Cargo sorting method, sorting machine, and sorting system

Abstract

The application relates to the field of warehouse logistics, and discloses a cargo sorting method, a sorting machine and a sorting system. The sorting method comprises the following steps: obtaining a first sorting task, determining a first buffer device corresponding to the first sorting task in multiple buffer devices; controlling the first buffer device to move to a delivery position, receiving a first cargo corresponding to the first sorting task delivered by a sorting object at the delivery position; after the first buffer device receives the first cargo, controlling the first buffer device to move from the delivery position to a first position, controlling a second buffer device to move to the delivery position, so that the second buffer device receives a second cargo corresponding to a second sorting task delivered by the sorting object at the delivery position; and controlling a delivery mechanism to be connected with the first buffer device, so as to receive the first cargo delivered by the first buffer device and deliver the first cargo to a turnover container corresponding to the first sorting task. The cargo sorting method provided by the application can improve the efficiency of cargo sorting.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a cargo sorting method, sorting machine and sorting system. Background Technology

[0002] In a warehousing system, automated sorting machines and sorting robots work together to sort goods. Typically, a sorting robot (or a sorting operator) delivers goods to the sorting machine's delivery mechanism on the delivery side, and the delivery mechanism then delivers the goods to the turnover bins located on both sides of the sorting machine to complete the sorting process.

[0003] Typically, when sorting robots work collaboratively with sorting machines, there is a waiting problem between them. For example, a sorting robot may need to wait for the delivery mechanism to reset and be ready before it can make the next delivery, which increases the delivery time of the sorting robot and reduces the sorting efficiency. Summary of the Invention

[0004] To address the aforementioned problems, embodiments of this application provide a goods sorting method, a sorting machine, and a sorting system. Specifically, embodiments of this application disclose the following technical solutions:

[0005] The first aspect of this application provides a goods sorting method applied to a sorting system. The sorting system includes a buffer mechanism and a delivery mechanism. The buffer mechanism includes multiple buffer devices, each of which is used to buffer goods delivered by a sorting object. The goods sorting method includes: obtaining a first sorting task and determining a first buffer device corresponding to the first sorting task among the multiple buffer devices; controlling the first buffer device to move to a delivery position and receiving a first item corresponding to the first sorting task delivered by the sorting object at the delivery position; after the first buffer device receives the first item, controlling the first buffer device to move from the delivery position to a first position, and controlling a second buffer device to move to the delivery position, so that the second buffer device receives a second item corresponding to the second sorting task delivered by the sorting object at the delivery position; wherein the second buffer device is the buffer device corresponding to the second sorting task, and the second buffer device is different from the first buffer device; controlling the delivery mechanism to dock with the first buffer device to receive the first item delivered by the first buffer device and deliver the first item to a turnover container corresponding to the first sorting task.

[0006] In some embodiments, controlling the delivery mechanism to dock with the first buffer device to receive the first goods delivered by the first buffer device includes: controlling the delivery mechanism to move to the target docking position corresponding to the current position according to the current position of the first buffer device, and receiving the first goods delivered by the first buffer device at the target docking position; wherein the current position includes the first position.

[0007] In some embodiments, determining the first cache device corresponding to the first sorting task among a plurality of cache devices includes: acquiring status information of each cache device; wherein the status information is used to indicate whether goods are placed on the cache device or not. Based on the status information of each cache device, the first cache device corresponding to the first sorting task is determined among the plurality of cache devices.

[0008] In some embodiments, determining the first cache device corresponding to the first sorting task among multiple cache devices based on the status information of each cache device includes: if it is determined that there is one cache device among multiple cache devices that does not contain goods, then the cache device that does not contain goods is determined as the first cache device; if it is determined that there are at least two cache devices among multiple cache devices that do not contain goods, then the first cache device is determined among the at least two cache devices that do not contain goods.

[0009] In some embodiments, determining a first cache device among at least two cache devices that do not contain goods includes: randomly determining one of the at least two cache devices that do not contain goods as the first cache device; or, determining the first cache device among at least two cache devices that do not contain goods based on priority information of the at least two cache devices that do not contain goods.

[0010] In some embodiments, at an initial moment, the distance between any two adjacent cache devices among the plurality of cache devices is the initial distance. During the movement of the first cache device, the distance between any two adjacent cache devices remains unchanged from the initial distance; or, during the movement of the first cache device, the distance between at least two adjacent cache devices changes.

[0011] In some embodiments, controlling the first buffer device to move to the delivery position includes: determining the size of a first item according to a first sorting task; if there is a third buffer device located adjacent to and above the first buffer device among a plurality of buffer devices, and the size of the first item is greater than the initial distance between the third buffer device and the first buffer device, then controlling the third buffer device to move to a second position so that the first distance between the third buffer device and the first buffer device is greater than the size of the first item. The first buffer device and the third buffer device are controlled to move simultaneously to move the first buffer device to the delivery position; wherein, during the movement of the first buffer device and the third buffer device, the first distance between the third buffer device and the first buffer device remains unchanged.

[0012] In some embodiments, controlling the first buffer device to move to the delivery position includes: determining the size of the first goods according to the first sorting task; if there is a third buffer device located above and adjacent to the first buffer device among the multiple buffer devices, and the size of the first goods is greater than the initial distance between the third buffer device and the first buffer device, then controlling the first buffer device to move to the delivery position and controlling the third buffer device to move to a third position, so that the second distance between the third buffer device and the first buffer device is greater than the size of the first goods; wherein, during the movement of the first buffer device and the third buffer device, the distance between the third buffer device and the first buffer device changes from the initial distance to the second distance.

[0013] In some embodiments, controlling the delivery mechanism to move to the target docking position corresponding to the current position based on the current position of the first buffer device includes: determining the target docking position corresponding to the current position based on the current position and a preset correspondence; wherein the preset correspondence includes multiple positions and preset docking positions corresponding to each position. Controlling the delivery mechanism to move to the target docking position.

[0014] In some embodiments, determining the target parking spot corresponding to the current location based on the current location and a preset correspondence includes: when multiple locations include the current location, determining the preset parking spot corresponding to the current location as the target parking spot based on the preset correspondence; when multiple locations do not include the current location, calculating the target parking spot corresponding to the current location based on the current location.

[0015] In some embodiments, the plurality of cache devices includes three cache devices, and the preset docking position includes five docking positions.

[0016] In some embodiments, the goods sorting method further includes: when the first buffer device moves to the delivery position, sending a ready instruction to the sorting system, so that the sorting system sends a delivery instruction to the sorting object based on the ready instruction; wherein the delivery instruction is used to instruct the sorting object to deliver the first goods to the first buffer device.

[0017] A second aspect of this application provides a sorting machine, which includes a buffer mechanism and a delivery mechanism. The buffer mechanism includes multiple buffer devices, each configured to buffer goods delivered by a sorting object. The multiple buffer devices include a first buffer device and a second buffer device, the first buffer device being the buffer device corresponding to a first sorting task, and the second buffer device being the buffer device corresponding to a second sorting task. The first buffer device is configured to move to a delivery position to receive a first item corresponding to the first sorting task delivered by the sorting object; and after receiving the first item, it moves to a first position. The second buffer device is configured to move to the delivery position after the first buffer device receives the first item, to receive a second item corresponding to the second sorting task delivered by the sorting object at the delivery position. The delivery mechanism is configured to dock with the first buffer device to receive the first item delivered by the first buffer device and deliver the first item to a turnover container corresponding to the first sorting task.

[0018] A third aspect of this application provides a sorting system comprising a sorting machine, a sorting robot, and a control device. The sorting machine includes a buffer mechanism and a delivery mechanism; the buffer mechanism includes multiple buffer devices; each buffer device is configured to buffer goods delivered by the sorting robot. The control device is configured to send a first sorting task and a second sorting task to the sorting machine. The sorting machine is configured to acquire the first and second sorting tasks, and based on the first and second sorting tasks, determine a first buffer device for the first sorting task and a second buffer device for the second sorting task among the multiple buffer devices; control the first buffer device to move to a delivery position to receive a first item corresponding to the first sorting task delivered by the sorting robot at the delivery position; and send a ready command to the control device when the first buffer device moves to the delivery position. The control device is configured to send a delivery command to the sorting robot according to the ready command. The sorting robot is configured to acquire the delivery command and, according to the delivery command, deliver the first item to the first buffer device among the multiple buffer devices. The sorting machine is configured to: after the first buffer device receives the first goods, control the first buffer device to move from the delivery position to the first position; control the second buffer device to move to the delivery position so that the second buffer device receives the second goods corresponding to the second sorting task delivered by the sorting robot at the delivery position; control the delivery mechanism to dock with the first buffer device to receive the first goods delivered by the first buffer device and deliver the first goods to the turnover container corresponding to the first sorting task.

[0019] A fourth aspect of this application provides an electronic device, including: a processor and a memory, the memory being used to store computer-executable instructions; the processor being used to read the instructions from the memory and execute the instructions to implement the goods sorting method described in the first aspect above.

[0020] A fifth aspect of this application provides a computer-readable storage medium storing computer program instructions that, when read by a computer, execute the goods sorting method described in the first aspect.

[0021] A sixth aspect of this application provides a computer program product including a computing program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to perform the cargo sorting method described in the first aspect.

