Three-dimensional sorting method and system

Abstract

The invention relates to the technical field of intelligent warehousing, in particular to a three-dimensional sorting method and system. The three-dimensional sorting method is used for the cubic warehousing and sorting system, the cubic warehousing and sorting system comprises a plurality of arrayed or stacked cubic warehousing spaces, and the cubic warehousing spaces are at least provided with three-dimensional sorting robots and freight robots. The three-dimensional sorting robot is provided with a vertical moving device, a transverse moving device and a turnover device, and the three-dimensional sorting method comprises the steps that order information is obtained, and the order information at least comprises sorting information; selecting a target storage space set, and obtaining sorting operation cost data according to a preset model; and an optimal path in the sorting operation cost data is judged, and a freight robot for controlling the order information and a three-dimensional sorting robot for controlling the target storage space are generated.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing technology, and in particular to a three-dimensional sorting method and system. Background Art

[0002] Warehousing is the most costly part of freight transportation. Existing warehousing systems all require the construction of storage bases or storage centers. In the warehousing environment, robots are used to store and retrieve goods / cargo boxes.

[0003] Existing warehouse-to-sorting systems require dedicated space, occupying large areas and making them difficult to maneuver. Goods on warehouse shelves must be removed by storage and freight robots, which then transport them to sorting platforms or systems. This traditional storage, transport, and exchange model occupies a large area, is limited in efficiency by the storage and freight robots, and requires a dedicated sorting system, resulting in extremely high time and configuration costs.

[0004] In summary, the existing warehousing and transportation systems have technical problems such as reduced warehousing entry and exit efficiency, insufficient space utilization and high ground costs. Summary of the Invention

[0005] In response to the above requirements, the present invention provides a three-dimensional sorting method and a three-dimensional sorting system.

[0006] According to the present invention, a three-dimensional sorting method is provided for a cubic storage and sorting system, wherein the cubic storage and sorting system includes a plurality of arranged or stacked cubic storage spaces, wherein the cubic storage spaces are equipped with at least a three-dimensional sorting robot and a freight robot, wherein the three-dimensional sorting robot is equipped with a vertical moving device, a horizontal moving device, and a flipping device. The three-dimensional sorting method includes: Obtaining order information, where the order information at least includes sorting information; Select the target storage space set and obtain the sorting operation cost data based on the preset model; Determine the optimal path in the sorting operation cost data and generate sorting instructions for the target freight robot and the target three-dimensional sorting robot in the target storage space that control the order information; The target freight robot and the target three-dimensional sorting robot execute the sorting instruction.

[0007] As a preferred embodiment, obtaining the sorting operation cost data according to the preset model is specifically implemented as follows: A comprehensive cost model for each cubic storage space is established to determine which target cubic storage space the item should enter. The comprehensive cost model is as follows: , Among them, Cost is the path with the lowest cost; Distance is the physical or path network distance of the cube storage space; Load is the current beat occupancy rate of the cube storage space; ETA is the estimated time to complete task processing, α is the distance weight, β is the load weight, and γ is the time weight.

[0008] Preferably, the cubic storage space is further configured with a plurality of storage robots, and determining the optimal path in the sorting operation cost data is specifically implemented as follows: Get the current flow rate of the freight robot and the storage robot load; According to the order information, determine which storage robot is used to ship the target goods out of the warehouse, and drive the storage robot to the path set of the three-dimensional sorting robot; The path set is sorted using the sorting operation cost data to select a target freight robot, a target storage robot, and a target three-dimensional sorting robot.

[0009] Preferably, a method for outbound delivery is included, which determines which storage robot is used to deliver the target goods according to the current load and / or request density and / or neighbor status dynamics of each cube storage space, thereby selecting the target cube storage space.

[0010] Preferably, when the load of the sorting robot exceeds a preset value, a queuing instruction is generated for the storage robot to use an empty space to temporarily store the target cargo box until the load of the sorting robot is lower than the preset value.

[0011] According to the present invention, there is also provided a three-dimensional sorting system, comprising: Cube storage space; At least one movable sorting shelf is provided in the cubic storage space, on which an identification device and a plurality of baskets for sorting are provided, the sorting shelf can be moved to any vacant unloading area, and a detection device adapted to the identification device is provided in the unloading area; A freight platform is provided in the cubic storage space, and an introduction device capable of identifying and introducing goods is provided at the cargo entrance of the freight platform; At least one freight robot capable of traveling on the freight platform, capable of transporting the received cargo to a designated unloading area for unloading; The three-dimensional sorting robot arranged in the cubic storage space can sort the unloaded goods into the cargo baskets of the movable sorting shelves.

