CN-121981634-A - Intelligent express sorting system and method based on intelligent logistics

CN121981634ACN 121981634 ACN121981634 ACN 121981634ACN-121981634-A

Abstract

The invention relates to the technical field of data analysis, in particular to an intelligent express sorting system and a sorting method based on intelligent logistics, wherein the system is used for dynamically adjusting an initial virtual safety bubble model according to a motion state parameter to obtain an optimized safety bubble model by constructing the initial virtual safety bubble model of high-value package; and continuously detecting the relative position relation between other objects in the sorting environment and the optimized safety bubble model, executing a safety control strategy according to the relative position relation, conveying the high-value package to a target sorting port, and realizing the whole-course nondestructive sorting of the high-value package on the premise of ensuring the sorting efficiency.

Inventors

ZHAO XU
CHEN WEIBO
SHI FANGFANG
LIU XUEQIONG
WANG HONGWEI

Assignees

北京众信浩远企业管理有限公司

Dates

Publication Date: 20260505
Application Date: 20260128

Claims (9)

1. The intelligent express sorting system based on the intelligent logistics is characterized by comprising an initial virtual safety bubble model building module, a sorting path generating module and a sorting safety control and conveying management module, wherein the modules are sequentially connected in a communication way; The system comprises an initial virtual safety bubble model construction module, an initial virtual safety bubble model, a high-value package, a virtual safety bubble model generation module and a storage module, wherein the initial virtual safety bubble model construction module is used for acquiring attribute information of a package to be sorted, determining vulnerability grade of an internal object according to object information of the high-value package when judging that the package to be sorted belongs to the high-value package according to the attribute information; The sorting path generation module is used for collecting the motion state parameters of the high-value package in real time after the high-value package enters the sorting flow, dynamically adjusting the initial virtual safety bubble model according to the motion state parameters to obtain an optimized safety bubble model, taking the optimized safety bubble model as a space constraint condition into a sorting path plan, and generating a sorting path meeting the condition that the safety bubble boundary is not invaded; And the sorting safety control and conveying management module is used for continuously detecting the relative position relation between other objects in the sorting environment and the optimized safety bubble model when sorting is carried out according to the sorting path, executing a safety control strategy according to the relative position relation, and conveying the high-value package to a target sorting port under the constraint of the safety control strategy.
2. The intelligent express sorting system based on intelligent logistics of claim 1, wherein the initial virtual safety bubble model building module comprises: The sensitivity vector and coordinate system establishing module is used for establishing a vulnerability sensitivity vector according to the vulnerability grade, wherein the vulnerability sensitivity vector comprises damage sensitivity degree components of the high-value package internal articles in three orthogonal directions in space; extracting the length, width and height of the high-value package according to the outline dimension of the high-value package as geometric reference parameters, and establishing a package body coordinate system by taking the geometric center of the high-value package as an origin; The bubble boundary curved surface construction module is used for carrying out weighted operation on the damage sensitivity degree component and a preset reference safety margin to obtain the direction safety distance of the high-value package in the directions of all coordinate axes of the package body coordinate system, respectively superposing the direction safety distance on the geometric reference parameters in the corresponding directions to obtain the axial radius of the bubble in the directions of all coordinate axes; And the initial virtual safety bubble model generation submodule is used for determining the rigidity constraint intensity parameter of the bubble boundary curved surface according to the vulnerability grade, and carrying out association encapsulation on the geometric expression of the bubble boundary curved surface and the rigidity constraint intensity parameter to generate a complete initial virtual safety bubble model.
3. The intelligent express sorting system based on intelligent logistics in accordance with claim 2, wherein the initial virtual safety bubble model generation sub-module comprises the steps of: constructing a three-dimensional ellipsoidal implicit equation as a geometric expression of the bubble boundary curved surface according to the bubble axial radius of the bubble boundary curved surface; The method comprises the steps of calculating a radial unit vector of each discrete sampling point relative to a high-value package geometric center as a normal vector of the discrete sampling point, establishing a boundary penetration cost function according to a rigid constraint intensity parameter, wherein the boundary penetration cost function takes the penetration depth between an external object and a bubble boundary curved surface as an independent variable; the normal repulsive force component at each discrete sampling point is subjected to direction weighted correction according to the vulnerability sensitivity vector, the normal repulsive force component subjected to the direction weighted correction, the corresponding discrete sampling point coordinates and normal vector are bound to form a local constraint response unit, an index association structure between a geometric expression and all the local constraint response units is established, a rigid constraint intensity parameter is embedded into the index association structure, and the index association structure is subjected to data encapsulation to generate an initial virtual safety bubble model.
4. The intelligent express sorting system based on intelligent logistics according to claim 3, wherein the sorting path generation module comprises: the speed component calculation module is used for extracting an instantaneous speed vector and an instantaneous acceleration vector of the high-value package from the motion state parameters, calculating a motion direction unit vector of the high-value package according to the instantaneous speed vector, and calculating an acceleration amplitude according to the instantaneous acceleration vector; the asymmetric expansion calculation module is used for calculating the kinetic energy accumulation quantity in the corresponding direction according to the velocity components in the axial directions, mapping the kinetic energy accumulation quantity into dynamic expansion increment in the axial directions through a preset energy-distance conversion function, and carrying out association operation on the acceleration amplitude and the vulnerability grade of the high-value wrapped internal article to obtain an inertial impact risk coefficient; The system comprises an optimization safety bubble model generation module, a calculation module, a parameter updating module and a synchronous updating module, wherein the optimization safety bubble model generation module is used for substituting the axial radius of each bubble after asymmetric expansion into a geometric expression of an initial virtual safety bubble model to update parameters, recalculating coordinates and normal vectors of discrete sampling points for the updated geometric expression, synchronously updating normal repulsive force components in each local constraint response unit, and repackaging the geometric expression after parameter updating and all the local constraint response units after synchronous updating to generate the optimization safety bubble model.
