种物品分拣系统数据处理方法，包括：
获取位于物品分拣系统中心位置的供件端在预设时间段内的待分拣物品的数量及待分拣物品的路向数据；
选取与所述待分拣物品的数量匹配的物品暂存容器；
基于所述待分拣物品的路向数据，将所述物品暂存容器切分为具有第一路向的第一物品暂存容器区域及具有第二路向的第二物品暂存容器区域。
根据本申请实施例的一种具体实现方式，所述第一物品暂存容器区域与所述第二物品暂存容器区域共同形成环状区域，所述环状区域位于所述物品分拣系统的外侧。
根据本申请实施例的一种具体实现方式，所述方法还包括：
基于所述待分拣物品的路向数据，将所述物品暂存容器切分为具有第三路向的第三物品暂存容器区域。
根据本申请实施例的一种具体实现方式，所述方法还包括：
获取除所述第一路向及所述第二路向之外的其他路向数据；
在所述物品暂存容器中建立与所述其他路向数据对应的第一复用区域。
根据本申请实施例的一种具体实现方式，所述方法还包括：
获取除所述第一路向、第二路向及所述第三路向之外的其他路向数据；
在所述物品暂存容器中建立与所述其他路向数据对应的第二复用区域。
根据本申请实施例的一种具体实现方式，所述方法还包括：
获取除所述第一路向及所述第二路向之外的其他路向数据；
判断其他路向数据的路向是否超过预设阈值；
若是，则将所述第一物品暂存容器区域及所述第二物品暂存容器区域设置为折叠状。
根据本申请实施例的一种具体实现方式，所述折叠状为锯齿形、三角形、波浪形中的任意一种。
第五方面，本申请实施例提供了一种物品分拣系统数据处理方法，包括：
获取位于物品分拣系统中心位置的供件端在预设时间段内的待分拣物品的数量及待分拣物品的路向数据；
选取与所述待分拣物品的数量匹配的物品暂存容器；
计算每一待分拣物品的往返运输距离以及任一路向的投递选中概率；
基于所述往返运输距离及所述投递选中概率，设置所述物品暂存容器的路向。
根据本申请实施例的一种具体实现方式，所述计算每一待分拣物品的往返运输距离以及任一路向的投递选中概率，包括：
对于N个路向以及M个物品暂存容器，计算第i个包裹暂存容器对应的一次往返投递路径距离Si，以及第j个路向在每次投递中被选中的概率Pj。
根据本申请实施例的一种具体实现方式，所述基于所述往返运输距离及所述投递选中概率，设置所述物品暂存容器的路向，包括：
在路向j与物品暂存容器i的映射f：i→j中，按如下优化求解，
Figure PCTCN2017115752-appb-000001
使得路向与物品暂存容器的最优映射应满足全部路径的被投递概率乘其对应物品暂存容器的投递路径损耗的期望之和最小。
第六方面，本申请实施例提供了一种物品分拣系统数据处理装置，包括：
第一获取模块，用于获取位于物品分拣系统中心位置的供件端在预设时间段内的待分拣物品的数量及待分拣物品的路向数据；
第一选取模块，用于选取与所述待分拣物品的数量匹配的物品暂存容器；
第一切分模块，用于基于所述待分拣物品的路向数据，将所述物品暂存容器切分为具有第一路向的第一物品暂存容器区域及具有第二路向的第二物品暂存容器区域。
根据本申请实施例的一种具体实现方式，所述第一物品暂存容器区域与所述第二物品暂存容器区域共同形成环状区域，所述环状区域位于所述物品分拣系统的外侧。
根据本申请实施例的一种具体实现方式，所述装置还包括：
第二切分模块，用于基于所述待分拣物品的路向数据，将所述物品暂存容器切分为具有第三路向的第三物品暂存容器区域。
根据本申请实施例的一种具体实现方式，所述装置还包括：
第二获取模块，用于获取除所述第一路向及所述第二路向之外的其他路向数据；
第一建立模块，用于在所述物品暂存容器中建立与所述其他路向数据对应的第一复用区域。
根据本申请实施例的一种具体实现方式，所述装置还包括：
第三获取模块，用于获取除所述第一路向、第二路向及所述第三路向之外的其他路向数据；
第二建立模块，用于在所述物品暂存容器中建立与所述其他路向数据对应的第二复用区域。
根据本申请实施例的一种具体实现方式，所述方法还包括：
第四获取模块，用于获取除所述第一路向及所述第二路向之外的其他路向数据；
判断模块，用于判断其他路向数据的路向是否超过预设阈值；
设置模块，用于当其他路向数据的路向超过预设阈值时，将所述第一物品暂存容器区域及所述第二物品暂存容器区域设置为折叠状。
根据本申请实施例的一种具体实现方式，所述折叠状为锯齿形、三角形、波浪形中的任意一种。
第七方面，本申请实施例提供了一种物品分拣系统数据处理装置，包括：
第五获取模块，用于获取位于物品分拣系统中心位置的供件端在预设时间段内的待分拣物品的数量及待分拣物品的路向数据；
第二选取模块，用于选取与所述待分拣物品的数量匹配的物品暂存容器；
计算模块，计算每一待分拣物品的往返运输距离以及任一路向的投递选中概率；
执行模块，用于基于所述往返运输距离及所述投递选中概率，设置所述物品暂存容器的路向。
根据本申请实施例的一种具体实现方式，所述计算模块，还用于：
对于N个路向以及M个物品暂存容器，计算第i个包裹暂存容器对应的一次往返投递路径距离Si，以及第j个路向在每次投递中被选中的概率Pj。
根据本申请实施例的一种具体实现方式，所述执行模块，还用于：
在路向j与物品暂存容器i的映射f：i→j中，按如下优化求解，
Figure PCTCN2017115752-appb-000002
使得路向与物品暂存容器的最优映射应满足全部路径的被投递概率乘其对应物品暂存容器的投递路径损耗的期望之和最小。
第八方面，本申请实施例提供了一种电子设备，所述电子设备包括：
至少一个处理器；以及，