[0012] Preferably, the three-dimensional sorting robot includes a vertical moving device, a horizontal moving device and a flipping device, wherein the horizontal moving device includes: A hollow rod fixed to the ground, the hollow rod being installed horizontally and having an open end, and two outer sides of the hollow rod being provided with grooves; A first synchronous pulley and a second synchronous pulley are rotatably fixed at both ends of the hollow rod; A synchronous belt connecting the first synchronous pulley and the second synchronous pulley; A servo motor, whose housing is fixed to the hollow rod and whose rotating shaft is connected to the central axis of the first synchronous pulley or the second synchronous pulley; A slider is provided with a protrusion and a slide rail, wherein the protrusion can be embedded in the open end of the hollow rod and fixed to the synchronous belt, and the slide rail is only movably connected to the groove; The structure of the vertical moving device is the same as that of the horizontal moving device. The hollow rod of the vertical moving device is vertically arranged and fixed to the slider of the horizontal moving device.

[0013] Preferably, the turning device comprises: a conveying frame fixed to the slider of the vertical moving device; The housing of the first reducer is fixed to the conveying frame; a flip motor, whose housing is fixed to the housing of the first reducer, and whose rotating shaft is fixed to the input shaft of the first reducer; a flip bracket fixed to the output shaft of the first reducer; A turning plate fixed to the turning bracket, the turning plate can be used to load or unload goods; a second reducer, the housing of which is fixed to the conveying frame; a swing motor, a housing of which is fixed to the housing of the second reducer, and a rotating shaft of which is fixed to the input shaft of the second reducer; a swing rod, one end of which is fixed to the output shaft of the second reducer, and the other end of which is fixed to the housing of the first reducer; The rotation of the swing motor can drive the overturning plate loaded with goods to swing from the outside of the movable sorting shelf to above the predetermined cargo basket, and the rotation of the overturning motor can sort the unloaded goods into the cargo basket.

[0014] Preferably, the identification device is a QR code or a barcode, and the detection device is a camera; Alternatively, the identification device is an RFID electronic tag, and the detection device is a card reader.

[0015] Preferably, the cubic storage space is a container.

[0016] Preferably, a plurality of the cubic storage spaces are arranged in sequence from bottom to top, and an opening is provided at the top of the cubic storage space, and the storage robot in the cubic storage space can connect with the freight robot in the cubic storage space above through the opening.

[0017] Preferably, the system further comprises a storage robot, the storage robot comprising a storage shelf and a task module movably arranged on the storage shelf, the task module being configured to be able to place goods on or take goods out of the freight robot running at the bottom of the storage shelf; At least one detachable partition is provided at the bottom of the storage shelf to provide operating space for the freight robot.

[0018] Compared with the prior art, the present invention has the following advantages: Freight robots can queue up for loading and unloading in a cycle. There are many exits, and the sorting efficiency is high. The freight platform can be single-layer or multi-layer, and the sorting volume is large. The movable sorting shelves can store a lot of goods, and the space utilization rate is high. The movable sorting shelves can be moved, which is very flexible and has a high site utilization rate. The three-dimensional sorting robot occupies a small area and does not require high positioning accuracy, which is beneficial to reducing costs. When the three-dimensional sorting robot fails, it can be quickly resolved. The packaging area can be flexibly set up and will not affect the sorting of the sorting site.

[0019] The cubic storage space is movable and can be a standard storage unit such as a freight container, which can be flexibly arranged. An opening is set at the top of the cubic storage space to enable the connection between the upper and lower cubic storage spaces.

[0020] The present invention has the beneficial effects of compact structure, large sorting capacity, full space utilization and high sorting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be described below with reference to the accompanying drawings.

[0022] Figure 1 This is a schematic diagram of the interior structure of the cubic storage space of the present invention; Figure 2 is a flow chart of the three-dimensional sorting method of the present invention; Figure 3 This is a flow chart of the present invention for determining the optimal path in sorting operation cost data; Figure 4 A schematic top view of the three-dimensional sorting robot and the sorting shelf of the present invention; Figure 5 This is a schematic diagram of the three-dimensional structure of the three-dimensional sorting robot and the sorting shelf of the present invention; Figure 6 、 Figure 7It is a structural schematic diagram of the turning device of the present invention; Figure 8 It is a schematic structural diagram of the hollow rods of the vertical moving device and the horizontal moving device of the present invention; Figure 9 It is a structural schematic diagram of the storage robot of the present invention; Figure 10 Schematic diagram of the top of the cubic storage space of the present invention.