[0022] The goods sorting method, sorting machine, and sorting system provided in this application embodiment add a buffer mechanism to the sorting machine. This buffer mechanism includes multiple buffer devices, each of which can receive and buffer the goods to be sorted and then deliver the goods to the delivery mechanism. A first buffer device is moved to the delivery position to receive the first goods delivered by the sorting object. After receiving the first goods, the first buffer device is moved back to its current position to deliver the first goods to the delivery mechanism. Simultaneously with the first buffer device leaving the delivery position, a second buffer device can be moved to the delivery position so that it can continue to receive the next delivery from the sorting object. Therefore, the goods sorting method provided in this application embodiment can ensure that the delivery position of the sorting machine continuously has a buffer device to receive the goods delivered by the sorting object. This avoids the problem that the sorting robot needs to wait for the delivery mechanism to reset before it can perform delivery, reducing the waiting time of the sorting robot and improving the goods sorting efficiency. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A schematic diagram illustrating a collaborative scenario between a sorting machine and a sorting robot, provided for some embodiments of this application;

[0025] Figure 2 A schematic diagram of a sorting machine provided for some embodiments of this application;

[0026] Figure 3 A schematic diagram of another sorting machine provided for some embodiments of this application;

[0027] Figure 4 A schematic diagram of yet another sorting machine provided for some embodiments of this application;

[0028] Figure 5 A schematic diagram of another sorting machine provided for some embodiments of this application;

[0029] Figure 6 Schematic diagram of a sorting system provided in some embodiments of this application;

[0030] Figure 7 A schematic diagram illustrating a goods sorting method provided for some embodiments of this application;

[0031] Figure 8 A schematic diagram illustrating another cargo sorting method provided in some embodiments of this application;

[0032] Figure 9 A schematic diagram illustrating yet another cargo sorting method provided in some embodiments of this application;

[0033] Figure 10 A schematic diagram illustrating another cargo sorting method provided in some embodiments of this application;

[0034] Figure 11 A schematic diagram illustrating another cargo sorting method provided in some embodiments of this application;

[0035] Figure 12A A schematic diagram illustrating another cargo sorting method provided in some embodiments of this application;

[0036] Figure 12B A schematic diagram illustrating a goods sorting scenario provided for some embodiments of this application;

[0037] Figure 13 This is a schematic diagram of an electronic device provided for some embodiments of this application. Detailed Implementation

[0038] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, and to make the above-mentioned objectives, features and advantages of the embodiments of this application more apparent and understandable, the technical solutions in the embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0039] Figure 1 This is a schematic diagram illustrating a collaborative scenario between a sorting machine and a sorting robot, provided for some embodiments of this application. Figure 1 As shown, when the sorting machine 10 and the sorting robot 20 cooperate to perform the sorting operation of goods, the sorting robot 20 can move the goods 21 to be delivered to the delivery position on one side of the sorting machine 10 and deliver the goods 21 to the delivery mechanism 11 of the sorting machine 10; then the delivery mechanism 11 delivers the received goods 21 to the turnover containers located on both sides of the sorting machine, thereby completing the sorting of goods 21.

[0040] In some examples, the sorting robot 20 can receive goods 21 from the workstation and transport them to the delivery location of the sorting machine 10 for delivery. For example, the sorting robot 20 can be a flip-board robot, a pallet robot with lifting mechanism, or other types of robots. This application does not limit the specific form of the sorting robot 20.

[0041] In some examples, the sorting machine 10 can also be manually sorted by sorting personnel. That is, the sorting personnel directly deliver the goods to the delivery mechanism 11, and then the delivery mechanism 11 delivers the received goods to the corresponding turnover container. This application embodiment does not limit this. The following embodiment uses the sorting robot 20 to deliver goods as an example for illustrative purposes.

[0042] In some examples, the sorting machine 10 may also be referred to as a three-dimensional sorting machine. Shelves or seeding walls may be placed on both sides of the sorting machine 10, or a shelf or seeding wall may be placed on one side of the sorting machine 10, with multiple turnover containers placed on the shelf or seeding wall. The embodiments of this application do not limit the type of carrier for carrying the turnover containers. The following embodiments are exemplified by placing the turnover containers on the shelf.

[0043] For example, multiple turnover containers (also called turnover bins) can be placed on the shelf, each turnover container being used to receive goods delivered by the delivery mechanism 11 of the sorting machine 10. For example, several rows of turnover containers can be arranged horizontally and / or several columns vertically on the shelf; or, a single row and / or a single column of turnover containers can be arranged on the shelf. The specific placement of turnover containers on the shelf is not limited in the embodiments of this application.

[0044] In some examples, the turnover container can be in the form of a bin, carton, or cage. For example, one turnover container can correspond to the goods to be delivered for one sorting task.

[0045] In some examples, when the sorting robot 20 arrives at the delivery position of the sorting machine 10, and the delivery mechanism 11 also arrives at the delivery position, the sorting robot 20 can deliver the goods 21 placed on it to the delivery mechanism 11; the delivery mechanism 11 moves from the delivery position to the position of the turnover container corresponding to the goods 21 and delivers the goods 21 into the turnover container. After completing the delivery of one item, the delivery mechanism 11 needs to return to the delivery position again and continue to receive the next delivery from the sorting robot 20 (such as another sorting robot).

[0046] In some examples, when there are many sorting robots 20 waiting to deliver goods—for example, when multiple sorting robots 20 are queuing near the delivery location—if the delivery mechanism 11 has not yet completed its first delivery (i.e., the delivery mechanism 11 has not yet returned to the delivery location (also known as resetting) after the first sorting robot completes its delivery, the second sorting robot needs to wait at the delivery location for the delivery mechanism 11 until the delivery mechanism 11 returns to the delivery location before it can deliver the goods. The sorting robots 20 waiting for the delivery mechanism 11 to reset before they can deliver increases the goods sorting time and reduces the efficiency of goods sorting.

[0047] To address the aforementioned problems, embodiments of this application provide a goods sorting method, sorting machine, and sorting system. By adding a buffer mechanism to the sorting machine, the buffer mechanism includes multiple buffer devices, each used to buffer the goods to be sorted and then deliver the goods to a delivery mechanism, which in turn delivers them to a transfer container. In other words, by setting up the buffer mechanism, the sorting robot can deliver the goods to the buffer devices upon reaching the delivery position without waiting for the delivery mechanism to reset. Therefore, the waiting time of the sorting robot is reduced, and the efficiency of goods sorting is improved.

[0048] In some embodiments, this application provides a sorting system including a sorting robot and a sorting machine; wherein the sorting machine includes a buffer mechanism and a delivery mechanism.

[0049] In other embodiments, the sorting system may also include a sorting robot, a sorting machine, and a buffer mechanism; wherein the sorting machine includes a delivery mechanism.

[0050] In other words, the buffer mechanism can be located inside or outside the sorting machine. For example, when the buffer mechanism is located inside the sorting machine, it can be positioned between the location of the sorting robot's delivery position and the location of the delivery mechanism; when the buffer mechanism is located outside the sorting machine, it can be positioned adjacent to the sorting machine. This application does not limit the specific location of the buffer mechanism.

[0051] In some examples, the buffer facility is used to receive goods delivered by the sorting robot and deliver them to the delivery facility, which then delivers them to the corresponding turnover container.

[0052] It should be noted that the process of cargo delivery through cooperation between the sorting robot, the buffer mechanism, and the delivery mechanism is similar whether the buffer mechanism is located outside the sorting machine or inside the sorting machine. Therefore, the following embodiments use the example of the buffer mechanism being located inside the sorting machine for illustrative purposes.

[0053] The sorting machine provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0054] Figure 2 This is a schematic diagram of a sorting machine provided for some embodiments of this application. For example... Figure 2 As shown, the sorting machine 10 includes a delivery mechanism 11, at least one guiding mechanism 12, a buffer mechanism 13, and a control mechanism. Figure 2 (Not shown in the image).

[0055] In some embodiments, the caching mechanism 13 may include a plurality of caching devices 131, each of which is used to cache the goods delivered by the sorting object.

[0056] In some embodiments, the objects to be sorted may include a sorting robot 20 and sorting personnel.

[0057] In some examples, the sorting object can also be a conveyor line, that is, the goods are transported to the delivery unit 11 via the conveyor line.

[0058] It should be noted that in related technologies, regardless of whether the sorting object is the sorting robot 20, sorting personnel, or conveyor line, the sorting object can only continue to be delivered after the delivery mechanism has been reset, thus reducing the efficiency of goods sorting. The following embodiments use the sorting robot 20 as an example for illustrative purposes.

[0059] In some embodiments, the cache mechanism 13 further includes a lifting device 132. Multiple cache devices 131 are respectively disposed on the lifting device 132, and each cache device can move up and down via the lifting device 132. For example, as... Figure 2 As shown, multiple buffer devices 131 can move along the Y direction.

[0060] In some embodiments, the buffer mechanism 13 further includes a driving device 133. The driving device 133 is coupled to each buffer device and is used to drive each buffer device 131 to move up and down along the lifting device 132, and / or drive each buffer device 131 to deliver the goods on it to the delivery mechanism 11.

[0061] In some examples, the operating device 133 used to drive each buffer device 131 to move up and down along the lifting device 132 and the operating device 133 used to drive each buffer device 131 to deliver the goods on it to the delivery mechanism 11 can be the same operating device or different operating devices.

[0062] In some examples, the number of operating devices 133 in the buffer mechanism 13 may be the same as the number of buffer devices 131. For example, each buffer device 131 is provided with an operating device 133, and each operating device 133 can control the corresponding buffer device 131 to move up and down along the lifting device 132, or to deliver the goods placed on it to the delivery mechanism 11.

[0063] In some embodiments, the buffer device 131 may include a flip-up device or a conveyor line.