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行前述第四方面或第四方面的任一实现方式所述的数据处理方法。
第九方面，本申请实施例提供了一种非暂态计算机可读存储介质，所述非暂态计算机可读存储介质存储计算机指令，所述计算机指令用于使所述计算机执行前述第四 方面或第四方面的任一实现方式所述的数据处理方法。
第十方面，本申请实施例提供了一种电子设备，所述电子设备包括：
至少一个处理器；以及，
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行前述第五方面或第五方面的任一实现方式所述的数据处理方法。
第十一方面，本申请实施例提供了一种非暂态计算机可读存储介质，所述非暂态计算机可读存储介质存储计算机指令，所述计算机指令用于使所述计算机执行前述第五方面或第五方面的任一实现方式所述的数据处理方法。
第十二方面，本申请实施例还提供了一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行前述第四方面或第四方面的任一实现方式所述的数据处理方法。
第十三方面，本申请实施例还提供了一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行前述第五方面或第五方面的任一实现方式所述的数据处理方法。
本申请实施例提供的物品分拣系统数据处理方法、装置及电子设备，通过提取物品分拣系统的数据，通过该数据对物品分拣系统中对物品暂存容器进行布局，将路向信息与物品暂存容器的物理位置进行优化的映射。通过特殊的布局、优化的映射方式，以达到分拣效率的提升。
附图说明
图1所示为本申请一实施例提供的一种分拣平台示意图。
图2所示为本申请一实施例提供的一种具有锯齿结构的分拣平台示意图。
图3a和图3b所示为本申请实施例的倾斜滑道结构示意图。
图4所示为本申请实施例的分拣系统示意图。
图5为本申请实施例的具有锯齿结构的分拣平台的分拣系统示意图。
图6a和图6b为本申请实施例具有倾斜滑道的分拣系统示意图。
图7为本申请实施例提供的在分拣平台边沿设置分拣容器的分拣系统示意图。
图8为本申请实施例提供的包裹分拣方法示意图。
图9为本申请实施例提供的一种物品分拣系统数据处理方法流程示意图；
图10为本申请实施例提供的一种建立第二复用区域的流程示意图；
图11为本申请实施例提供的一种将暂存容器区域设置为折叠状的流程示意图；
图12为本申请实施例提供的另一种物品分拣系统数据处理方法流程示意图；
图13为本申请实施例提供的一种物品分拣系统结构示意图；
图14a-14b为本申请实施例提供的另一种物品分拣系统结构示意图；
图15为本申请实施例提供的另一种物品分拣系统结构示意图；
图16为本申请实施例提供的另一种物品分拣系统结构示意图；
图17为本申请实施例提供的一种物品分拣系统数据处理装置结构示意图；
图18为本申请实施例提供的另一种物品分拣系统数据处理装置结构示意图；
图19为本申请实施例提供的一种电子设备结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
钢平台结构为基础的包裹运输装置系统是包裹运输装置系统中一种特殊形式，其特点为：在分拣仓库内设置钢结构平台，包裹由输送线运送至钢平台之上，再由人工将包裹从输送线上取下放置于机器人上，最终机器人将包裹经隔口井投递至钢平台下方的特定位置，并最终实现包裹的分拣。
在传统钢平台结构为基础的分拣系统中，隔口井均匀分布在场地中，且隔口与隔口留出空间，存在一定间距。预留的空间有如下作用：在钢平台之上，隔口与隔口之间的间距可以供机器人穿行。在钢平台之下，隔口下方设置打包台可以有更大的空间，否则如果隔口紧邻，打包台的面积将大大被压缩。
然而相隔分布的隔口在场地中会被机器人标定为障碍物，而过多障碍物的存在会影响机器人的路线规划，降低部分场地的使用效率，并最终影响分拣效率。
分布于钢平台且相互间隔的隔口井会降低分拣效率的具体原因如下：
(1)机器人系统在运行时例如会将场地划分为等边长的正方形单元格，从而在场地中建立以单元格组成的网格坐标系。机器人接受运动任务后将得知起点和终点，并按照系统规划的路径在网格中行走。通常情况下，系统规划出的路线可以是由若干单元格连接而成的路线。例如，机器人从任意单元格出发，只能到达其相邻的前后左右四个单元格，而不能直接到达其对角线的四个单元格。
(2)当规划的路线需要转弯时，机器人需要先减速止静止，再进行原地旋转，最后重新加速驶离转弯点。在此过程中，如果存在后续预计通过该转弯点的机器人，则该机器人将会被迫停止等待。因此，当系统规划的转弯次数越多，机器人整体的平均运行速度会在多次的加减速中降低。并且，一台机器人减速会有可能产生连锁效应，进而引发其它机器人的连锁减速。
(3)当场地中存在障碍物时，系统为机器人规划的路径将有可能产生更多的转弯以使得机器人到达目的地。因此障碍物的产生会降低全部机器人的运行平均速度，进而影响分拣效率。
(4)和障碍物同经度或同纬度的单元格，其朝向障碍物的方向相较于没有朝向障碍物的方向，驶入机器人的概率会随距离逐渐降低。因此，这些单元格被使用的概率也将减小。因此，存在障碍物的地图中，各单元格被使用的概率不平均。相对于机器人来说路径选择的可能性减少了，从而降低了分拣效率。
鉴于上述原因，本申请的一个方面提供了一种包裹分拣平台。参见图1，该分拣平台1包括具有彼此相背的第一主表面和第二主表面的本体部10、设置于所述第一主 表面侧中部的码货区11和设置在所述本体部11边沿位置的投递区3；其中，运输装置从所述码货区11接收货物，并沿所述本体部10的所述第一主表面运动至所述投递区3，从而所述运输装置在所述投递区3投递包裹。本申请通过将投递区设置在分拣平台的边缘，从而减少了位于分拣平台上的障碍物，提高了运输装置的包裹分拣效率。