[0023] The reference numerals in the figures are as follows: 1. Freight robot; 2. Sorting shelf; 3. Identification device; 4. Detection device; 5. Three-dimensional sorting robot; 8. Opening; 11. Freight platform; 21. Cargo basket; 22. Crossbar; 30. Storage robot; 31. Horizontal rail; 32. Vertical rail; 33. Task module; 34. Storage shelf; 35. Docking station; 42. Horizontal moving device; 43. Vertical moving device; 421, servo motor; 422, hollow rod; 4221, groove; 4222, open end; 423, synchronous belt; 424, first synchronous pulley; 425, slider; 4251, slide rail; 4252, bump; 60. Turning plate; 61. Conveyor frame; 62. Turning motor; 63. Turning bracket; 64. First speed reducer; 65. Swinging rod; 66. Second speed reducer; 67. Swinging motor; 100. Cube storage space.

[0024] In this application, all drawings are schematic drawings, which are only used to illustrate the principles of the present invention and are not drawn to scale. DETAILED DESCRIPTION

[0025] The present invention will be described below with reference to the accompanying drawings.

[0026] It should be noted that the directional terms "up", "down", "left", "right", etc. in the text are all with reference to the corresponding drawings. They are not used to limit the absolute positions of the components involved, but may vary according to specific circumstances.

[0027] like Figures 1 to 10As shown, according to the present invention, a three-dimensional sorting method is provided for use in a three-dimensional sorting system. The three-dimensional sorting system includes: a plurality of cubic storage spaces 100 arranged sequentially from top to bottom; at least one movable sorting shelf 2 disposed within the cubic storage space 100, the movable sorting shelf 2 being equipped with a basket 21 for sorting; and a three-dimensional sorting robot 5 disposed within the cubic storage space 100, capable of sorting unloaded goods into the basket 21 of the movable sorting shelf 2. Also disposed within the cubic storage space 100 is a storage robot 30, comprising a storage shelf 34 and a task module 33 movable on the storage shelf 34. The task module 33 is configured to store and retrieve goods from the storage shelf 34. Within the cubic storage space 100 are multiple freight robots 1 capable of moving on the floor of the cubic storage space 100. The freight robots 1 perform path planning under server control and are equipped with docking components for supporting the placement of goods or containers. To improve transportation efficiency, the ground freight robots 1 can operate directly on the floor of the cubic storage space 100. At least one removable partition is installed below the storage shelf 34. Removing the partition provides space for the freight robot 1 to maneuver. The task module 33 removes cargo from the storage shelf 34, moves it to the lower portion of the shelf, and then places the cargo onto the docking assembly of the freight robot 1. This coordination enables cargo storage, cargo / cargo container transfer, and cargo / cargo container sorting within the cubic storage space 100. The detailed structure of the three-dimensional sorting system is described below.

[0028] like Figure 1 As shown, the three-dimensional sorting system mainly includes a cubic storage space 100, a movable sorting shelf 2, a freight platform 11, a freight robot 1, a three-dimensional sorting robot 5 and a server.

[0029] The cubic storage space 100 can be a standard container unit, housing the storage robot 30, freight platform 11, three-dimensional sorting robot 5, movable sorting shelves 2, servers, freight robot 1, and the like. Utilizing idle standard containers instead of traditional fixed warehouses allows for storage, retrieval, and even sorting of goods, effectively improving order delivery efficiency and increasing container utilization. It should be noted that while the cubic storage space 100 in this embodiment is a container, this is merely one embodiment of the present invention and is not intended to limit its scope.

[0030] In one specific embodiment, multiple cubic storage spaces 100 are arranged sequentially from top to bottom, forming a multi-layer structure. An opening 8 is provided at the top of each cubic storage space 100, connecting the current cubic storage space 100 with the upper cubic storage space 100 through the opening 8. The storage robot 30 within the current cubic storage space 100 can connect with the freight robot 1 within the upper cubic storage space 100 through the opening 8 to complete the transfer of goods. The freight robot 1 is used to move across the floor of the cubic storage space 100 to transport goods.

[0031] like Figure 5 As shown, the three-dimensional sorting robot 5 is equipped with a vertical moving device 43 , a horizontal moving device 42 and a flipping device, which can sort the goods into the cargo basket 21 of the sorting shelf 2 .

[0032] refer to Figure 2 , the three-dimensional sorting method includes: S11: Acquire order information, where the order information at least includes sorting information; S12: Select a target storage space set and obtain sorting operation cost data based on a preset model; S13: Determine the optimal path in the sorting operation cost data, and generate sorting instructions for controlling the target freight robot for the order information and the target three-dimensional sorting robot for the target storage space; S14: The target freight robot and the target three-dimensional sorting robot execute the sorting instruction.