5. The intelligent express sorting system based on intelligent logistics of claim 4, wherein the asymmetric expansion calculation module comprises: The energy saturation calculation module is used for obtaining quality parameters of the high-value package, calculating the kinetic energy accumulation amount in each axial direction according to the quality parameters and the square value of the velocity component in each axial direction, determining the maximum impact energy threshold value bearable by the internal article according to the vulnerability grade of the internal article of the high-value package, and calculating the energy saturation in each axial direction according to the kinetic energy accumulation amount in each axial direction and the maximum impact energy threshold value; The distance expansion factor calculation module is used for taking the energy saturation as input and the distance expansion factor as output to establish an energy-distance conversion function, substituting the energy saturation in each axial direction into the energy-distance conversion function to perform operation to obtain the distance expansion factor in each axial direction; The dynamic expansion increment calculation module is used for calculating the minimum safe braking distance in each axial direction according to the maximum braking capacity of the sorting equipment in each axial direction, and calculating the dynamic expansion increment in each axial direction according to the distance expansion factor in each axial direction and the minimum safe braking distance in the corresponding direction.
6. The intelligent express sorting system based on intelligent logistics of claim 5, wherein the distance expansion factor calculation module comprises the steps of: Defining a continuous interval between zero and a critical saturation value of the energy saturation, dividing the continuous interval into three subintervals of a low saturation section, a medium saturation section and a high saturation section, establishing a linear mapping relation between a distance expansion factor and the energy saturation for the low saturation section, establishing a quadratic polynomial mapping relation by taking the energy saturation as an independent variable for the medium saturation section, and establishing an exponential mapping relation by taking the inverse difference between the energy saturation and the critical saturation value as a base for the high saturation section; Setting a first continuity constraint condition at the junction of a low saturation section and a medium saturation section, setting a second continuity constraint condition at the junction of the medium saturation section and a high saturation section, wherein the first continuity constraint condition and the second continuity constraint condition both require that the function value and the first derivative value of the mapping relation of adjacent subintervals at the junction are equal, solving the undetermined coefficient in the mapping relation of each subinterval according to the first continuity constraint condition and the second continuity constraint condition, and carrying out segmentation splicing on the mapping relation of each subinterval to form an energy-distance conversion function.
7. The intelligent express sorting system based on intelligent logistics of claim 4, wherein the asymmetric expansion calculation module further comprises the steps of: calculating the included angle between the motion direction unit vector and each coordinate axis of a package body coordinate system of the initial virtual safety bubble model to obtain a direction included angle; The method comprises the steps of calculating an axial expansion coefficient in each coordinate axis direction according to an inertial impact risk coefficient and a direction weight factor in each coordinate axis direction, multiplying a corresponding bubble axial radius by the axial expansion coefficient to obtain a bubble axial radius after forward expansion for a front half space pointed by a motion direction unit vector; The method comprises the steps of setting a transition mixing zone in the boundary area of a front half space and a rear half space, calculating mixing weights according to positions of discrete sampling points in the transition mixing zone, carrying out weighted interpolation on the axial radius of the bubbles after forward expansion and the axial radius of the bubbles after backward contraction according to the mixing weights to obtain the axial radius of the bubbles in the transition area, and carrying out splicing fusion on the axial radius of the bubbles after forward expansion, the axial radius of the bubbles after backward contraction and the axial radius of the bubbles in the transition area to generate an asymmetric expansion bubble boundary curved surface.
8. The intelligent express sorting system based on intelligent logistics according to claim 1, wherein the sorting safety control and delivery management module comprises the steps of: Acquiring position coordinates and movement speed of other objects in the sorting environment; the position coordinates of other objects in the sorting environment are transformed into a package body coordinate system of the high-value package to obtain a relative position vector, and the difference between the modular length of the relative position vector and the boundary radius of the optimized safety bubble model in the direction is calculated to be used as a boundary distance allowance; performing vector difference operation on the motion speeds of other objects in the sorting environment and the instantaneous speed vector of the high-value package to obtain a relative approach speed, performing ratio operation on the boundary distance allowance and the relative approach speed to obtain collision early warning time, and establishing a hierarchical safety control strategy mapping table which divides the collision early warning time into a safety interval, an early warning interval and a dangerous interval; And maintaining the current motion state when the collision early-warning time is in a safe interval, reducing the motion speed when the collision early-warning time is in an early-warning interval, executing emergency braking when the collision early-warning time is in a dangerous interval, and starting the avoidance path re-planning.
9. An intelligent express sorting method based on intelligent logistics is characterized by comprising the following steps: acquiring attribute information of packages to be sorted, determining vulnerability levels of articles in the packages to be sorted according to article information of the packages to be sorted when the packages to be sorted are judged to belong to high-value packages according to the attribute information; The method comprises the steps of receiving a high-value package, acquiring motion state parameters of the high-value package in real time after the high-value package enters a sorting flow, dynamically adjusting an initial virtual safety bubble model according to the motion state parameters to obtain an optimized safety bubble model, taking the optimized safety bubble model as a space constraint condition into a sorting path plan, and generating a sorting path which meets the safety bubble boundary and is not invaded; When sorting is carried out according to the sorting path, continuously detecting the relative position relation between other objects in the sorting environment and the optimized safe bubble model, executing a safe control strategy according to the relative position relation, and conveying the high-value package to a target sorting opening position under the constraint of the safe control strategy.