为了便于描述，以下以具体的分拣机器人代替运输装置描述本申请，但本领域技术人员应当了解的是，本申请的运输装置并不限于分拣机器人，也可以是其它可以携带包裹运动的装置。
需要说明的是，上述分拣平台1可以是通常用的钢平台结构，也可以是由其它材料制成的平台。分拣平台1的第一主表面和第二主表面为其两个最大的表面。其中一个主表面用于设置码货区11，例如，码货区11可以设置供件装置。从而在包裹通过输送带输送到供件装置后，操作人员可以将包裹取下，并放置到分拣机器人，以便机器人携带包裹至投递区3。另外，在分拣平台的第二主表面侧可以设置分拣容器，从而，分拣机器人可以将包裹投递至这些容器中。
在一个实施例中，所述投递区3包括贯穿所述第一主表面和所述第二主表面的开口，从而分拣机器人通过所述开口将包裹投递至设置在该分拣平台1第二主表面侧的容器内。上述开口也通常被称为隔口，其作用是：分拣机器人在分拣平台的一侧表面运动，并且在运动到投递区之后，可以将包裹投递至开口内，进而包裹可以通过重力作用穿过隔口进入到下方设置的分拣容器内。由此可知，开口的尺寸应能确保包裹能够通过。优选地，开口为圆形开口，以使包裹能够更容易穿过开口，且不会被开口所划伤。需要说明的是，分拣平台通常与分拣容器的放置面有一定的距离，并且分拣容器与开口一一对应设置，从而包裹可以凭借重力作用穿过开口，落入到对应的分拣容器中。
参见图2，在一个实施例中，所述本体10的边沿包括第一部分，所述第一部分包括向所述本体部10中部凹陷的结构32。也就是说，本体部10的外边沿并非是齐平结构，其可以包括向本体部10中心方向凹陷的结构，即包括缺口，以便增加本体部边沿的尺寸。一方面，分拣平台所在的分拣场地可能有一定限制，比如，在分拣平台边沿对应的位置可能没有足够的空间；另一方面，当需要的分拣容器较多时，分拣平台的边沿长度可能无法放置过多的分拣容器。此时，由于用于包裹穿过的开口沿分拣容器的边沿设置，从而通过增加分拣容器外边沿的长度，提高了分拣平台上开口的数量，进而可以对应的放置更多的分拣容器。
在该实施例中，继续参见图2，例如，分拣平台1的外边沿可以为锯齿结构32，从而进一步增加分拣平台1的外边沿的周长，进而可以在分拣平台1的下方对应地设置更多的分拣容器。优选的，锯齿结构32的凹陷部分可以为弧形结构(图中未示意)。例如，对于整体具有长方形结构(俯视状态下)的分拣平台1，各个边可以为向本体部10中心凹陷的圆弧结构(图中未示意)，从而降低分拣平台加工难度，改善力学性能。
参见图3a，在一个实施例中，包裹分拣平台1还包括沿所述本体部10的边沿且在所述本体部10的所述第二主表面22侧向远离所述第一主表面21侧倾斜延伸的多个滑道32。这些滑道32的下方例如可以一一对应地设置分拣容器。即分拣机器人在投递区3将包裹投入滑道32上方(靠近分拣平台侧)，包裹沿着该滑道滑32下并进 入到与该滑道32对应的分拣容器内。优选地，滑道32的两侧可以设置阻挡结构33，以防止包裹滑出滑道。另外，滑道的倾斜角度例如可以在38-72°的范围内，从而避免包裹卡在滑道上。
同样，在该实施例中，所述本体部10的边沿为向所述本体部10中部凹陷的锯齿结构31。也即通过延长本体部10的边沿长度增加滑道32的数量，以设置更多的倾斜滑道32，进而提高包裹的分拣能力。
需要说明的是，为了防止包裹由于重力下落收到损坏，倾斜滑道可以设置在开口位置。参见图3b，即倾斜滑道32可以与开口30一一配合，且分拣容器设置在倾斜滑道32的下方，从而可以使包裹缓慢滑入分拣容器。与倾斜滑道设置在分拣平台外边沿的结构相比，通过将该结构的开口30设置在分拣平台1最外侧边沿之内，也可以防止机器人运动到分拣平台1边缘后，由于运动误差导致从分拣平台1上掉下来，即确保了分拣机器人的安全可靠运动。
本申请的另一个方面提供了一种分拣系统。参见图4，该分拣系统包括分拣平台1、设置于所述分拣平台1中部的供件装置2、用于运输及投递包裹的分拣机器人(图中未示意)。其中所述分拣平台1包括位于其边沿的投递区3；分拣机器人接收来自供件装置2的包裹，并沿分拣平台1的一个表面运动至投递区，并在所述投递区3投递所述包裹。该分拣系统通过将分拣平台1的包裹投递区3设置在分拣平台1的边缘，因此，减少了分拣平台1的路障，提高了分拣机器人的运动效率。
需要说明的是，分拣平台1上设置的供件装置通常连接一个包裹传送带(图中未示意)，包裹通过传送带传送至供件装置2上。之后，包裹在供件装置2上回转，工作人员可以将包裹放置到分拣机器人上，以便分拣机器人携带包裹运动至投递区3投递。优选地，供件装置2为环形回转带(如图中所示)，从而操作人员可以站在环形回转带的中间操作包裹，从而通过隔开分拣机器人的运动区域和操作人员的活动区域，避免操作人员与分拣机器人发生运动冲撞。
在一个实施例中，投递区3包括贯穿分拣平台的多个开口，该分拣系统还包括与多个开口分别对应设置的多个分拣容器，从而分拣机器人通过开口将包裹投递至分拣容器。由于投递区3位于分拣平台的边沿位置，因此多个开口也是沿着分拣平台1的外边沿附近设置，从而避免对分拣机器人的运动造成影响。同样，开口的尺寸应当能够保证包裹穿过，且优选地，开口可以为圆形开口。