[0033] The specific implementation of obtaining the sorting operation cost data according to the preset model is as follows: establishing a comprehensive cost model for each cubic storage space 100 and determining which target cubic storage space 100 the item should enter. The comprehensive cost model is as follows: , Among them, Cost is the path with the lowest cost; Distance is the physical or path network distance of the cube storage space 100; Load is the current beat occupancy rate of the cube storage space 100; EAT is the estimated task processing completion time; multiple cube storage spaces 100 are arranged from top to bottom as follows: 、 … , is the i-th cubic storage space 100 from top to bottom; α, β, and γ are weight factors that can be adaptively adjusted based on actual conditions: α is the distance weight; β is the load weight; and γ is the time weight. It will be readily understood that the separate calculation methods for the physical or path network distance of a cubic storage space 100, the current cycle occupancy rate of a cubic storage space 100, and the estimated task completion time are well known to those skilled in the art and will not be elaborated upon here.

[0034] refer to Figure 3 When a storage robot 30 is also configured in the cubic storage space 100, the optimal path in the sorting operation cost data is determined as follows: S21: Obtain the current flow rate of the freight robot and the storage robot load; S22: Based on the order information, determine which storage robot 30 is used to ship the target goods out of the warehouse, and drive the storage robot 30 to the path set of the three-dimensional sorting robot 5; S23: Using the sorting operation cost data, the path set is sorted to select a target freight robot 1 , a target storage robot 30 , and a target three-dimensional sorting robot 5 .

[0035] Furthermore, based on the current load and / or request density and / or neighbor status dynamics of each cube storage space 100 , it is determined which storage robot 30 is used to ship the target goods out of the warehouse, and thus the target cube storage space 100 is selected.

[0036] In some implementations, the storage robot 30 may be implemented by a rack fixed track machine, see Figure 9 The storage robot 30 includes a storage shelf 34. Two upper and lower horizontal rails 31 are located in front of the storage shelf 34. Two vertical rails 32 are movably mounted on the horizontal rails 31. A task module 33 is movably mounted between the two vertical rails 32, ensuring reliable performance of tasks such as cargo removal, placement, docking, and sorting. A docking station 35 is located below the storage shelf 34. This station is where the task module 33 transfers cargo to and from the cargo robot 1 after retrieving cargo from the storage shelf 34.

[0037] Remove the partitions on the bottom layer of the storage shelf 34 to provide a height that matches the freight robot 1 and supports the ground freight robot 1 to operate on the ground. Remove the bottom partitions near the docking position 35 of the storage shelf 34 to form a docking position 35 for the ground freight robot 1 to dock.

[0038] refer to Figure 10 A plurality of cubic storage spaces 100 are arranged in sequence from bottom to top, and an opening 8 is provided at the top of the cubic storage space 100 . The storage robot 30 can connect with the freight robot 1 in the upper cubic storage space 100 through the opening 8 .

[0039] Based on the selected target cube storage space 100, when the load of the three-dimensional sorting robot 5 exceeds a preset value, a queuing instruction is generated for the storage robot 30 to temporarily store the target cargo box using the empty space until the load of the three-dimensional sorting robot 5 is lower than the preset value.

[0040] In a specific embodiment, the method for removing a library includes the following steps: Step A1, determining whether the sorting load of the three-dimensional sorting robot 5 is greater than a preset load value (e.g., 90%); In step A2, if the load is not greater than the preset load value, the storage robot 30 is used to carry out the goods normally. The freight robot 1 delivers the target goods box to the workbench, takes out the target goods, and delivers them to the freight robot 1 on the freight platform 11 for unloading. Finally, the three-dimensional sorting robot 5 places the sorted items into the cargo basket 21. In step A3, if the load is greater than the preset load value, the storage robot 30 stores the target goods box in an empty storage space of the storage shelf 34 and waits until step A2 is executed.

[0041] After the above adaptation is completed, the local task scheduler (LocalAgent Scheduler) is also superimposed: each module manages the task queue internally and optimizes the rhythm of delivery to the three-dimensional sorting robot; weighted minimum load selection; rhythm prediction + fuzzy control to adjust the task flow rate of freight robot 1; micro-batch strategy (for example, 5 pieces are packaged as a group for scheduling).

[0042] The three-dimensional sorting system of the present invention will now be further described with reference to the accompanying drawings.

[0043] A plurality of movable sorting shelves 2 are arranged in the cubic storage space 100. Figure 5 As shown, each movable sorting shelf 2 is equipped with multiple baskets 21 for carrying goods. In this embodiment, the movable sorting shelf 2 has multiple layers of tiered components, each of which can accommodate multiple baskets 21. The movable sorting shelf 2 is affixed with an identification device 3 and can be moved to any available unloading area. In this embodiment, multiple movable sorting shelves 2 are arranged in parallel. In practice, multiple movable sorting shelves 2 can also be arranged around the freight platform 11, further improving the utilization of the cubical storage space.