Description

Intelligent express sorting system and method based on intelligent logistics Technical Field The invention relates to the technical field of data analysis, in particular to an intelligent express sorting system and method based on intelligent logistics. Background The intelligent logistics system becomes a core component of a modern supply chain system, wherein intelligent express sorting is used as a key node of a logistics link, and the logistics efficiency and the service quality are directly affected. The intelligent express sorting method realizes rapid identification, path planning and accurate delivery of mass packages through automatic equipment and intelligent algorithms, and greatly improves logistics processing capacity. However, as high-end consumer goods, artwork, precision instruments, and other high-value items are increasingly frequently transacted on-line, intelligent sorting systems face increasing demands for handling high-value vulnerable packages, which place far higher demands on safety during transportation and sorting than ordinary packages. The existing intelligent sorting system has obvious defects when processing high-value vulnerable packages. The existing sorting method cannot fully consider the sensitivity of high-value vulnerable articles to external impact factors such as collision, vibration, acceleration change and the like, in the actual sorting process, packages inevitably contact or approach sorting equipment, other packages or environmental barriers in links such as conveying belt transportation, diversion steering, slideway falling and the like, and the existing system lacks a differential protection mechanism for the characteristics of the vulnerable articles. In addition, the existing sorting system cannot adapt to the dynamic change of impact risk caused by the change of speed and acceleration of the package in the motion process, when the package moves at a high speed or changes direction rapidly, the actually required safety protection space is far greater than that in a static state, the existing method is difficult to sense the change in real time and adjust correspondingly, and the problems cause that the high-value vulnerable package is easy to damage in the sorting process. Therefore, an intelligent sorting system capable of adaptively protecting high-value vulnerable packages is needed, and the whole-course nondestructive sorting of the high-value packages is realized on the premise of ensuring sorting efficiency. Disclosure of Invention (1) Technical problem to be solved The invention aims to provide an intelligent express sorting system and an intelligent express sorting method based on intelligent logistics, which are used for solving the problem that high-value packages are easy to damage internal articles due to external impacts such as collision and vibration in the intelligent logistics sorting process. (2) Technical proposal In order to achieve the aim, in one aspect, the invention provides an intelligent express sorting system based on intelligent logistics, which comprises an initial virtual safe bubble model building module, a sorting path generating module and a sorting safety control and conveying management module, wherein the modules are sequentially connected in a communication way; The system comprises an initial virtual safety bubble model construction module, a high-value package initial virtual safety bubble model and a high-value package control module, wherein the initial virtual safety bubble model construction module is used for acquiring attribute information of a package to be sorted, determining vulnerability grade of an internal object according to object information of the high-value package when judging that the package to be sorted belongs to the high-value package according to the attribute information, and constructing the high-value package initial virtual safety bubble model according to the vulnerability grade and the outline dimension of the high-value package. The sorting path generation module is used for collecting the motion state parameters of the high-value package in real time after the high-value package enters the sorting flow, dynamically adjusting the initial virtual safety bubble model according to the motion state parameters to obtain an optimized safety bubble model, taking the optimized safety bubble model as a space constraint condition into the sorting path planning, and generating a sorting path meeting the condition that the safety bubble boundary is not invaded. And the sorting safety control and conveying management module is used for continuously detecting the relative position relation between other objects in the sorting environment and the optimized safety bubble model when sorting is carried out according to the sorting path, executing a safety control strategy according to the relative position relation, and conveying the high-value package to a target sorting port under the constraint of the sa