参见图5，在一个实施例中，分拣平台1的边沿为向所述分拣平台1中部凹陷的结构。也就是说，分拣平台的外边沿可以是非齐平结构，具体可以包括向分拣平台中心方向凹陷的结构31，即包括缺口。一方面，分拣平台1所在的分拣场地可能有一定限制，比如，在分拣平台1边沿对应的位置可能没有足够的空间；另一方面，当需要的分拣容器较多时，分拣平台1的边沿长度可能无法放置过多的分拣容器。此时，由于用于包裹穿过的开口沿分拣容器的边沿设置，从而通过增加分拣容器外边沿的长度，也提高了分拣平台1上开口的数量，进而可以对应的放置更多的分拣容器。
继续参见图5，在该实施例中，例如，分拣平台1的外边沿可以为锯齿结构31，从而进一步增加分拣平台1的外边沿的周长，进而可以在分拣平台1的下方对应地设置更多的分拣容器。优选地，锯齿结构31的凹陷部分可以为弧形结构(图中未示意)。 例如，对于整体具有长方形结构(俯视下的结构)的分拣平台1，各个边可以为向本体部中心凹陷的圆弧结构，从而降低分拣平台加工难度，改善力学性能。
参见图6a，在一个实施例中，所述分拣系统还包括沿所述分拣平台1的边沿设置的多个滑道32。这些滑道32的下方例如可以一一对应地设置分拣容器。分拣机器人在投递区将包裹投入滑道32上方，包裹可以沿着该滑道32滑下并进入到与该滑道32对应的分拣容器内。优选地，滑道32的两侧可以设置阻挡结构33，以防止包裹滑出滑道。另外，滑道32的倾斜角度例如可以在38-72°的范围内，从而避免包裹卡在滑道32上。
同样，在该实施例中，所述本体部的边沿为向所述本体部中部凹陷的锯齿结构31。也即通过延长本体部的边沿长度增加滑道32的数量，以设置更多的倾斜滑道32，提高包裹的分拣能力。
参见图6b，为了防止包裹由于重力下落收到损坏，倾斜滑道32可以设置在开口30位置，即倾斜滑道32可以与开口30一一配合，且分拣容器设置在倾斜滑道32的下方，从而可以使包裹缓慢滑入分拣容器。该结构的开口30设置在分拣平台最外侧边沿之内，也可以防止机器人运动到分拣平台1边缘后，由于运动误差导致从分拣平台1上掉落，即确保了分拣机器人的安全可靠运动。
参见图7，在一个实施例中，分拣系统还包括沿分拣平台1边沿且在远离供件装置2侧布置的多个分拣容器4。这些分拣容器4的开口至少包括位于分拣平台1之外的部分，从而分拣机器人可以在运动到投递区时，直接将包裹投递至分拣容器4中。
本申请的再一个方面提供了一种包裹分拣方法。参见图8，该方法包括：
S800：使包裹进入设置于分拣平台中部的供件装置，例如，可以通过包裹传输带将包裹传递至供件装置之上，从而包裹可以随供件装置旋转；
S801：分拣机器人从所述供件装置接收包裹(例如，可以由操作人员将包裹从供件装置上取下来，并放置到分拣机器人上)，并沿所述分拣平台运动到位于分拣平台边沿的投递区；
S802：分拣机器人在投递区将包括投递至分拣容器。
本申请实施例的包裹分拣方法，由于减少了分拣机器人的运动障碍，使得投递区与回转区之间的位置被分拣机器人选择的概率大致相等，因此，提高了分拣效率，并降低了分拣成本。
如前所述，在一个实施例中，投递区3包括贯穿分拣平台1两侧的多个开口30，分拣机器人在投递区3将包括投递至分拣容器4包括：分拣机器人通过开口30将包裹投递至对应的分拣容器4。
在一个实施例中，沿分拣平台1的边沿设置多个滑道32，多个滑道32设置在分拣平台1远离供件装置2侧且多个滑道32向远离分拣平台1侧倾斜延伸(例如，这些滑道的远离分拣平台一端可以向分拣平台外侧伸出，也即从分拣平台的正上方俯视分拣平台，滑道的一端在分拣平台之外，从而方便操作人员在滑道下方设操作分拣容器)，分拣机器人在投递区3将包括投递至分拣容器4包括：分拣机器人将包裹投递至多个滑道32中的一个，从而该包裹可沿该滑道32进入对应的分拣容器4。通过在分拣平台的边沿设置倾斜滑道，可以避免损坏包裹。
在上述一些实施例中，分拣平台1边沿可以为非齐平结构。例如，边沿可以包括 向分拣平台1中部凹陷的结构31。例如为锯齿结构。从而通过在凹陷位置更多的设置开口或滑道，提高分拣系统的分拣能力。
本申请的实施例提供的包裹分拣平台、系统和方法，通过改变包裹的投递位置，可以极大的提供分拣效率、降低分拣成本。
下面结合附图对本申请实施例进行详细描述。
应当明确，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本申请保护的范围。
参见图9，本申请实施例提供的一种物品分拣系统数据处理方法，包括：
S101，获取位于物品分拣系统中心位置的供件端在预设时间段内的待分拣物品的数量及待分拣物品的路向数据。
物品分拣系统通常具有一个控制服务器，控制服务器能够获取一段时间内供货端需要分拣的物品的数量，据此，便可以得知供件端在预设时间段内的待分拣物品的数量及待分拣物品的路向数据。
除了常规的物品分拣系统的布局之外，作为一种具体的应用场景，本申请实施例中的方案可以应用于供货端在物品分拣系统中心位置的系统中，参见图13，供件端可以是位于一个环形输送线的周围，供件端可以有不同的朝向。物品分拣系统可以是一个包裹分拣系统，在物品分拣系统的周围分布有物品暂存容器，该物品暂存容器可以是包裹暂存容器。供件端提供的带分拣物品可以通过物流机器人等设备传递到指定的物品暂存容器。物品暂存容器位于物品分拣系统的外围，形成一个或多个连续的图形(直线、曲线、正方形、长方形、圆形、椭圆形或其他形状)。
S102，选取与所述待分拣物品的数量匹配的物品暂存容器。
根据供件端获知的待分拣物品的数量，可以选择与之匹配的物品暂存容器的数量。例如，供件端需要分拣的物品数量是500件，每个物品暂存容器平均容纳的物品数量是10件，则至少需要50个物品暂存容器。有比如，供件端需要分拣的物品的运输目的地为20个不同的地方，则此时至少需要20个物品暂存容器来放置不同目的地的带分拣物品。