[0044] In order to facilitate the retrieval of goods, the layered component is two horizontal bars 22 arranged in parallel on the movable sorting shelf 2, and the cargo basket 21 is provided with two corresponding flanges. The two flanges of the cargo basket 21 can be pressed on the two horizontal bars 22, so that the cargo basket 21 can be placed on the layered component.

[0045] Multiple freight robots 1 are provided and can travel on the freight platform 11. They can transport cargo received at the cargo entrance to a designated unloading area for unloading. Freight robots 1 typically use self-navigating vehicles to circulate along the freight platform 11, transporting cargo. The cargo exit is typically located at the edge of the freight platform 11. When unloading, the freight robot 1 simply rotates a flap to pour the cargo out. Freight platforms 11 are typically of a certain height and can be arranged on multiple levels, with freight robots 1 being deployed on each level.

[0046] The three-dimensional sorting system also includes a freight robot positioning device, which can position the freight robot 1. A wireless positioning system can be used for positioning, or a QR code, barcode, etc. can be pasted on the freight platform 11. The freight robot 1 is equipped with a camera to collect the location information of the QR code and barcode. This part is existing technology.

[0047] The three-dimensional sorting system also includes an import device, which can be fixed at the cargo entrance of the freight platform 11, or the import device can be manually held to identify and import the goods. The import device can optionally use a scanning device to identify the goods. The goods are usually affixed with a QR code or a barcode. Accordingly, the scanning device is a QR code or barcode scanner. Generally speaking, the goods are sent to the scanning device by a person or a freight robot 1 for scanning, and then placed on the freight robot 1 at the cargo entrance. Cargo entrances can be set at all locations of the freight platform 11 except the exit. The import device can also be a robotic arm, which can transport the goods to the freight robot 1. The server can obtain specific information about the goods transported by the robotic arm, such as knowing that the goods are toothbrushes.

[0048] The three-dimensional sorting robot 5 can receive the goods transported by the freight robot 1 and unload the goods into the empty cargo basket 21 predetermined by the movable sorting shelf 2. The three-dimensional sorting robot 5 is set along the edge of the freight platform 11, so as to facilitate the docking with the freight robot 1.

[0049] The three-dimensional sorting system also includes a detection device 4, which is fixed to the ground in the unloading area or to an inactive fixed component of the three-dimensional sorting robot 5. Detection device 4 can collect information from the identification device 3 and also detect spatial orientation. In this embodiment, the identification device 3 is a QR code or barcode, and the detection device 4 is a camera. Alternatively, the identification device 3 is a wireless RFID tag, and the detection device 4 is a wireless card reader.

[0050] The server is connected to the controller of the freight robot 1 via wireless, and is connected to the controller, the detection device 4 and the introduction device of the three-dimensional sorting robot 5 via wired or wireless connections.

[0051] In this embodiment, the server can sort the goods according to the attributes of the goods, for example, the goods belong to a certain customer, the goods belong to a certain shelf, the goods belong to a certain supplier, the goods belong to a certain express delivery area, and the goods belong to at least one of a certain express delivery person; several pieces of goods of a certain customer can be sorted into different cargo baskets 21 of the same movable sorting shelf 2, and the same movable sorting shelf 2 can store goods of multiple customers; several pieces of goods of a certain supplier can also be sorted into different cargo baskets 21 of the same movable sorting shelf 2, and the same movable sorting shelf 2 can store multiple goods of the same supplier.

[0052] Furthermore, if Figures 4 to 8 As shown, the three-dimensional sorting robot 5 includes a vertical moving device 43, two sets of parallel horizontal moving devices 42 and a turning device.

[0053] The lateral movement device 42 includes: The hollow rod 422 is fixed to the ground via a bracket. The hollow rod 422 is installed horizontally and has an open end 4222. Two outer sides of the hollow rod 422 are provided with grooves 4221. The first synchronous pulley 424 and the second synchronous pulley are rotatably fixed at both ends of the hollow rod 422; A timing belt 423 connecting the first timing pulley 424 and the second timing pulley; The servo motor 421 has a housing fixed to the hollow rod 422, and a rotating shaft fixed to the central axis of the first synchronous pulley 424 or the central axis of the second synchronous pulley. The servo motor 421 is electrically connected to the controller of the three-dimensional sorting robot 5; The slider 425 is provided with a protrusion 4252 and two slide rails 4251. The protrusion 4252 can be embedded in the open end 4222 of the hollow rod 422 and fixed to the synchronous belt 423. The slide rails 4251 can only move back and forth along the groove 4221; The structure of the vertical moving device 43 is the same as that of the horizontal moving device 42 , except that the hollow rod 422 of the vertical moving device 43 is vertically arranged, and both ends of the hollow rod 422 of the vertical moving device 43 are fixed to the sliders 425 of the two sets of horizontal moving devices 42 respectively; The structure of the vertical moving device 43 is the same as that of the horizontal moving device 42 , which can simplify the overall structure and facilitate maintenance.