[0064] For example, when the buffer device 131 is a flip-over device (hereinafter also referred to as a flip-over), the flip-over can be flipped to transfer the goods placed on it to the delivery mechanism 11; when the buffer device 131 is a conveyor line, the conveyor line can move along the direction of the delivery mechanism to transport the goods placed on it to the delivery mechanism 11. The specific structure of the buffer device 131 is not limited in the embodiments of this application. The following embodiments use a flip-over device as an example for illustrative explanation.

[0065] In some examples, the buffer unit 13 is used to facilitate the transfer of goods between the sorting robot 20 and the delivery unit 11. For example, the sorting robot 20 can deliver goods to the buffer unit 131, and then the buffer unit 131 can deliver the goods to the delivery unit 11.

[0066] For example, the sorting robot 20 can be a height-adjustable robot. For instance, when goods are placed on the sorting robot 20, the robot 20 can adjust its height in the vertical direction to deliver the goods to the buffer device 131. The height-adjustable function of the sorting robot 20 allows for flexible adjustment of the delivery position, making the delivery process more flexible.

[0067] For example, the location where the sorting robot 20 and the sorting machine 10 (i.e., the buffer device 131) exchange goods can be called the delivery position. That is, the sorting robot 20 can deliver the goods to the buffer device 131 at the delivery position.

[0068] In some examples, the location and number of delivery stations can be set according to requirements. For example, one delivery station or multiple delivery stations can be set. The height of the delivery station can be determined according to the height of the sorting robot 20 (i.e., the sorting object). The embodiments in this application are not limited.

[0069] For example, the position where the buffer device 131 and the delivery mechanism 11 exchange goods can be called the docking position. That is, the buffer device 131 moves to the current position via the lifting device 132, and the delivery mechanism 11 also moves to the docking position corresponding to the current position of the buffer device 121 to deliver the goods to the delivery mechanism 11.

[0070] In some embodiments, the sorting machine 10 further includes at least one guiding mechanism 12, and a delivery mechanism 11 is disposed on the guiding mechanism 12. The delivery mechanism 11 can move laterally and / or vertically through the guiding mechanism 12 to move to the docking position and / or to the position of the turnover container 31 corresponding to the goods.

[0071] For example, such as Figure 2 As shown, the delivery mechanism 11 can move along the X direction, Y direction or X direction via the guide mechanism 12 to move to the docking position or to the position of the turnover container corresponding to the goods.

[0072] In some embodiments, the plurality of buffer devices 131 may include a first buffer device and a second buffer device. The first buffer device is configured to move to a delivery position to receive a first item corresponding to a first sorting task delivered by a sorting object at the delivery position; and after receiving the first item, move to a first position. The second buffer device is configured to move to the delivery position after the first buffer device receives the first item, so as to receive a second item corresponding to the second sorting task delivered by a sorting object at the delivery position.

[0073] In some examples, after a buffer device (such as a first buffer device) receives the first item, it can be moved from its delivery position (e.g., moved to the first position), and another idle buffer device (such as a second buffer device) can be moved to the delivery position to receive the second item delivered by the next sorting robot. This reduces the waiting time of the sorting robot at the delivery position and improves the sorting efficiency of the goods.

[0074] It should be noted that the following embodiments may include multiple cache devices, including three cache devices (e.g., ...). Figure 2 The example shown is for illustration purposes. It should be noted that the multiple cache devices 131 may include a greater number of cache devices, but this embodiment does not limit this.

[0075] Figure 3 This is a schematic diagram of another sorting machine provided in some embodiments of this application. For example, a plurality of buffer devices 131 include buffer device A, buffer device B, and buffer device C. The first buffer device is buffer device B, and the second buffer device is buffer device A.

[0076] like Figure 3 As shown in (a), buffer device B is located at the delivery position. After buffer device B receives the goods delivered by sorting robot 20, the positions of each buffer device can be adjusted, moving buffer device B out of the delivery position and buffer device A to the delivery position. Figure 3As shown in (b), buffer device A can be moved to the delivery position and buffer device B can be moved to position 2 by moving buffer device A, buffer device B and buffer device C downwards. At the same time, buffer device C is also moved from its original position 2 to position 1.

[0077] In some examples, the spacing between any two adjacent cache devices 131 among the multiple cache devices 131 can be set as needed. For example, the spacing between cache device A and cache device B can be the same as or different from the spacing between cache device B and cache device C.

[0078] In some embodiments, at an initial moment, the distance between any two adjacent cache devices 131 among the plurality of cache devices 131 is the initial distance; during the movement of the first cache device, the distance between any two adjacent cache devices 131 remains unchanged from the initial distance; or, during the movement of the first cache device, the distance between at least two adjacent cache devices 131 changes.

[0079] For example, each cache device 131 can be moved up or down simultaneously via the lifting device 132. During the simultaneous upward or downward movement of each cache device 131, the spacing between any two adjacent cache devices 131 remains unchanged.

[0080] Reference Figure 3 (a) and Figure 3 In (b), while buffer device B moves from position 3 (the position corresponding to the delivery position) to position 2 (the first position) via lifting device 132, buffer devices A and C also move via lifting device 132 respectively. When buffer device B reaches position 2, buffer device A moves from position 4 to position 3, and buffer device C moves from position 2 to position 1. Furthermore, during the simultaneous movement of buffer devices A, B, and C, the distance between buffer devices A and B, and between buffer devices B and C, remains unchanged.

[0081] For example, each cache device 131 can also be moved independently by the lifting device 132. For instance, when each cache device 131 moves independently, the spacing between two adjacent cache devices 131 can change during the movement.

[0082] In some examples, if the size of the goods to be delivered placed on the sorting robot 20 is large and exceeds the distance between two adjacent buffer devices, the distance between the two adjacent buffer devices can be adjusted by moving one buffer device independently.

[0083] The following is combined Figure 4 and Figure 5The process of adjusting the spacing between two adjacent buffer devices is explained.

[0084] Figure 4 This is a schematic diagram of yet another sorting machine provided for some embodiments of this application.

[0085] like Figure 4 As shown in (a), when the sorting robot 20 needs to deliver goods to the buffer device B, if the size of the goods (e.g., the height of the goods) is greater than the distance between the buffer device B and the buffer device A, then as follows: Figure 4 As shown in (b), buffer device A can be moved independently first, moving it upwards from position 3 to position 4; when buffer device A reaches position 4, the distance between buffer device A and buffer device B increases and becomes greater than the size of the goods. In this case, as... Figure 4 As shown in (c), the buffer devices can be moved simultaneously. Buffer device B is moved from position 2 to position 3 (the position corresponding to the delivery position), while buffer devices A and C are also moved to positions 2 and 5 respectively. During this simultaneous movement, the distance between adjacent buffer devices remains constant. Therefore, when buffer device B reaches the delivery position, the distance between buffer device B and buffer device A is sufficient to accommodate the goods delivered by the sorting robot 20, allowing the sorting robot 20 to deliver the goods to buffer device B.

[0086] In other words, when the size of the goods to be delivered placed on the sorting robot 20 is larger than the distance between two adjacent buffer devices, the distance between the two adjacent buffer devices can be increased by moving the buffer devices independently first, and then each buffer device can be moved simultaneously so that the buffer device corresponding to the goods can reach the delivery position.

[0087] Figure 5 This is a schematic diagram of another sorting machine provided for some embodiments of this application.

[0088] like Figure 5 As shown in (a), when the sorting robot 20 needs to deliver goods to the buffer device B, if the size of the goods (e.g., the height of the goods) is greater than the distance between the buffer device B and the buffer device A, then as ... Figure 5 As shown in (b), each buffer device is moved simultaneously, moving buffer device B from position 2 to position 3 (the position corresponding to the delivery position). Simultaneously, buffer devices A and C are also moved to positions 4 and 2 respectively. During this process, the distance between buffer devices B and A remains unchanged and is therefore still smaller than the size of the goods. Therefore, as... Figure 5As shown in (c), the position of buffer device A can be moved individually from position 4 to position 5. When buffer device A reaches position 5, the distance between buffer device A and buffer device B is greater than the size of the goods. Therefore, sorting robot 20 can deliver the goods to buffer device B.

[0089] In other words, when the size of the goods to be delivered placed on the sorting robot 20 is greater than the distance between two adjacent buffer devices, each buffer device can be moved simultaneously to bring the buffer device corresponding to the goods to the delivery position. Then, the position of the buffer device adjacent to the buffer device can be moved individually so that the distance between two adjacent buffer devices is greater than the size of the goods.

[0090] In some examples, during the adjustment of the distance between cache device A and cache device B, the speeds at which cache device A and cache device B move via lifting device 132 may be the same or different. This application does not limit this aspect.

[0091] For example, when cache device A and cache device B move at the same speed, as described above... Figure 5 The implementation shown demonstrates that when cache device A and cache device B move at different speeds, such as when cache device A moves faster than cache device B, they can move simultaneously. When cache device B reaches position 3 (the position corresponding to the delivery bit), cache device A reaches position 5. In other words, cache device B can reach its corresponding position simultaneously with cache device A.

[0092] It should be noted that the cache devices can also be moved in other ways, and this application does not specifically limit this.

[0093] To further improve sorting efficiency, when buffer device B receives goods to be delivered by the sorting robot, it can move from the delivery position to the first position. Simultaneously, another idle buffer device (such as buffer device A or buffer device C) is moved to the delivery position to continue receiving goods delivered by the sorting robot 20. In other words, buffer device A receiving the next goods to be delivered can occur simultaneously with buffer device B delivering the current goods.