S103，基于所述待分拣物品的路向数据，将所述物品暂存容器切分为具有第一路向的第一物品暂存容器区域及具有第二路向的第二物品暂存容器区域。
以包裹分拣系统为例，如图13所示，场地中央为环形输送线，包裹暂存容器围绕场地放置。因此，每个供件端到达每个包裹暂存容器的距离是不同的，机器人从供件端出发抵达包裹暂存容器的路径称为“投递路径”。当机器人在地图西侧供件端接受包裹且需要向地图西侧的包裹暂存容器投递时，投递距离最短；当机器人在地图西侧供件端接受包裹但需要向地图东侧的包裹暂存容器投递时，就必须绕行场地半周进行投递，此时投递距离最长。
因此，根据本申请实施例中的方法，将包裹暂存容器在场地中进行分割，分为多个逻辑分区，每个逻辑分区对应特定的供件端，该逻辑分区的包裹暂存容器仅可接受 指定若干供件端的包裹。且，一个供件端可对应多个逻辑分区。将投递路径限制在一个逻辑分区内，避免投递路径跨越多个逻辑分区。图14b示意了将分拣场地分为两个逻辑区时的隔口分布。
如图14a中所示，基础布局时，若干包裹暂存容器按照编号依次延场地外延排列。如图14b中所示，当场地分为多个逻辑分区后，每个逻辑分区都有自己对应的包裹暂存容器。容器所对应的路向在地图中呈镜像排列并在多个逻辑区内复用，即每一个逻辑区均覆盖全部路向。在一个逻辑区内的供件端仅向特定的逻辑区内容器投递包裹，在逻辑区内即可完成向全部路向的投递。图14b仅示意了逻辑分区将场地一分二时的情况，本方法中，根据实际情况，可进行一分多的各种场景。此时，投递路径的期望距离将会因此变短。
除了步骤S101～S103之外，参见图10，该方法还可以包括：
S201，基于所述待分拣物品的路向数据，将所述物品暂存容器切分为具有第三路向的第三物品暂存容器区域；
S202，获取除所述第一路向、第二路向及所述第三路向之外的其他路向数据；
S203，在所述物品暂存容器中建立与所述其他路向数据对应的第二复用区域。
仍然以包裹分拣系统为例，当逻辑分区对路向进行复用时，需要布设的容器数量将成倍增加。当场地周边的周长不足以容纳全部复用的容器时，可将逻辑分区进行缩减，不必容纳全部路向。并将逻辑分区中不包含的路向在多个逻辑分区以外混合使用，并将混合使用的容器布设的场地定义为公用区。如图15所示：当路向过多，逻辑分区复用导致需要容器数量过多，布设容器所需空间大于场地边缘允许范围时，可以通过图15中所示加入公用区。各逻辑分区内包含相同的部分路向，且共用公用区中的路向。
且此时，公用区布设的区域位置应距各分区的供件端路径相等。当逻辑分区为二时，公用区所在位置为场地中央。
可选的，参见图11，物品分拣系统数据处理方法还可以包括：
S301，获取除所述第一路向及所述第二路向之外的其他路向数据；
S302，判断其他路向数据的路向是否超过预设阈值；
S303，若是，则将所述第一物品暂存容器区域及所述第二物品暂存容器区域设置为折叠状。
作为折叠状的一种具体应用，折叠状可以是锯齿状，当然，也可以是其他的类似形状。当以下两种情况出现时，可考虑使用锯齿状布局以继续增加场地可容纳的包裹暂存容器数量：全部路向过多，即使不进行分区复用，场地四周依然没有足够空间容纳全部容器。当使用路向分区复用后，由于路向较多，各逻辑分区所容纳的路向远远小于路向总数，场地大部分区域都为公用区时，逻辑分区降低投递路径距离的意义逐渐丧失时。锯齿状布局如图16所示：锯齿状容器布局将场地四周的边缘改变为锯齿状，如此设置，延长了场地周长，因此增加了可布设包裹暂存容器的数量。
作为另外一种可实施方法，参见图12，本申请实施例还提供了另外一种物品分拣 系统数据处理方法，包括：
S401，获取位于物品分拣系统中心位置的供件端在预设时间段内的待分拣物品的数量及待分拣物品的路向数据。
物品分拣系统通常具有一个控制服务器，控制服务器能够获取一段时间内供货端需要分拣的物品的数量，据此，便可以得知供件端在预设时间段内的待分拣物品的数量及待分拣物品的路向数据。
除了常规的物品分拣系统的布局之外，作为一种具体的应用场景，本申请实施例中的方案可以应用于供货端在物品分拣系统中心位置的系统中，参见图13，供件端可以是位于一个环形输送线的周围，供件端可以有不同的朝向。物品分拣系统可以是一个包裹分拣系统，在物品分拣系统的周围分布有物品暂存容器，该物品暂存容器可以是包裹暂存容器。供件端提供的带分拣物品可以通过物流机器人等设备传递到指定的物品暂存容器。物品暂存容器位于物品分拣系统的外围，形成一个或多个连续的图形(直线、曲线、正方形、长方形、圆形、椭圆形或其他形状)。
S402，选取与所述待分拣物品的数量匹配的物品暂存容器。
根据供件端获知的待分拣物品的数量，可以选择与之匹配的物品暂存容器的数量。例如，供件端需要分拣的物品数量是500件，每个物品暂存容器平均容纳的物品数量是10件，则至少需要50个物品暂存容器。有比如，供件端需要分拣的物品的运输目的地为20个不同的地方，则此时至少需要20个物品暂存容器来放置不同目的地的带分拣物品。
S403，计算每一待分拣物品的往返运输距离以及任一路向的投递选中概率。
假设在场地中有N个路向以及N个包裹暂存容器，且第个i包裹暂存容器对应的一次往返投递路径距离为Si，第j个路向在每次投递中被选中的概率为Pj，且i，j∈{1，2，...，N}。各概率满足如下关系：
Figure PCTCN2017115752-appb-000003
S404，基于所述往返运输距离及所述投递选中概率，设置所述物品暂存容器的路向。
在路向j与容器i的映射f：i→j中，应按如下优化求解：
Figure PCTCN2017115752-appb-000004