[0054] The turning device includes: The conveying frame 61 is fixed to the slider 425 of the vertical moving device 43; First reducer 64; The flip motor 62 has a housing fixed to the housing of the first reducer 64 and a rotating shaft fixed to the input shaft of the first reducer 64. The flip motor 62 is electrically connected to the controller of the three-dimensional sorting robot 5. The flip bracket 63 is fixed to the output shaft of the first reducer 64. In this embodiment, two flip brackets are symmetrically provided to improve stability. A turning plate 60 is fixed to the turning bracket 63 and can be used to load or unload goods; A second speed reducer 66, whose housing is fixed to the conveying frame 61; The swing motor 67 has a housing fixed to the housing of the second reducer 66 and a rotating shaft fixed to the input shaft of the second reducer 66. The swing motor 67 is electrically connected to the controller of the three-dimensional sorting robot 5; A swing rod 65, one end of which is fixed to the output shaft of the second reducer 66, and the other end is fixed to the housing of the first reducer 64. In this embodiment, two swing rods 65 are provided, which are respectively located on the top and bottom surfaces of the housing of the first reducer 64 to improve stability; The swing motor 67 rotates to drive the flip plate 60 loaded with goods to swing from the outside of the movable sorting shelf 2 to above the predetermined cargo basket 21, and the flip motor 62 rotates to sort the unloaded goods into the cargo basket 21.

[0055] Two sets of parallel horizontal moving devices 42 can control the vertical moving device 43 to move along the length direction of the movable sorting shelf 2, and the vertical moving device 43 can control the flipping device to move along the height direction of the movable sorting shelf 2. The flipping device can control the horizontal movement of the goods along a circular trajectory, and can also flip the goods for unloading.

[0056] The three-dimensional sorting robot 5 adopts an open-loop control method. By controlling the servo motor 421 in the vertical moving device 43 through software, the goods can be accurately moved to a designated layer. By controlling the servo motor 421 in the horizontal moving device 42 through software, the goods can be accurately moved to a designated column. Since the size of the cargo basket 21 is relatively large, the flipping device can accurately locate the predetermined cargo basket 21 for unloading. Similarly, it can also accurately move to the edge of the freight platform 11 to take over the goods unloaded by the freight robot 1. This control method can reduce hardware costs and does not require each cargo basket 21 to be equipped with a sensor.

[0057] In order to improve the unloading efficiency and increase the utilization rate of the three-dimensional sorting robot 5, the turning plate 60 can sort the unloaded goods onto any one of the movable sorting shelves 2 on both sides of the three-dimensional sorting robot 5.

[0058] The movable sorting rack 2 can be moved manually or by a handling robot. To accurately locate the movable sorting rack 2, two detection devices 4 are provided in each unloading area. Accordingly, each movable sorting rack 2 is provided with two identification devices 3. When the two detection devices 4 are aligned with the two identification devices 3, the movable sorting rack 2 is accurately positioned. The two pairs of identification devices 3 and detection devices 4 of the present invention have the functions of both locating and reading information about the movable sorting rack 2, serving two purposes.

[0059] Preferably, the detection device 4 is fixed on the sorting site or on an inactive fixed part in the three-dimensional sorting robot. The detection device 4 can be fixed on a bracket.

[0060] The initial position of each motor of the present invention can be obtained by setting an extreme position, or an initial position sensor is set to locate the initial position of the motor. For example, when the slider 425 moves to the extreme position of touching the first synchronous pulley 424 or the second synchronous pulley, it will be blocked and the motor's stall current will increase. The controller can use this position as the initial position of the motor to calculate how far the slider 425 moves when the motor rotates one circle. It can also be achieved by setting an initial position sensor. When the slider 425 touches the initial position sensor, it is used as the initial position of the motor. Similarly, the initial position of the flip motor 62 and the swing motor 67 can also be obtained by setting an extreme position or an initial position sensor.