[0094] In some examples, if the delivery mechanism 11 has delivered the goods corresponding to the previous sorting task to the turnover container when the cache device A reaches the delivery position and the cache device B reaches the first position, the delivery mechanism 11 can continue to move to the docking position corresponding to the first position to receive the delivery of the cache device B.

[0095] In other examples, if the delivery speed of delivery mechanism 11 is slow—for instance, when buffer device A arrives at the delivery position and has received the goods delivered by sorting robot 20, but delivery mechanism 11 has not yet arrived at the docking position corresponding to the first position where buffer device B is located—in this case, if the next sorting robot arrives at the delivery position, another idle buffer device, such as buffer device C, needs to be moved to the delivery position to continue receiving goods delivered by the sorting robot. Therefore, the position of buffer device B may change during the process of buffer device C moving to the delivery position, i.e., from the first position to the current position. Thus, delivery mechanism 11 can move to the docking position corresponding to the current position to receive the delivery from buffer device B.

[0096] In some examples, when at least two of the multiple buffer devices 131 have goods to be delivered, the delivery mechanism 11 can move to the docking position corresponding to the current position of each buffer device 131 to receive the goods to be delivered, according to the order in which each buffer device 131 receives the goods to be delivered. For example, when both buffer device B and buffer device A have goods to be delivered, since buffer device B receives the goods delivered by the sorting object first, the delivery mechanism 11 can first move to the docking position corresponding to the current position of buffer device B to receive the goods on buffer device B, then deliver the goods to the corresponding turnover container, and then move to the docking position corresponding to the current position of buffer device A to receive the goods on buffer device A.

[0097] This application provides a sorting machine that incorporates a buffer mechanism comprising multiple buffer devices. Each buffer device receives and buffers goods to be sorted and then delivers the goods to a delivery mechanism. A first buffer device is moved to a delivery position to receive the first goods delivered by the sorting object. After receiving the first goods, the first buffer device is moved back to its current position to deliver the first goods to the delivery mechanism. Simultaneously with the first buffer device leaving the delivery position, a second buffer device can be moved to the delivery position to continue receiving the next delivery from the sorting object. Therefore, the goods sorting method provided in this application ensures that the delivery position of the sorting machine continuously has buffer devices available to receive goods delivered by the sorting object. This avoids the problem of the sorting robot needing to wait for the delivery mechanism to reset before it can perform delivery, reducing the waiting time of the sorting robot and improving goods sorting efficiency.

[0098] Figure 6 This is a schematic diagram of a sorting system provided for some embodiments of this application. For example... Figure 6 As shown, the sorting system 1 includes a sorting machine 10, a sorting robot 20, and a control device 30.

[0099] It should be noted that the sorting machine 10 is the same as the sorting machine 10 in the above embodiments, and will not be described again here to avoid repetition. The sorting machine 10 and the sorting robot 20 interact with each other through the control device 30. For example, the control device 30 can be a server device, such as a single server device or a server cluster.

[0100] In some examples, the control device 30 can send sorting tasks to the sorting machine 10 and the sorting robot 20, which can instruct the sorting robot 20 to move the goods corresponding to the sorting task to the delivery position of the sorting machine 10 and instruct the sorting machine 10 to deliver the goods to the corresponding turnover container.

[0101] In some examples, the control device 30 can send readiness information of the buffer device in the sorting machine 10 reaching the delivery position to the sorting robot 20 to instruct the sorting robot 20 to deliver the goods.

[0102] The cargo sorting method provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be noted that the cargo sorting method can be implemented by the sorting machine 10 in the above embodiments. For example, the method can be implemented by the control mechanism in the sorting machine 10.

[0103] Figure 7 This is a schematic diagram illustrating a goods sorting method provided for some embodiments of this application. For example... Figure 7 As shown, the method includes steps 710 to 740 as shown below.

[0104] Step 710: Obtain the first sorting task and determine the first cache device corresponding to the first sorting task among multiple cache devices.

[0105] In some examples, sorting tasks can be generated and sent to the sorting machine by a sorting system (such as sorting system 1 in the above embodiments). The sorting task instructs the sorting machine to deliver the goods corresponding to the sorting task to the corresponding turnover container. For example, a sorting task may include the goods to be delivered, the turnover container corresponding to the goods to be delivered, and the sorting robot corresponding to the goods to be delivered.

[0106] For example, a sorting system can send multiple sorting tasks to a sorting machine simultaneously. The sorting machine can execute each sorting task sequentially based on the order in which the goods to be delivered for each sorting task arrive at the delivery position of the sorting machine, or the delivery order of the goods to be delivered. The multiple sorting tasks may include a first sorting task, which instructs the sorting machine to deliver the first item to the corresponding turnover container.

[0107] In some examples, a sorting task can correspond to a single item to be delivered, and each item requires a buffer device for storage. Therefore, after the sorting machine receives the first sorting task, it can allocate a corresponding buffer device, namely the first buffer device, to receive the first item. The first buffer device is one of multiple buffer devices.

[0108] Figure 8 This is a schematic diagram illustrating another goods sorting method provided in some embodiments of this application. For example... Figure 8 As shown, step 710 above includes steps 810 to 820 as shown below. The following is in conjunction with... Figure 8 The process of determining the first cache device will be described below. It should be noted that the following embodiments use three cache devices, such as cache device A, cache device B, and cache device C, as an example for illustrative purposes.

[0109] Step 810: Obtain the status information of each cache device.

[0110] For example, the status information of the buffer device is used to indicate whether there is goods placed on the buffer device or not.

[0111] For example, when goods are placed on the buffer device, the status information of the buffer device is "goods placed," meaning the buffer device is in a non-idle state. When no goods are placed on the buffer device, the status information of the buffer device is "no goods placed," meaning the buffer device is in an idle state.

[0112] For example, the weight of each buffer device can be detected by a detection device to determine the status information of each buffer device. The detection device can be a sensor, such as a weight sensor.

[0113] In some examples, the sorting machine may include multiple detection devices. For instance, the number of detection devices may be the same as the number of buffer units, with one detection device installed on each buffer unit to detect the weight information of each buffer unit.

[0114] In some examples, the detection device can measure the weight information of each cache unit and send the weight information to the control unit; the control unit determines the status information of each cache unit based on the weight information of each cache unit.

[0115] For example, when the weight of buffer device A is detected to increase and exceed the initial weight of buffer device A (i.e., the weight of each buffer device when no goods are placed on it), it can be determined that goods are placed on buffer device A, that is, buffer device A changes from an idle state to a non-idle state; when the weight of buffer device A is detected to be the initial weight (or within the initial weight range), it can be determined that no goods are placed on buffer device A, or buffer device A has unloaded goods, that is, the status information of buffer device A is an idle state.

[0116] For example, the status information of each cache device can be recorded and stored.

[0117] In some examples, the status information of each buffer device can be recorded and stored in the sorting system. For instance, when buffer device A is empty, the sorting machine (such as its control mechanism) can send the status information of buffer device A to the sorting system, which then records the status of buffer device A as empty. When goods are delivered to buffer device A, the sorting machine can send the current status information of buffer device A to the sorting system, which then updates the status of buffer device A to show that goods are present. This dynamic updating of the status information of each buffer device by the sorting system ensures the accuracy and real-time nature of the status information.

[0118] Step 820: Based on the status information of each cache device, determine the first cache device corresponding to the first sorting task among multiple cache devices.

[0119] For example, only the cache device in an idle state can receive the goods delivered by the sorting object. Therefore, the first cache device can be determined among the cache devices whose status information is that no goods are placed, that is, the cache devices in an idle state.

[0120] In some examples, the first cache device can be determined based on the number of free cache devices in the status information.

[0121] In some embodiments, step 720 may include: based on the status information of each cache device, if it is determined that there is a cache device among the plurality of cache devices that does not contain goods, then the cache device that does not contain goods is determined as the first cache device.

[0122] In some examples, if among multiple cache devices, only one cache device has a status information indicating that no goods are placed in it, that is, only one cache device is in an idle state, then that cache device is identified as the first cache device.

[0123] In some embodiments, step 720 may further include: based on the status information of each cache device, if it is determined that at least two of the multiple cache devices are not filled with goods, then identifying a first cache device among the at least two cache devices that are not filled with goods.

[0124] In some examples, if at least two of the multiple cache devices have a status information indicating that no goods are placed in them, that is, some or all of the multiple cache devices are in an idle state, then it is necessary to further determine the first cache device among these at least two idle cache devices.

[0125] In some embodiments, among at least two cache devices that do not contain goods, one cache device that does not contain goods is randomly selected as the first cache device; or, the first cache device is selected from at least two cache devices that do not contain goods based on priority information of the at least two cache devices that do not contain goods.

[0126] In some examples, randomly identifying a cache device that is not currently holding goods as the first cache device includes: identifying any one of at least two cache devices that are in an idle state as the first cache device. For example, in a scenario with three cache devices, cache device A, cache device B, and cache device C, when both cache device A and cache device B are in an idle state, cache device A can be identified as the first cache device, or cache device B can be identified as the first cache device.

[0127] For example, each of the multiple cache devices has priority information, and the priority information of each cache device is different. The first cache device can be determined based on the priority information of each cache device that is in an idle state.

[0128] In some examples, the priority information of a cache device can indicate the order in which the cache device arrives at the delivery position to receive sorted objects. When a cache device has a higher priority, it can be scheduled to the delivery position first. Therefore, the cache device with the highest priority among at least two idle cache devices can be identified as the first cache device.