损耗的期望之和最小。也就是投递路径越小的容器应该映射给投递概率更大的路向。按照此种方式将容器与路向进行映射可大大降低投递同等件数包裹时机器人所需行走的路程，进而提高整个系统的分拣效率。
与图17的方法实施例相对应，参见图17，本申请实施例还提供了一种物品分拣系统数据处理装置，包括：
第一获取模块901，用于获取位于物品分拣系统中心位置的供件端在预设时间段内的待分拣物品的数量及待分拣物品的路向数据；
第一选取模块902，用于选取与所述待分拣物品的数量匹配的物品暂存容器；
第一切分模块903，用于基于所述待分拣物品的路向数据，将所述物品暂存容器切分为具有第一路向的第一物品暂存容器区域及具有第二路向的第二物品暂存容器区域。
上述实施例中各功能模块所执行的功能及内容与其对应的方法实施例一一对应，在此不再赘述。
与图12的方法实施例相对应，参见图18，本申请实施例还提供了一种物品分拣系统数据处理装置，包括：
第五获取模块1001，用于获取位于物品分拣系统中心位置的供件端在预设时间段内的待分拣物品的数量及待分拣物品的路向数据；
第二选取模块1002，用于选取与所述待分拣物品的数量匹配的物品暂存容器；
计算模块1003，计算每一待分拣物品的往返运输距离以及任一路向的投递选中概率；
执行模块1004，用于基于所述往返运输距离及所述投递选中概率，设置所述物品暂存容器的路向。
上述实施例中各功能模块所执行的功能及内容与其对应的方法实施例一一对应，在此不再赘述。
图19示出了本申请实施例提供的电子设备11的结构示意图，该电子设备11可以用于执行本申请方法实施例中的步骤或内容，电子设备11包括至少一个处理器1101(例如CPU)，至少一个输入输出接口1104，存储器1102，和至少一个通信总线1103，用于实现这些部件之间的连接通信。至少一个处理器1101用于执行存储器1102中存储的可执行模块，例如计算机程序。存储器1102为非暂态存储器(non-transitory memory)，其可以包含易失性存储器，例如高速随机存取存储器(RAM：Random Access Memory)，也可以包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。通过至少一个输入输出接口1104(可以是有线或者无线通信接口)实现与至少一个其他网元之间的通信连接。
在一些实施方式中，存储器1102存储了程序11021，处理器1101执行程序11021，用于执行前述任一基于电子设备的包含运动目标的图像处理方法的实施例。
该电子设备可以以多种形式存在，包括但不限于：
(1)移动通信设备：这类设备的特点是具备移动通信功能，并且以提供话音、数据通信为主要目标。这类终端包括：智能手机(例如iPhone)、多媒体手机、功能性手机，以及低端手机等。
(2)超移动个人计算机设备：这类设备属于个人计算机的范畴，有计算和处理功能，一般也具备移动上网特性。这类终端包括：PDA、MID和UMPC设备等，例如iPad。
(3)便携式娱乐设备：这类设备可以显示和播放多媒体内容。该类设备包括：音频、视频播放器(例如iPod)，掌上游戏机，电子书，以及智能玩具和便携式车载导 航设备。
(4)特定服务器：提供计算服务的设备，服务器的构成包括处理器、硬盘、内存、系统总线等，服务器和通用的计算机架构类似，但是由于需要提供高可靠的服务，因此在处理能力、稳定性、可靠性、安全性、可扩展性、可管理性等方面要求较高。
(5)其他具有数据交互功能的电子设备。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将
一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些。
实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个......”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
本说明书中的各个实施例均采用相关的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。
尤其，对于装置实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，″计算机可读介质″可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本申请的各部分可以用硬件、软件、固件或它们的组合来实现。
在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任 何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。
可以理解的是，术语“一”应理解为“至少一”或“一个或多个”，即在一个实施例中，一个元件的数量可以为一个，而在另外的实施例中，该元件的数量可以为多个，术语“一”不能理解为对数量的限制。
虽然比如“第一”、“第二”等的序数将用于描述各种组件，但是在这里不限制那些组件。该术语仅用于区分一个组件与另一组件。例如，第一组件可以被称为第二组件，且同样地，第二组件也可以被称为第一组件，而不脱离发明构思的教导。在此使用的术语“和/或”包括一个或多个关联的列出的项目的任何和全部组合。
在这里使用的术语仅用于描述各种实施例的目的且不意在限制。如在此使用的，单数形式意在也包括复数形式，除非上下文清楚地指示例外。另外将理解术语“包括”和/或“具有”当在该说明书中使用时指定所述的特征、数目、步骤、操作、组件、元件或其组合的存在，而不排除一个或多个其它特征、数目、步骤、操作、组件、元件或其组的存在或者附加。