[0061] The present invention provides a three-dimensional sorting method. As an example, the sorting method of the three-dimensional sorting system includes the following steps: S1. Select a movable sorting shelf 2, which has at least one empty basket 21 without any goods, and move the movable sorting shelf 2 to any empty unloading area to wait for unloading. There are usually three situations: first, the movable sorting shelf 2 has never been loaded with goods; second, the movable sorting shelf 2 has been unloaded and is ready to be unloaded again; third, the movable sorting shelf 2 has been loaded with goods before, but was interrupted when it was not full, so that the unloading area and the three-dimensional sorting robot 5 need to be changed to continue unloading. The reason for the interruption here may be a malfunction of the three-dimensional sorting robot 5 or the need to move the sorting site; S2. The detection device 4 fixed on the unloading area reads the identification device 3 of the movable sorting shelf 2 on the unloading area; S3. Based on the information obtained by the identification device 3 about the free baskets 21, unloaded goods, and goods to be unloaded on the movable sorting shelf 2, the server starts scheduling. For example, it was originally planned that the No. 1 three-dimensional sorting robot 5 would complete the storage of three goods in the No. 1, No. 2, and No. 3 baskets 21 respectively on the No. 1 movable sorting shelf 2. However, the No. 1 three-dimensional sorting robot 5 malfunctioned and needed to be interrupted. The No. 3 basket 21 had not yet stored the last piece of goods. At this time, a remedial solution is to manually move the No. 1 movable sorting shelf 2 to the No. 2 basket 21. The server obtains the information from the detection device 4 of No. 10 when it arrives at the vacant unloading area No. 10. If the server detects that a freight robot has loaded the third piece of cargo, it will transport the third piece of cargo to the unloading area No. 10 where the three-dimensional sorting robot 5 is located. The three-dimensional sorting robot 5 of No. 10 will sort the unloaded cargo into the cargo basket No. 3 21. The second remedial solution is to have an adjacent three-dimensional sorting robot, for example, the three-dimensional sorting robot 5 of No. 2, unload the cargo into the cargo basket No. 3 21 of the movable sorting shelf 2 of No. 1. S4. When the cargo sorted by the freight robot needs to be unloaded in the idle cargo basket 21, the freight robot transports the cargo to a location close to the unloading area; S5. The three-dimensional sorting robot on the unloading area takes over the cargo unloading by the freight robot and unloads the cargo into a predetermined free cargo basket 21; S6. When the idle cargo basket 21 on the movable sorting shelf 2 is filled with the predetermined goods, the movable sorting shelf 2 can be moved to another packaging area for packaging. Obviously, the unloading address in the other area is also equipped with a detection device 4. After reading the identification device 3, the information of each cargo basket 21 can be obtained through the server.

[0062] In this document, the terms “goods”, “articles”, “commodities”, “cargo container”, etc. are used interchangeably.

Claims

1. A three-dimensional sorting method, characterized in that: A cubic storage and sorting system is used, the cubic storage and sorting system comprising a plurality of arranged or stacked cubic storage spaces, the cubic storage spaces being equipped with at least a three-dimensional sorting robot and a freight robot, the three-dimensional sorting robot being equipped with a vertical moving device (43), a horizontal moving device (42) and a flipping device, and the three-dimensional sorting method comprising: Obtaining order information, where the order information at least includes sorting information; Select the target storage space set and obtain the sorting operation cost data based on the preset model; Determine the optimal path in the sorting operation cost data and generate sorting instructions for the target freight robot and the target three-dimensional sorting robot in the target storage space that control the order information; The target freight robot and the target three-dimensional sorting robot execute the sorting instruction.

2. The three-dimensional sorting method according to claim 1, wherein: The specific implementation of obtaining sorting operation cost data based on the preset model is as follows: A comprehensive cost model for each cubic storage space (100) is established to determine which target cubic storage space (100) the item should enter. The comprehensive cost model is as follows: ， Among them, Cost is the path with the lowest cost; Distance is the physical or path network distance of the cube storage space (100); Load is the current beat occupancy rate of the cube storage space (100); ETA is the estimated time to complete task processing, α is the distance weight, β is the load weight, and γ is the time weight.

3. The three-dimensional sorting method according to claim 1, wherein: The cube storage space is also equipped with multiple storage robots, and the optimal path in the sorting operation cost data is determined as follows: Get the current flow rate of the freight robot and the storage robot load; According to the order information, determine which storage robot is used to ship the target goods out of the warehouse, and drive the storage robot to the path set of the three-dimensional sorting robot; The path set is sorted using the sorting operation cost data to select a target freight robot, a target storage robot, and a target three-dimensional sorting robot.

4. The three-dimensional sorting method according to claim 3, wherein: The invention comprises a method for outbound storage, which determines which storage robot is used to outbound the target goods according to the current load and / or request density and / or neighbor status dynamics of each current cubic storage space (100), thereby selecting the target cubic storage space.