[0129] For example, the priority information of cache devices A, B, and C is as follows: cache device B has a higher priority than cache device A, and cache device A has a higher priority than cache device C. That is, the order in which cache devices A, B, and C are scheduled to the delivery bit is: cache device B, cache device A, and cache device C. Therefore, when cache devices A, B, and C are all in an idle state, cache device B can be designated as the first cache device; when cache devices A and C are in an idle state, cache device A can be designated as the first cache device.

[0130] It should be noted that the priority information of each cache device is only considered when the cache device is in an idle state.

[0131] Step 720: Control the first buffer device to move to the delivery position, and receive the first goods corresponding to the first sorting task delivered by the sorting object at the delivery position.

[0132] For example, after the first buffer device is identified, it can be controlled to move to the delivery position. For instance, the control mechanism can control the first buffer device to move to the delivery position via a lifting device. After the first buffer device arrives at the delivery position, it can receive the first goods delivered by the sorting object at the delivery position.

[0133] In some embodiments, when the first buffer device moves to the delivery position, a ready instruction is sent to the sorting system so that the sorting system sends a delivery instruction to the sorting object based on the ready instruction. The delivery instruction is used to instruct the sorting object to deliver the first goods to the first buffer device.

[0134] For example, when the sorting target is a sorting robot, the control mechanism can send a ready command to the sorting system. The sorting system then sends a delivery command to the sorting robot based on the ready command, and the sorting robot delivers the first item to the first buffer device according to the delivery command. When the sorting target is a sorting person, the sorting person can deliver the first item to the first buffer device based on whether the first buffer device is ready.

[0135] In other words, the sorting object (such as a sorting robot) needs to determine that the first buffer device has arrived at the delivery position before the first item can be delivered.

[0136] In some examples, as the first cache device moves to the deliver position, the positions of other cache devices may also change accordingly. That is, the other cache devices move along with the first cache device.

[0137] In some embodiments, at an initial moment, the distance between any two adjacent cache devices among the plurality of cache devices is an initial distance; during the movement of the first cache device, the distance between any two adjacent cache devices remains unchanged from the initial distance; or, during the movement of the first cache device, the distance between at least two adjacent cache devices changes.

[0138] In some examples, the initial time can be the time before the sorting machine performs its sorting task. At the initial time, the distance between any two adjacent buffer devices is the initial distance. The initial distances between any two adjacent buffer devices can be the same or different. For example, the initial distance between buffer device A and buffer device B can be the same as or different from the initial distance between buffer device B and buffer device C.

[0139] In some examples, the spacing between two adjacent cache devices can remain constant during the movement of the first cache device; if the spacing between two adjacent cache devices remains constant, each cache device can move up or down simultaneously via a lifting device.

[0140] In other examples, the initial spacing between two adjacent buffer units can also change during the movement of the first buffer unit; that is, the spacing between the buffer units is not fixed and can be adjusted as needed. For example, it can be determined based on the size of the goods to be delivered.

[0141] For example, during the process of the first buffer device moving to the delivery position, the spacing between two adjacent buffer devices can be adjusted in two ways: one way is to first adjust the spacing between the two adjacent buffer devices, and then move each buffer device simultaneously so that the first buffer device reaches the delivery position; the other way is to adjust the spacing between the two adjacent buffer devices during the process of the first buffer device moving to the delivery position.

[0142] Figure 9 This is a schematic diagram illustrating yet another goods sorting method provided in some embodiments of this application. For example... Figure 9 As shown, step 720 above includes steps 910 to 930 as shown below. The following is in conjunction with... Figure 9 The two different adjustment methods described above will be explained in detail.

[0143] Step 910: Determine the dimensions of the first item based on the first sorting task.

[0144] In some examples, after receiving the first sorting task, the control mechanism can determine the dimensions of the first item based on the first item corresponding to the first sorting task. For example, the dimensions of the item include information such as its length, width, and height.

[0145] For example, the first sorting task may include the size information of the first item. After the sorting machine receives the first sorting task, it can obtain the size information of the first item. Then, based on the size information of the first item, the first buffer device can be moved to the delivery position.

[0146] In some examples, when moving the first buffer device to the delivery position, it can be determined first whether there is a third buffer device above and adjacent to the first buffer device.

[0147] For example, refer to Figure 4 In (a), if the first cache device is cache device B, then there is a cache device A above and adjacent to cache device B, and cache device A is the third cache device.

[0148] Step 921: If there is a third buffer device located above and adjacent to the first buffer device among the multiple buffer devices, and the size of the first cargo is greater than the initial distance between the third buffer device and the first buffer device, then control the third buffer device to move to the second position so that the first distance between the third buffer device and the first buffer device is greater than the size of the first cargo.

[0149] In some examples, if it is determined that a third buffer device exists and the size of the first cargo, such as the height of the first cargo, is greater than the distance between the third buffer device and the first buffer device, the third buffer device located above the first buffer device can be moved to a second position to ensure that the distance between the third buffer device and the first buffer device is changed to a first distance, which is greater than the size of the first cargo.

[0150] For example, refer to Figure 4 In (b), when the size of the first cargo is greater than the distance between the buffer device B and the buffer device A, the buffer device A is moved upward to increase the distance between the buffer device B and the buffer device A. When the buffer device A moves from position 3 to position 4 (i.e., the second position), the first distance between the buffer device B and the buffer device A is greater than or equal to the size of the first cargo.

[0151] Step 922: Control the first buffer device and the third buffer device to move simultaneously, so as to move the first buffer device to the delivery position.

[0152] For example, during the movement of the first cache device and the third cache device, the first gap between the third cache device and the first cache device remains unchanged.

[0153] In some examples, after the first gap between the third buffer device and the first buffer device exceeds the size of the first item, the first buffer device and the third buffer device can be moved simultaneously, and the first buffer device can be moved to the delivery position. Since the first gap between the third buffer device and the first buffer device remains unchanged during the movement, it can be guaranteed that when the first buffer device arrives at the delivery position, it can receive the first item delivered by the sorting object.

[0154] For example, when the first cache unit and the third cache unit move simultaneously, the other cache units also move with the first cache unit, and the spacing between the cache units can remain constant. (Refer to...) Figure 4 In step (c), buffer device A, buffer device B and buffer device C are moved simultaneously so that buffer device B reaches the delivery position. When buffer device B reaches the delivery position, buffer device A reaches position 5 and buffer device C reaches position 2.

[0155] It should be noted that the implementation process of steps 921 to 922 can be referred to the above. Figure 4 To avoid repetition, the descriptions of the corresponding embodiments will not be repeated here.

[0156] Step 930: If there is a third buffer device located above and adjacent to the first buffer device among the multiple buffer devices, and the size of the first cargo is greater than the initial distance between the third buffer device and the first buffer device, then control the first buffer device to move to the delivery position and control the third buffer device to move to the third position, so that the second distance between the third buffer device and the first buffer device is greater than the size of the first cargo.

[0157] For example, during the movement of the first cache device and the third cache device, the distance between the third cache device and the first cache device changes from the initial distance to the second distance.

[0158] In some examples, if it is determined that a third buffer device exists and the size of the first cargo, such as the height of the first cargo, is greater than the distance between the third buffer device and the first buffer device, the first buffer device and the third buffer device can be moved simultaneously so that the first buffer device moves to the delivery position and the third buffer device moves to the third position; at this time, the distance between the first buffer device and the third buffer device is the second distance, which is greater than the size of the first cargo, such as the second distance can be equal to the first distance.

[0159] For example, if the first buffer device and the third buffer device move at the same speed simultaneously, then when the first buffer device reaches the delivery position, the third buffer device needs to be moved separately to the third position; if the moving speed of the third buffer device is greater than that of the first buffer device, the third buffer device can reach the third position when the first buffer device reaches the delivery position. This application does not limit this aspect.

[0160] It should be noted that the specific implementation process of step 930 can be referred to the above. Figure 5 To avoid repetition, the descriptions of the corresponding embodiments will not be repeated here.

[0161] In some examples, when there is no third cache device above the first cache device, that is, when the first cache device is the topmost cache device, there is no need to adjust the spacing as described above.

[0162] Step 730: After the first buffer device receives the first goods, control the first buffer device to move from the delivery position to the first position, and control the second buffer device to move to the delivery position, so that the second buffer device receives the second goods corresponding to the second sorting task delivered by the sorting object at the delivery position.

[0163] The second buffer device is the buffer device corresponding to the second sorting task, and the second buffer device is different from the first buffer device.

[0164] In some examples, the second sorting task can be sent to the sorting machine simultaneously with the first sorting task, or it can be sent to the sorting machine after the first sorting task. The second sorting task instructs the sorting machine to deliver the second item to the corresponding turnover container, and the sorting robot delivering the second item may be different from the sorting robot delivering the first item.

[0165] It should be noted that when the first buffer device receives the first goods, if the sorting machine has not received any other sorting tasks, the first buffer device can also deliver the first goods to the delivery mechanism at the delivery position; that is, the delivery mechanism moves to the docking position corresponding to the location of the delivery position to receive the first goods delivered by the first buffer device.

[0166] In some examples, after the first buffer unit arrives at the delivery position, the sorting object can be delivered for the first item. When the control mechanism determines that the status information of the first buffer unit has been updated to indicate that it contains items, it can control the first buffer unit to move to the first position and control the second buffer unit to move to the delivery position to continue receiving the second item, thereby improving sorting efficiency.

[0167] For example, the second cache device is the cache device with the highest priority, whose status information is that no goods are placed on it, excluding the first cache device. The second cache device may or may not be adjacent to the first cache device.