包括技术和科学术语的在这里使用的术语具有与本领域技术人员通常理解的术语相同的含义，只要不是不同地限定该术语。应当理解在通常使用的词典中限定的术语具有与现有技术中的术语的含义一致的含义。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (41)

  1. 一种包裹分拣平台，其特征在于，包括具有彼此相背的第一主表面和第二主表面的本体部、设置于所述第一主表面侧中部的码货区和沿所述本体部边沿设置的投递区；其中，运输装置从所述码货区接收货物，并沿所述本体部的所述第一主表面运动至所述投递区，从而所述运输装置在所述投递区投递包裹。
  2. 根据权利要求1所述的包裹分拣平台，其特征在于，所述投递区包括贯穿所述第一主表面和所述第二主表面的开口，从而所述运输装置通过所述开口将包裹投递至设置在该分拣平台第二主表面侧的容器内。
  3. 根据权利要求2所述的包裹分拣平台，其特征在于，所述本体部的边沿包括第一部分，所述第一部分包括向所述本体部中部凹陷的结构。
  4. 根据权利要求3所述的包裹分拣平台，其特征在于，所述本体部的边沿为锯齿结构。
  5. 根据权利要求1所述的包裹分拣平台，其特征在于，还包括沿所述本体部的边沿且在所述本体部的所述第二主表面侧向远离所述第一主表面侧倾斜的多个滑道。
  6. 根据权利要求5所述的包裹分拣平台，其特征在于，所述本体部的边沿为向所述本体部中部凹陷的锯齿结构。
  7. 一种分拣系统，其特征在于，包括分拣平台、设置于所述分拣平台中部的供件装置、用于运输及投递包裹的运输装置；其中所述分拣平台包括位于其边沿的投递区；
    所述运输装置接收来自所述供件装置的包裹，并沿所述分拣平台的一个表面运动至所述投递区，并在所述投递区投递所述包裹。
  8. 根据权利要求7所述的分拣系统，其特征在于，所述投递区包括贯穿所述分拣平台的多个开口，该分拣系统还包括与所述多个开口分别对应设置的多个分拣容器，从而所述运输装置通过所述开口将包裹投递至所述分拣容器。
  9. 根据权利要求8所述的分拣系统，其特征在于，所述分拣平台的边沿为向所述分拣平台中部凹陷的锯齿结构。
  10. 根据权利要求7所述的分拣系统，其特征在于，还包括沿所述分拣平台的边沿设置的多个滑道。
  11. 根据权利要求10所述的分拣系统，其特征在于，其特征在于，所述分拣平台的边沿为向所述分拣平台中部凹陷的锯齿结构。
  12. 根据权利要求7所述的分拣系统，其特征在于，还包括沿所述分拣平台边沿且在该分拣平台的远离所述供件装置侧布置的多个分拣容器。
  13. 根据权利要求12所述的分拣系统，其特征在于，所述分拣平台的边沿为向所述本体部中部凹陷的锯齿结构。
  14. 一种包裹分拣方法，其特征在于，包括：
    使包裹进入设置于分拣平台中部的供件装置；
    运输装置从所述供件装置接收包裹，并沿所述分拣平台运动到位于所述分拣平台边沿的投递区；
    所述运输装置在所述投递区将包括投递至分拣容器。
  15. 根据权利要求14的包裹分拣方法，其特征在于，所述投递区包括贯穿所述分拣平台两侧的多个开口，所述运输装置在所述投递区将包括投递至分拣容器包括：
    所述运输装置通过所述开口将包裹投递至对应的分拣容器。
  16. 根据权利要求14的包裹分拣方法，其特征在于，沿所述分拣平台的边沿设置多个滑道，所述多个滑道设置在所述分拣平台远离所述供件装置侧且所述多个滑道向远离所述分拣平台侧倾斜延伸，所述运输装置在所述投递区将包括投递至分拣容器包括：
    所述运输装置将包裹投递至所述滑道，从而包裹沿所述滑道投递至对应的分拣容器。
  17. 根据权利要求14-16任一项所述的包裹分拣方法，其特征在于，所述分拣平台的边沿为向所述分拣平台中部凹陷的锯齿结构。
  18. 一种物品分拣系统数据处理方法，其特征在于，包括：
    获取位于物品分拣系统中心位置的供件端在预设时间段内的待分拣物品的数量及待分拣物品的路向数据；
    选取与所述待分拣物品的数量匹配的物品暂存容器；
    基于所述待分拣物品的路向数据，将所述物品暂存容器切分为具有第一路向的第一物品暂存容器区域及具有第二路向的第二物品暂存容器区域。
  19. 根据权利要求18所述的数据处理方法，其特征在于：
    所述第一物品暂存容器区域与所述第二物品暂存容器区域共同形成环状区域，所述环状区域位于所述物品分拣系统的外侧。
  20. 根据权利要求18所述的数据处理方法，其特征在于，所述方法还包括：
    基于所述待分拣物品的路向数据，将所述物品暂存容器切分为具有第三路向的第三物品暂存容器区域。
  21. 根据权利要求18所述的数据处理方法，其特征在于，所述方法还包括：
    获取除所述第一路向及所述第二路向之外的其他路向数据；
    在所述物品暂存容器中建立与所述其他路向数据对应的第一复用区域。
  22. 根据权利要求20所述的数据处理方法，其特征在于，所述方法还包括：
    获取除所述第一路向、第二路向及所述第三路向之外的其他路向数据；
    在所述物品暂存容器中建立与所述其他路向数据对应的第二复用区域。
  23. 根据权利要求18所述的数据处理方法，其特征在于，所述方法还包括：
    获取除所述第一路向及所述第二路向之外的其他路向数据；
    判断其他路向数据的路向是否超过预设阈值；
    若是，则将所述第一物品暂存容器区域及所述第二物品暂存容器区域设置为折叠状。
  24. 根据权利要求23所述的数据处理方法，其特征在于：