5. The three-dimensional sorting method according to claim 3, wherein: When the load of the sorting robot exceeds a preset value, a queuing instruction is generated for the storage robot to use an empty space to temporarily store the target cargo box until the load of the sorting robot is lower than the preset value.

6. A three-dimensional sorting system, characterized in that: include: Cube storage space (100); At least one movable sorting shelf (2) is arranged in the cubic storage space (100), an identification device (3) and a plurality of baskets (21) for sorting are arranged on the sorting shelf (2), the sorting shelf (2) can be moved to any idle unloading area, and a detection device (4) adapted to the identification device (3) is arranged in the unloading area; A freight platform (11) is provided in the cubic storage space (100), and an introduction device capable of identifying and introducing goods is provided at the cargo entrance of the freight platform (11); At least one freight robot (1) capable of traveling on the freight platform (11), the freight robot (1) capable of transporting the received goods to a designated unloading area for unloading; A three-dimensional sorting robot (5) is arranged in the cubic storage space (100), and can sort the unloaded goods into the cargo basket (21) of the movable sorting shelf (2).

7. The three-dimensional sorting system according to claim 6, characterized in that: The three-dimensional sorting robot (5) comprises a vertical moving device (43), a horizontal moving device (42) and a flipping device, wherein the horizontal moving device (42) comprises: a hollow rod (422) fixed to the ground, the hollow rod (422) being installed horizontally and provided with an open end (4222), and grooves (4221) being provided on two outer side surfaces of the hollow rod (422); A first synchronous pulley (424) and a second synchronous pulley are rotatably fixed at both ends of the hollow rod (422); A synchronous belt (423) connecting the first synchronous pulley (424) and the second synchronous pulley; A servo motor (421), whose housing is fixed to the hollow rod (422), and whose rotating shaft is connected to the central axis of the first synchronous pulley (424) or the second synchronous pulley; A slider (425) is provided with a protrusion (4252) and a slide rail (4251), wherein the protrusion (4252) can be embedded in the open end (4222) of the hollow rod (422) and fixed to the synchronous belt (423), and the slide rail (4251) is only movably connected to the groove (4221); The structure of the vertical moving device (43) is the same as that of the horizontal moving device (42). The hollow rod (422) of the vertical moving device (43) is vertically arranged and fixed to the slider (425) of the horizontal moving device (42).

8. The three-dimensional sorting system according to claim 7, characterized in that: The turning device comprises: A conveying frame (61) fixed to the slider (425) of the vertical moving device (43); The housing of the first reducer (64) is fixed to the conveying frame (61); A flip motor (62), the housing of which is fixed to the housing of the first reducer (64), and the rotating shaft of which is fixed to the input shaft of the first reducer (64); a flip bracket (63) fixed to the output shaft of the first reducer (64); a turning plate (60) fixed to the turning bracket (63), wherein the turning plate (60) can be used to load or unload goods; A second speed reducer (66), the housing of which is fixed to the conveying frame (61); A swing motor (67), the housing of which is fixed to the housing of the second reducer (66), and the rotating shaft of which is fixed to the input shaft of the second reducer (66); A swing rod (65), one end of which is fixed to the output shaft of the second reducer (66), and the other end of which is fixed to the housing of the first reducer (64); The swing motor (67) rotates to drive the flip plate (60) loaded with goods to swing from the outside of the movable sorting shelf (2) to above the predetermined goods basket (21), and the flip motor (62) rotates to sort the unloaded goods into the goods basket (21).

9. The three-dimensional sorting system according to any one of claims 6 to 8, characterized in that: The identification device (3) is a QR code or a barcode, and the detection device (4) is a camera; Alternatively, the identification device (3) is an RFID electronic tag, and the detection device (4) is a card reader.

10. The three-dimensional sorting system according to any one of claims 6 to 8, characterized in that: The cubic storage space (100) is a container.

11. The three-dimensional sorting system according to any one of claims 6 to 8, characterized in that: A plurality of the cubic storage spaces (100) are arranged in sequence from bottom to top, and an opening (8) is provided at the top of the cubic storage space (100). The storage robot (30) in the cubic storage space (100) can connect with the freight robot (1) in the upper cubic storage space (100) through the opening (8).

12. The three-dimensional sorting system according to claim 11, characterized in that: Also included is a storage robot (30), the storage robot including a storage shelf (34) and a task module (33) movably arranged on the storage shelf (34), the task module being configured to be able to place goods on or take goods out of the freight robot running at the bottom of the storage shelf; At least one detachable partition is provided at the bottom of the storage shelf to provide operating space for the freight robot.

Images