[0168] For example, in cache device A, cache device B and cache device C, if the first cache device is cache device B, then after the first item is delivered to cache device B, the cache device A with higher priority can be moved to the delivery position.

[0169] Step 740: Control the delivery mechanism to dock with the first buffer device to receive the first goods delivered by the first buffer device and deliver the first goods to the turnover container corresponding to the first sorting task.

[0170] In some examples, the delivery mechanism docking with the first buffer device may include: the first buffer device moving to the location of the delivery mechanism to deliver the first goods to the delivery mechanism; or the delivery mechanism moving to the current location of the first buffer device to receive the first goods delivered by the first buffer device.

[0171] For example, after the first buffer device reaches the first position, the first buffer device can continue to move to the position corresponding to the current position of the delivery mechanism according to the current position of the delivery mechanism, so as to deliver the first goods placed on it to the delivery mechanism; or, after the first buffer device reaches the first position, the delivery mechanism can also move to the position corresponding to the current position of the first buffer device according to the current position of the first buffer device, and receive the goods delivered by the first buffer device.

[0172] In some embodiments, controlling the delivery mechanism to dock with the first buffer device to receive the first goods delivered by the first buffer device includes: controlling the delivery mechanism to move to the target docking position corresponding to the current position according to the current position of the first buffer device, so as to receive the first goods delivered by the first buffer device at the target docking position.

[0173] The current position includes the first position.

[0174] In some examples, when the first buffer device arrives at the first position and the second buffer device is receiving the sorted object to deliver the second goods, if the delivery mechanism has already completed the previous goods delivery and moved to the docking position corresponding to the first position, then the first buffer device delivers the first goods to the delivery mechanism at the first position. In this case, the current position is the first position.

[0175] In some examples, when the first buffer device reaches the first position and the second buffer device receives the sorted object and delivers the second goods, if the delivery mechanism does not reset, that is, does not reach the docking position corresponding to the first position, and the sorting machine receives the third sorting task, the fourth buffer device can be moved to the delivery position. During the process of the fourth buffer device moving to the delivery position, the position of the first buffer device changes from the first position to the current position. In this case, the control mechanism needs to control the delivery mechanism to move to the target docking position corresponding to the current position to receive the first goods.

[0176] Figure 10 This is a schematic diagram illustrating another goods sorting method provided in some embodiments of this application. For example... Figure 10 As shown, step 740 above may include steps 1010 to 1020 as shown below.

[0177] Step 1010: Determine the target parking position corresponding to the current position based on the current position and the preset correspondence.

[0178] For example, the preset correspondence includes multiple positions and preset docking positions corresponding to each position. The multiple positions refer to the multiple positions of the buffer device on the lifting device, and each position can correspond to a docking position. The docking positions can be set on a guiding mechanism, and the delivery mechanism moves to the corresponding docking position through the guiding mechanism.

[0179] For example, when all buffer devices move simultaneously and the distance between any two adjacent buffer devices remains unchanged, the position of each buffer device on the lifting device is fixed, and therefore the corresponding stopping position is also fixed.

[0180] For example, the relationship between multiple locations and multiple docking positions can be stored in a preset correspondence. The control mechanism can use this preset correspondence to determine the docking position corresponding to each location. For instance, the preset object correspondence can be stored in a sorting system, and the control mechanism can query the preset correspondence through the goods in the sorting system.

[0181] In some embodiments, step 1010 includes: when multiple locations include the current location, determining the preset parking position corresponding to the current location as the target parking position according to a preset correspondence.

[0182] In some examples, if the preset correspondence includes the current location of the buffer device, the target docking position corresponding to the current location can be found in the preset correspondence, thereby moving the delivery mechanism to the target docking position to receive the delivery from the buffer device.

[0183] In some embodiments, multiple docking positions can be pre-defined based on the number of cache devices. For example, when the number of cache devices is 3, the corresponding number of docking positions is 5.

[0184] Figure 11 This is a schematic diagram of another sorting machine provided for some embodiments of this application. For example... Figure 11 As shown, the sorting machine 10 is equipped with three buffer devices: buffer device A, buffer device B, and buffer device C. These three buffer devices correspond to five docking positions: docking position 1, docking position 2, docking position 3, docking position 4, and docking position 5. The docking positions correspond to different positions when the positions of the three buffer devices are different. For example, buffer device A is currently positioned at docking position 3, buffer device B is currently positioned at docking position 4, and buffer device C is currently positioned at docking position 5.

[0185] In some embodiments, step 1010 further includes: when the current location is not included in the multiple locations, calculating the target parking position corresponding to the current location based on the current location.

[0186] In some examples, if the current position of the cache device is not included in the preset correspondence, the position of the corresponding target dock can be calculated based on the current position, and the delivery mechanism can be moved to the target dock to receive the delivery from the cache device.

[0187] For example, when each buffer device moves independently, and / or the spacing between each buffer device is not fixed, the current position of each buffer device may not be in the preset correspondence. In this case, the position of the corresponding docking position can be calculated based on the current position.

[0188] Step 1020: Control the delivery mechanism to move to the target docking position to receive the first goods delivered by the first buffer device at the target docking position, and deliver the first goods to the turnover container corresponding to the first sorting task.

[0189] After determining the target docking location, the control mechanism can control the delivery mechanism to move to the target docking location. For example, after completing the previous delivery, the control mechanism can move to the target docking location, receive the first goods delivered by the first buffer device at the target docking location, and then deliver the first goods to the object's turnover container, thereby completing the first sorting task.

[0190] Figure 12A This is a schematic diagram illustrating another sorting method provided in some embodiments of this application. For example... Figure 12A As shown, the method includes steps 1201 to 1213 as illustrated below. It should be noted that the interaction between the sorted object and the sorting machine is accomplished through the sorting system.

[0191] Figure 12B This is a schematic diagram of a goods sorting scenario provided in an embodiment of this application. The following is in conjunction with... Figure 12A and Figure 12B A specific embodiment provided in this application will be described below. The following embodiment still uses multiple cache devices including cache device A, cache device B and cache device C, and the priority information is that cache device B is greater than cache device A, and cache device A is greater than cache device C as an example for illustrative purposes.

[0192] Step 1201: The sorted object waits at the delivery position for the instruction that the buffer device is ready.

[0193] Step 1202: The sorting machine controls the buffer device to move to the delivery position.

[0194] Step 1203: The sorting machine determines whether the buffer device is ready.

[0195] If ready, a ready instruction is sent to the sorted object, and step 1204 is executed. If not ready, step 1202 is executed.

[0196] It should be noted that steps 1201 to 1203 can also be called the initialization phase. During the initialization phase, the sorting machine controls the buffer device to move up and down, and adjusts buffer device B (i.e., the middle buffer device) to the handover and delivery position, such as... Figure 12B As shown in (a), the moving buffer device B arrives at the delivery position.

[0197] In some examples, during the initialization phase, the sorting machine can also control the delivery mechanism to run to the initial docking position. For example, the initial docking position can be preset.

[0198] Step 1204: Sorting objects and delivering goods.

[0199] For example, when the sorting robot arrives at the delivery position of the sorting machine, if it receives a ready instruction sent by the sorting machine through the sorting system, it can deliver the goods to be delivered to the buffer device B located at the delivery position.

[0200] Step 1205: The sorted object sends the delivery result to the sorting machine.

[0201] For example, the sorting object can send the delivery result to the sorting system, which then sends it to the sorting machine. The delivery result includes whether the object has been delivered or not delivered to the buffer device.

[0202] Step 1206: The sorting machine controls the buffer device to move up and down.

[0203] For example, if the delivery result is "delivered," the sorting machine can control the buffer device to move up and down. Figure 12B As shown in (b), after receiving the goods, the buffer device B moves downward to move the buffer device A to the delivery position.

[0204] It should be noted that steps 1204 to 1205 can also be called the buffer device adjustment stage. During the buffer device adjustment stage, the control mechanism checks whether there are goods on each buffer device in the order of middle, upper and lower layers. If all are free, the middle layer (i.e., buffer device B) is adjusted to the delivery position first. If the middle layer is not free, the status of the upper and lower layers is determined until there is a free buffer device at the delivery position.

[0205] After receiving the delivery results sent by the sorting robot, the control mechanism continues to adjust the position of each buffer device to continue receiving the delivery of sorted objects.

[0206] Step 1207: The sorting machine obtains information about the cached goods.

[0207] For example, the sorting machine determines whether the buffer device has received the goods delivered by the sorting object, and continues to execute step 1208 when it determines that the buffer device has received the goods delivered by the sorting object.

[0208] Step 1208: The sorting machine queries the current location of the buffer device.

[0209] Step 1209: The sorting machine controls the delivery mechanism to run to the docking position corresponding to the current location.

[0210] like Figure 12B As shown in (b), the delivery mechanism moves to the docking position corresponding to the current position of the buffer device B.

[0211] Step 1210: The sorting machine sends a delivery mechanism ready instruction.

[0212] For example, a delivery organization readiness instruction is used to instruct the delivery organization to arrive at the docking position.

[0213] Step 1211: The sorting machine controls the buffer device to deliver goods to the delivery mechanism.

[0214] For example, a sorting machine can control a buffer device to deliver goods to the delivery mechanism based on the delivery mechanism's readiness command. Figure 12B As shown in (c), the buffer device B delivers the goods on it to the delivery mechanism by rotating the flip plate.

