Three-dimensional sorting method and three-dimensional sorting robot and system
US-2024336437-A1 · Oct 10, 2024 · US
US9969589B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9969589-B2 |
| Application number | US-201514959335-A |
| Country | US |
| Kind code | B2 |
| Filing date | Dec 4, 2015 |
| Priority date | Dec 4, 2014 |
| Publication date | May 15, 2018 |
| Grant date | May 15, 2018 |
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A delivery processing apparatus includes: a plurality of stackers configured to stack delivery objects; a conveyer configured to transport the delivery objects to a designated stacker out of the plurality of stackers; a first detector configured to detect that a monitored stacker out of the plurality of stackers is in an overflow state in which more than a predetermined amount of delivery objects have accumulated; a second detector configured to detect that a monitored stacker out of the plurality of stackers is in an empty state in which all delivery objects have been retrieved from the stacker; and a main controller configured to specify a regular stacker that is a stacker out of the plurality of stackers and serving as a sort destination of the delivery object.
Opening claim text (preview).
What is claimed is: 1. A delivery processing apparatus comprising: a plurality of stackers configured to stack delivery objects; a conveyer configured to transport the delivery objects to a designated stacker out of the plurality of stackers; a full sensor configured to detect that a monitored stacker out of the plurality of stackers is in an overflow state in which more than a predetermined amount of delivery objects have accumulated and configured to output a full signal; a pre-full sensor configured to output a pre-full signal; a detector configured to detect that a monitored stacker out of the plurality of stackers is in an empty state in which all delivery objects have been retrieved from the stacker; and a main controller configured to specify a regular stacker that is a stacker out of the plurality of stackers and serving as a sort destination of the delivery object, based on address information that is obtained from the delivery object and, control the conveyer such that the delivery object is transported to the regular stacker serving as the sort destination, out of the plurality of regular stackers, that is specified, wherein, if the stacker serving as the sort destination specified is in the overflow state, then the main controller stops the transport of delivery objects to the regular stacker serving as the sort destination that has gone into the overflow state and assigns a backup stacker that is a stacker out of the plurality of stackers not correlated with any address information as a sort destination substituting for the sort destination that has gone into the overflow state, and after assigning the substitute sort destination, when a regular stacker that had gone into the overflow state goes into the empty state, the main controller continues transport of delivery objects to the backup stacker until the backup stacker goes into the overflow state, and when the backup stacker goes into the overflow state, the main controller then stops transport of delivery objects to the backup stacker that has been assigned as the substitute sort destination, and resumes the transport of delivery objects to the regular stacker that has gone into the empty state, wherein the detector is a switch to be operated by an operator who retrieves the delivery objects from the regular stacker when the regular stacker successively receives delivery objects, and wherein the main controller controls to reduce the number of backup stackers when the operating ratio of the backup stackers is low, to increase the number of backup stackers when the operating ratio of the backup stackers is high. 2. The delivery processing apparatus according to claim 1 , wherein, when the backup stacker that has been assigned as the substitute sort destination has gone into the overflow state after the regular stacker that had gone into the overflow state has gone into the empty state, the main controller unit stops the transport of delivery objects to the backup stacker that has been assigned as the substitute sort destination, and resumes the transport of the delivery objects to the regular stacker in the empty state. 3. The delivery processing apparatus according to claim 1 , wherein, if a backup stacker that has been assigned as a substitute sort destination has gone into the empty state, then the main controller unit cancels the assignment of the backup stacker as the substitute sort destination, and after that, if any regular stacker serving as the sort destination specified has gone into the overflow state, then that backup stacker is taken as a subject to assignment as a sort destination substituting the regular stacker that has gone into the overflow state. 4. The delivery processing apparatus according to claim 1 , further comprising: a list production unit for producing a list of characteristic information of each delivery object, based on a timing at which the regular stacker has gone into the empty state. 5. The delivery processing apparatus according to claim 4 , wherein, for each storage container in which the delivery objects are collected that have been retrieved from the regular stacker, the list production unit produces a list of characteristic information of the delivery objects collected in that storage container. 6. A delivery processing method for a delivery processing apparatus comprising a plurality of regular stackers configured to stack delivery objects; a conveyer configured to transport the delivery objects to a designated regular stacker out of the plurality of regular stackers; a full sensor and a pre-full sensor configured to detect that a monitored regular stacker out of the plurality of stackers is in an overflow state in which more than a predetermined amount of delivery objects have accumulated, the full sensor configured to output a full, and the pre-full sensor configured to output a pre-full signal; a detector configured to detect that a monitored stacker out of the plurality of stackers is in an empty state in which all delivery objects have been retrieved from the stacker; and a specifying unit configured to specify a stacker serving as a sort destination of a delivery object, based on address information that is obtained from the delivery object; the method comprising: controlling the conveyer such that a delivery object is transported to that regular stacker serving as the sort destination, out of the plurality of stackers, that is specified by the specifying unit; if the regular stacker serving as the sort destination specified by the specifying unit is in the overflow state, stopping the transport of delivery objects to the regular stacker serving as the sort destination that has gone into the overflow state and assigning, out of the plurality of stackers, a backup stacker that is not correlated with any address information, as a sort destination substituting for the sort destination that has gone into the overflow state; and after assigning the substitute sort destination, when a regular stacker that had gone into the overflow state goes into the empty state, continuing transport of delivery objects to the backup stacker until the backup stacker goes into the overflow state, and when the backup stacker goes into the overflow state, the main controller then stopping transport of delivery objects to the backup stacker that has been assigned as the substitute sort destination, and resuming the transport of delivery objects to the stacker that has gone into the empty state; the delivery objects being retrieved by an operator from the regular stacker; successively receiving delivery objects to the regular stacker after the delivery objects being retrieved from the regular stacker; and controlling to reduce the number of backup stackers when the operating ratio of the backup stackers is low, and to increase the number of backup stackers when the operating ratio of the backup stackers is high. 7. The method according to claim 6 , further comprising: when the backup stacker that has been assigned as the substitute sort destination has gone into the overflow state after the regular stacker that had gone into the overflow state has gone into the empty state, stopping the transport of delivery objects to the backup stacker that has been assigned as the substitute sort destination, and resuming the transport of the delivery object to the regular stacker in the empty state. 8. The method according to claim 6 , further comprising: if the backup stacker that has been assigned as the substitute sort destination has gone into the empty state, cancelling the assignment of the backup stacker as the substitute sort destination, and after that, if the regular stacker serving as the sort destination specified by the specifying unit has gone into the overflow stat
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