    所述折叠状为锯齿形、三角形、波浪形中的任意一种。
  25. 一种物品分拣系统数据处理方法，其特征在于，包括：
    获取位于物品分拣系统中心位置的供件端在预设时间段内的待分拣物品的数量及待分拣物品的路向数据；
    选取与所述待分拣物品的数量匹配的物品暂存容器；
    计算每一待分拣物品的往返运输距离以及任一路向的投递选中概率；
    基于所述往返运输距离及所述投递选中概率，设置所述物品暂存容器的路向。
  26. 根据权利要求25所述的数据处理方法，其特征在于，所述计算每一待分拣物品的往返运输距离以及任一路向的投递选中概率，包括：
    对于N个路向以及M个物品暂存容器，计算第i个包裹暂存容器对应的一次往返投递路径距离Si，以及第j个路向在每次投递中被选中的概率Pj。
  27. 根据权利要求26所述的数据处理方法，其特征在于，所述基于所述往返运输距离及所述投递选中概率，设置所述物品暂存容器的路向，包括：
    在路向j与物品暂存容器i的映射f：i→j中，按如下优化求解，
    Figure PCTCN2017115752-appb-100001
    使得路向与物品暂存容器的最优映射应满足全部路径的被投递概率乘其对应物品暂存容器的投递路径损耗的期望之和最小。
  28. 一种物品分拣系统数据处理装置，其特征在于，包括：
    第一获取模块，用于获取位于物品分拣系统中心位置的供件端在预设时间段内的待分拣物品的数量及待分拣物品的路向数据；
    第一选取模块，用于选取与所述待分拣物品的数量匹配的物品暂存容器；
    第一切分模块，用于基于所述待分拣物品的路向数据，将所述物品暂存容器切分为具有第一路向的第一物品暂存容器区域及具有第二路向的第二物品暂存容器区域。
  29. 根据权利要求28所述的数据处理装置，其特征在于：
    所述第一物品暂存容器区域与所述第二物品暂存容器区域共同形成环状区域，所述环状区域位于所述物品分拣系统的外侧。
  30. 根据权利要求28所述的数据处理装置，其特征在于，所述装置还包括：
    第二切分模块，用于基于所述待分拣物品的路向数据，将所述物品暂存容器切分为具有第三路向的第三物品暂存容器区域。
  31. 根据权利要求28所述的数据处理装置，其特征在于，所述装置还包括：
    第二获取模块，用于获取除所述第一路向及所述第二路向之外的其他路向数据；
    第一建立模块，用于在所述物品暂存容器中建立与所述其他路向数据对应的第一复用区域。
  32. 根据权利要求30所述的数据处理装置，其特征在于，所述装置还包括：
    第三获取模块，用于获取除所述第一路向、第二路向及所述第三路向之外的其他路向数据；
    第二建立模块，用于在所述物品暂存容器中建立与所述其他路向数据对应的第二复用区域。
  33. 根据权利要求28所述的数据处理装置，其特征在于，所述方法还包括：
    第四获取模块，用于获取除所述第一路向及所述第二路向之外的其他路向数据；
    判断模块，用于判断其他路向数据的路向是否超过预设阈值；
    设置模块，用于当其他路向数据的路向超过预设阈值时，将所述第一物品暂存容器区域及所述第二物品暂存容器区域设置为折叠状。
  34. 根据权利要求33所述的数据处理装置，其特征在于：
    所述折叠状为锯齿形、三角形、波浪形中的任意一种。
  35. 一种物品分拣系统数据处理装置，其特征在于，包括：
    第五获取模块，用于获取位于物品分拣系统中心位置的供件端在预设时间段内的待分拣物品的数量及待分拣物品的路向数据；
    第二选取模块，用于选取与所述待分拣物品的数量匹配的物品暂存容器；
    计算模块，计算每一待分拣物品的往返运输距离以及任一路向的投递选中概率；
    执行模块，用于基于所述往返运输距离及所述投递选中概率，设置所述物品暂存容器的路向。
  36. 根据权利要求35所述的数据处理装置，其特征在于，所述计算模块，还用于：
    对于N个路向以及M个物品暂存容器，计算第i个包裹暂存容器对应的一次往返投递路径距离Si，以及第j个路向在每次投递中被选中的概率Pj。
  37. 根据权利要求36所述的数据处理装置，其特征在于，所述执行模块，还用于：
    在路向j与物品暂存容器i的映射f：i→j中，按如下优化求解，
    Figure PCTCN2017115752-appb-100002
    使得路向与物品暂存容器的最优映射应满足全部路径的被投递概率乘其对应物品暂存容器的投递路径损耗的期望之和最小。
  38. 一种电子设备，其特征在于，所述电子设备包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行前述任一权利要求18-24所述的数据处理方法。
  39. 一种非暂态计算机可读存储介质，所述非暂态计算机可读存储介质存储计算机指令，所述计算机指令用于使所述计算机执行前述任一权利要求18-24所述的数据处理方法。
  40. 一种电子设备，其特征在于，所述电子设备包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行前述任一权利要求25-27所述的数据处理方法。
  41. 一种非暂态计算机可读存储介质，所述非暂态计算机可读存储介质存储计算机指令，所述计算机指令用于使所述计算机执行前述任一权利要求25-27所述的数据处理方法。
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