[0215] It should be noted that during the process of the buffer device delivering goods to the delivery mechanism, after the buffer device receives the information of the goods to be delivered by the sorting object, the control mechanism controls the delivery mechanism to move to the docking position corresponding to the current position of the buffer device, and notifies the buffer device to unload the goods so as to deliver the goods to the delivery mechanism.

[0216] Step 1212: The sorting machine determines the delivery result of the buffer device.

[0217] For example, delivery results include delivered and undelivered.

[0218] Step 1213: Control the delivery mechanism to deliver the goods to the corresponding turnover container.

[0219] It should be noted that the above embodiment describes a sorting task. The execution process of the next sorting task is similar, and will not be repeated here to avoid repetition.

[0220] The goods sorting method provided in this application embodiment adds a buffer mechanism to the sorting machine. This buffer mechanism includes multiple buffer devices, each of which can receive and buffer the goods delivered by the sorting object and then deliver the goods to the delivery mechanism. A first buffer device is moved to the delivery position to receive the first goods delivered by the sorting object. After receiving the first goods, the first buffer device is moved back to its current position to deliver the first goods to the delivery mechanism. Simultaneously with the first buffer device leaving the delivery position, a second buffer device can be moved to the delivery position so that the second buffer device can continue to receive the next delivery from the sorting object. Therefore, the goods sorting method provided in this application embodiment can ensure that the delivery position of the sorting machine continuously has a buffer device to receive the goods delivered by the sorting object, thereby avoiding the problem that the sorting robot needs to wait for the delivery mechanism to reset before it can perform delivery, reducing the waiting time of the sorting robot, and improving the goods sorting efficiency.

[0221] This application provides a sorting machine, which includes a buffer mechanism and a delivery mechanism. The buffer mechanism includes multiple buffer devices, each configured to buffer goods to be delivered for sorting. The multiple buffer devices include a first buffer device and a second buffer device, where the first buffer device corresponds to a first sorting task, and the second buffer device corresponds to a second sorting task.

[0222] The first buffer device is configured to move to the delivery position to receive the first goods corresponding to the first sorting task delivered by the sorting object; and after receiving the first goods, move to the first position.

[0223] The second buffer device is configured to move to the delivery position after the first buffer device receives the first goods, so as to receive the second goods corresponding to the second sorting task delivered by the sorting object at the delivery position.

[0224] The delivery mechanism is configured to interface with the first buffer device to receive the first goods delivered by the first buffer device and deliver the first goods to the turnover container corresponding to the first sorting task.

[0225] In some embodiments, the delivery mechanism is configured to move to a target docking position corresponding to the current position of the first buffer device, and receive the first goods delivered by the first buffer device at the target docking position; wherein the current position includes a first position.

[0226] In some embodiments, the buffer mechanism further includes a lifting device; multiple buffer devices are respectively disposed on the lifting device, and each buffer device can move up and down via the lifting device; the first buffer device is configured to move to the delivery position via the lifting device, receive the first goods corresponding to the first sorting task delivered by the sorting object at the delivery position; and after receiving the first goods, move to the first position via the lifting device.

[0227] In some embodiments, the buffer mechanism further includes a driving device; the driving device is coupled to each buffer device; the driving device is configured to drive each buffer device to move up and down along the lifting device, and / or drive the first buffer device to deliver the first item to the delivery mechanism.

[0228] In some embodiments, the sorting machine further includes at least one guiding mechanism; a delivery mechanism is disposed to the guiding mechanism, and the delivery mechanism can move laterally and / or vertically via the guiding mechanism; the delivery mechanism is configured to: move to a target docking position via the guiding mechanism; after receiving the first goods delivered by the first buffer device at the target docking position, deliver the first goods to the turnover container corresponding to the first sorting task via the guiding mechanism.

[0229] In some embodiments, at an initial moment, the distance between any two adjacent cache devices among the plurality of cache devices is an initial distance; during the movement of the first cache device, the distance between any two adjacent cache devices remains unchanged from the initial distance; or, during the movement of the first cache device, the distance between at least two adjacent cache devices changes.

[0230] In some embodiments, a third buffer device is located above and adjacent to the first buffer device among the plurality of buffer devices, and the size of the first cargo is greater than the initial distance between the third buffer device and the first buffer device; the third buffer device is configured to move to a second position such that the first distance between the third buffer device and the first buffer device is greater than the size of the first cargo; the first buffer device and the third buffer device are configured to move simultaneously such that the first buffer device moves to the delivery position; wherein, during the movement of the first buffer device and the third buffer device, the first distance between the third buffer device and the first buffer device remains unchanged.

[0231] In some embodiments, a third buffer device is located above and adjacent to the first buffer device among the plurality of buffer devices, and the size of the first cargo is greater than the initial distance between the third buffer device and the first buffer device; the first buffer device is configured to move to the delivery position; the third buffer device is configured to move to a third position such that the second distance between the third buffer device and the first buffer device is greater than the size of the first cargo; wherein, during the movement of the first buffer device and the third buffer device, the distance between the third buffer device and the first buffer device changes from the initial distance to the second distance.

[0232] In some embodiments, the buffer device includes a flip-up device or a conveyor line.

[0233] In some embodiments, the sorting objects include sorting robots and sorting personnel.

[0234] This application provides a sorting system in some embodiments, comprising a sorting machine, a sorting robot, and a control device; the sorting machine includes a buffer mechanism and a delivery mechanism; the buffer mechanism includes multiple buffer devices; each of the multiple buffer devices is configured to buffer goods delivered by the sorting robot, wherein:

[0235] The control unit is configured to send a first sorting task and a second sorting task to the sorting machine.

[0236] The sorting machine is configured to acquire a first sorting task and a second sorting task; based on the first sorting task and the second sorting task, determine a first buffer device for the first sorting task and a second buffer device for the second sorting task among multiple buffer devices; control the first buffer device to move to the delivery position to receive the first goods corresponding to the first sorting task delivered by the sorting robot at the delivery position; and send a ready command to the control device when the first buffer device moves to the delivery position.

[0237] The control unit is configured to send delivery instructions to the sorting robot based on the readiness instruction.

[0238] The sorting robot is configured to: receive a delivery instruction and, according to the delivery instruction, deliver the first item to the first buffer device among multiple buffer devices.

[0239] The sorting machine is configured to: after the first buffer device receives the first goods, control the first buffer device to move from the delivery position to the first position; control the second buffer device to move to the delivery position so that the second buffer device receives the second goods corresponding to the second sorting task delivered by the sorting robot at the delivery position; and control the delivery mechanism to dock with the first buffer device according to the current position of the first buffer device to receive the first goods delivered by the first buffer device and deliver the first goods to the turnover container corresponding to the first sorting task.

[0240] Figure 13 This is a schematic diagram of an electronic device provided for some embodiments of this application. In some embodiments, the electronic device includes one or more processors and a memory. The memory is configured to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the goods sorting method in the above embodiments.

[0241] like Figure 13As shown, the electronic device 1000 includes a processor 1001 and a memory 1002. Exemplarily, the electronic device 1000 may also include a communications interface 1003 and a communications bus 1004.

[0242] The processor 1001, memory 1002, and communication interface 1003 communicate with each other via communication bus 1004. Communication interface 1003 is used to communicate with other network elements such as clients or other servers.

[0243] In some embodiments, the processor 1001 is used to execute program 1005, specifically performing the relevant steps in the above-described embodiments of the goods sorting method. Specifically, program 1005 may include program code, which includes computer-executable instructions.

[0244] For example, processor 1001 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. Electronic device 1000 may include one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0245] In some embodiments, memory 1002 is used to store program 1005. Memory 1002 may include high-speed RAM memory, and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0246] Specifically, program 1005 can be called by processor 1001 to cause electronic device 1000 to perform the cargo sorting method in the above embodiment.

[0247] This application provides a computer-readable storage medium storing at least one executable instruction that, when executed on an electronic device 1000, causes the electronic device 1000 to perform the goods sorting method described in the above embodiments.

[0248] Specifically, the executable instructions can be used to cause the electronic device 1000 to perform the operations of the goods sorting method in the above embodiments.

[0249] For example, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0250] The beneficial effects achieved by the sorting machine, sorting system, electronic device and computer-readable storage medium provided in the embodiments of this application can be referred to the beneficial effects in the corresponding goods sorting method provided above, and will not be repeated here.

[0251] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0252] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0253] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a processor-included system or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0254] For the purposes of this specification, "computer-readable medium" can mean any means that can contain, store, communicate, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0255] More specific examples (a non-exhaustive list) of computer-readable media include the following: electrical connections having one or more wires (electronic devices), portable computer disks (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM).

[0256] Furthermore, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory. It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof.

[0257] In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0258] The embodiments described above do not constitute a limitation on the scope of protection of this application.

Claims

1. A method for sorting goods, characterized in that, The method is applied to a sorting system, which includes a buffer mechanism and a delivery mechanism; the buffer mechanism includes multiple buffer devices, each of which is used to buffer the goods to be delivered for sorting; the method includes: Obtain the first sorting task, and determine the first cache device corresponding to the first sorting task among the plurality of cache devices; Control the first buffer device to move to the delivery position, and receive the first goods corresponding to the first sorting task delivered by the sorting object at the delivery position; After the first buffer device receives the first goods, it controls the first buffer device to move from the delivery position to the first position, and controls the second buffer device to move to the delivery position, so that the second buffer device receives the second goods corresponding to the second sorting task delivered by the sorting object at the delivery position; wherein, the second buffer device is the buffer device corresponding to the second sorting task, and the second buffer device is different from the first buffer device; The delivery mechanism is controlled to move to the target docking position and dock with the first buffer device at the target docking position to receive the first goods delivered by the first buffer device at the target docking position and deliver the first goods to the turnover container corresponding to the first sorting task; wherein, the target docking position is determined based on the current position of the first buffer device, and the current position includes the first position.

2. The method according to claim 1, characterized in that, Determining the first cache device corresponding to the first sorting task among the plurality of cache devices includes: Obtain the status information of each buffer device; wherein the status information is used to indicate whether there is goods or no goods on each buffer device; Based on the status information of each cache device, the first cache device corresponding to the first sorting task is determined among the plurality of cache devices.

3. The method according to claim 2, characterized in that, The step of determining the first cache device corresponding to the first sorting task from among the plurality of cache devices based on the status information of each cache device includes: Based on the status information of each cache device, if it is determined that there is a cache device that does not contain any goods, then the cache device that does not contain any goods is identified as the first cache device. If it is determined that at least two of the plurality of cache devices are not filled with goods, then the first cache device is identified among the at least two cache devices that are not filled with goods.

4. The method according to claim 3, characterized in that, Determining the first buffer device among the at least two buffer devices that are not filled with goods includes: Of the at least two buffer devices that are not filled with goods, one buffer device that is not filled with goods is randomly selected as the first buffer device; or, The first cache device is determined from the at least two cache devices that do not contain goods, based on the priority information of the at least two cache devices that do not contain goods.

5. The method according to any one of claims 1-4, characterized in that, At the initial moment, the spacing between any two adjacent cache devices among the plurality of cache devices is the initial spacing; During the movement of the first buffer device, the spacing between any two adjacent buffer devices remains unchanged from the initial spacing. Alternatively, during the movement of the first cache device, the spacing between at least two adjacent cache devices changes.

6. The method according to claim 5, characterized in that, The step of controlling the first buffer device to move to the delivery position includes: The dimensions of the first goods are determined based on the first sorting task; If there is a third cache device located above and adjacent to the first cache device among the plurality of cache devices, and the size of the first item is larger than the initial distance between the third cache device and the first cache device, then the third cache device is controlled to move to a second position so that the first distance between the third cache device and the first cache device is larger than the size of the first item; The first buffer device and the third buffer device are controlled to move simultaneously to move the first buffer device to the delivery position; wherein, during the movement of the first buffer device and the third buffer device, the first distance between the third buffer device and the first buffer device remains unchanged.

7. The method according to claim 5, characterized in that, The step of controlling the first buffer device to move to the delivery position includes: The dimensions of the first goods are determined based on the first sorting task; If there is a third buffer device located above and adjacent to the first buffer device among the plurality of buffer devices, and the size of the first cargo is greater than the initial distance between the third buffer device and the first buffer device, then the first buffer device is controlled to move to the delivery position, and the third buffer device is controlled to move to the third position, so that the second distance between the third buffer device and the first buffer device is greater than the size of the first cargo; wherein, during the movement of the first buffer device and the third buffer device, the distance between the third buffer device and the first buffer device changes from the initial distance to the second distance.

8. The method according to any one of claims 1-4, characterized in that, The method further includes: Based on the current location and the preset correspondence, the target docking position corresponding to the current location is determined; wherein, the preset correspondence includes multiple locations and preset docking positions corresponding to each location.

9. The method according to claim 8, characterized in that, The step of determining the target docking position corresponding to the current position based on the current position and a preset correspondence includes: When the current location is included among the multiple locations, the preset parking spot corresponding to the current location is determined as the target parking spot according to the preset correspondence relationship; If the current location is not included in the plurality of locations, the target docking position corresponding to the current location is calculated based on the current location.

10. The method according to claim 9, characterized in that, The plurality of cache devices includes three cache devices, and the preset docking positions include five docking positions.

11. The method according to any one of claims 1-4, characterized in that, The method further includes: When the first buffer device moves to the delivery position, a ready instruction is sent to the sorting system, so that the sorting system sends a delivery instruction to the sorted object based on the ready instruction; wherein, the delivery instruction is used to instruct the sorted object to deliver the first goods to the first buffer device.

12. A sorting machine, characterized in that, This includes caching and delivery mechanisms; The caching mechanism includes multiple caching devices, each of which is configured to cache goods delivered by the sorting object; the multiple caching devices include a first caching device and a second caching device, the first caching device being the caching device corresponding to a first sorting task, and the second caching device being the caching device corresponding to a second sorting task. The first buffer device is configured to: move to the delivery position, receive the first goods corresponding to the first sorting task delivered by the sorting object at the delivery position; and after receiving the first goods, move to the first position. The second buffer device is configured to: after the first buffer device receives the first goods, move to the delivery position to receive the second goods corresponding to the second sorting task delivered by the sorting object at the delivery position; The delivery mechanism is configured to: move to a target docking position, dock with the first buffer device at the target docking position, receive the first goods delivered by the first buffer device at the target docking position, and deliver the first goods to the turnover container corresponding to the first sorting task; wherein, the target docking position is determined based on the current position of the first buffer device, and the current position includes the first position.

13. The sorting machine according to claim 12, characterized in that, The buffer mechanism further includes a lifting device; the plurality of buffer devices are respectively disposed on the lifting device, and each buffer device can move up and down through the lifting device. The first buffer device is configured to: move to the delivery position via the lifting device, receive the first goods corresponding to the first sorting task delivered by the sorting object at the delivery position; and after receiving the first goods, move to the first position via the lifting device.

14. The sorting machine according to claim 13, characterized in that, The cache mechanism also includes an operating device; the operating device is coupled to each cache device. The operating device is configured to: drive each buffer device to move up and down along the lifting device, and / or drive the first buffer device to deliver the first goods to the delivery mechanism.

15. The sorting machine according to any one of claims 12-14, characterized in that, The sorting machine further includes at least one guiding mechanism; the delivery mechanism is disposed to the guiding mechanism, and the delivery mechanism can move laterally and / or vertically through the guiding mechanism; the delivery mechanism is configured to: Move to the target parking position via the guiding mechanism; After receiving the first goods delivered by the first buffer device at the target docking position, the first goods are delivered to the turnover container corresponding to the first sorting task through the guiding mechanism.

16. The sorting machine according to any one of claims 12-14, characterized in that, At the initial moment, the spacing between any two adjacent cache devices among the plurality of cache devices is the initial spacing; During the movement of the first buffer device, the spacing between any two adjacent buffer devices remains unchanged from the initial spacing. Alternatively, during the movement of the first cache device, the spacing between at least two adjacent cache devices changes.

17. The sorting machine according to claim 16, characterized in that, Among the plurality of buffer devices, there is a third buffer device located adjacent to and above the first buffer device, and the size of the first cargo is greater than the initial distance between the third buffer device and the first buffer device; The third buffer device is configured to move to a second position such that the first distance between the third buffer device and the first buffer device is greater than the size of the first cargo. The first cache device and the third cache device are configured to move simultaneously, such that the first cache device moves to the delivery position; wherein, during the movement of the first cache device and the third cache device, the first distance between the third cache device and the first cache device remains unchanged.

18. The sorting machine according to claim 16, characterized in that, Among the plurality of buffer devices, there is a third buffer device located adjacent to and above the first buffer device, and the size of the first cargo is greater than the initial distance between the third buffer device and the first buffer device; The first buffer device is configured to move to the delivery position; The third buffer device is configured to move to a third position such that the second distance between the third buffer device and the first buffer device is greater than the size of the first cargo; wherein, during the movement of the first buffer device and the third buffer device, the distance between the third buffer device and the first buffer device changes from the initial distance to the second distance.

19. The sorting machine according to any one of claims 12-14, characterized in that, Each buffer device includes a flip-plate device or a conveyor line.

20. The sorting machine according to any one of claims 12-14, characterized in that, The sorting objects include sorting robots and sorting personnel.

21. A sorting system, characterized in that, The sorting system includes a sorting machine, a sorting robot, and a control device; The sorting machine includes a buffer mechanism and a delivery mechanism; the buffer mechanism includes multiple buffer devices; each of the multiple buffer devices is configured to buffer the goods delivered by the sorting robot. The control device is configured to send a first sorting task and a second sorting task to the sorting machine; The sorting machine is configured to: acquire a first sorting task and a second sorting task; determine a first buffer device for the first sorting task and a second buffer device for the second sorting task from among the plurality of buffer devices, based on the first sorting task and the second sorting task; control the first buffer device to move to the delivery position to receive the first goods corresponding to the first sorting task delivered by the sorting robot at the delivery position; and send a ready command to the control device when the first buffer device moves to the delivery position. The control device is configured to send a delivery instruction to the sorting robot according to the ready instruction; The sorting robot is configured to: acquire the delivery instruction and, according to the delivery instruction, deliver the first goods to the first buffer device; The sorting machine is configured to: after the first buffer device receives the first goods, control the first buffer device to move from the delivery position to a first position; control the second buffer device to move to the delivery position so that the second buffer device receives the second goods corresponding to the second sorting task delivered by the sorting robot at the delivery position; control the delivery mechanism to move to a target docking position, dock with the first buffer device at the target docking position so as to receive the first goods delivered by the first buffer device at the target docking position and deliver the first goods to the turnover container corresponding to the first sorting task; wherein, the target docking position is determined based on the current position of the first buffer device, and the current position includes the first position.

22. An electronic device, characterized in that, include: One or more processors; and The memory is configured to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the cargo sorting method according to any one of claims 1-11.

23. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the cargo sorting method according to any one of claims 1-11.

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