Three-dimensional sorting method and system

Abstract

This invention relates to the field of intelligent warehousing technology, specifically to a three-dimensional sorting method and system. The three-dimensional sorting method is used in a cubic warehouse sorting system, which includes multiple arranged or stacked cubic storage spaces. Each cubic storage space is equipped with at least a three-dimensional sorting robot and a freight robot. The three-dimensional sorting robot is equipped with a vertical movement device, a horizontal movement device, and a flipping device. The three-dimensional sorting method includes: acquiring order information, which at least includes sorting information; selecting a set of target storage spaces; obtaining sorting operation cost data according to a preset model; determining the optimal path in the sorting operation cost data; and generating a freight robot that controls the order information and a three-dimensional sorting robot for the target storage spaces.

Description

Technical Field

[0001] This invention relates to the field of intelligent warehousing technology, specifically to a three-dimensional sorting method and system. Background Technology

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

[0003] Existing warehouse-to-sorting systems require dedicated spaces, occupy large areas, and are difficult to move. Goods within warehouse shelves need to be moved out by warehouse freight robots, which then transport the goods to sorting stations or sorting systems. This traditional form of warehousing, transport, and exchange occupies a large area, its transport efficiency is limited by warehouse freight robots, and it requires a dedicated sorting system, resulting in extremely high time and configuration costs.

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

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

[0006] The present invention provides a three-dimensional sorting method for a cubic warehouse sorting system, the cubic warehouse sorting system comprising multiple arranged or stacked cubic storage spaces, each cubic storage space being configured with at least a three-dimensional sorting robot and a freight robot, the three-dimensional sorting robot being configured with a vertical moving device, a lateral moving device, and a flipping device, the three-dimensional sorting method comprising:

[0007] Obtain order information, wherein the order information includes at least sorting information;

[0008] Select the target set of warehouse spaces and obtain sorting operation cost data based on the preset model;

[0009] Determine the optimal path from the sorting operation cost data, and generate sorting instructions for the target freight robot and the target 3D sorting robot in the target warehouse space that control the order information;

[0010] The target cargo robot and the target three-dimensional sorting robot execute the sorting instruction.

[0011] As a preferred option, the sorting operation cost data obtained based on the preset model is specifically implemented as follows:

[0012] A comprehensive cost model is established for each cubic storage space to determine which target cubic storage space an item should enter. The comprehensive cost model is as follows:

[0013] ,

[0014] Among them, Cost is the path with the lowest cost;

[0015] Distance is the physical or path network distance of a cubic storage space;

[0016] Load represents the current cycle occupancy rate of the cubic storage space.

[0017] ETA is the estimated task completion time, α is the distance weight, β is the load weight, and γ is the time weight.

[0018] Preferably, the cubic storage space is also equipped with multiple storage robots, and the specific implementation of determining the optimal path in the sorting operation cost data is as follows:

[0019] Obtain the current flow rate of the freight robot and the load of the storage robot;

[0020] Based on the order information, determine which storage robot will be used for the outbound shipment of the target goods, and then move the storage robot to the set of paths for the three-dimensional sorting robot.

[0021] Using the sorting operation cost data, the set of paths is sorted to select the target freight robot, the target storage robot, and the target three-dimensional sorting robot.

[0022] As a preferred method, the outbound method determines which storage robot to use for outbound of the target goods based on the current load and / or request density and / or neighbor status dynamics of each cubic storage space, thereby selecting the target cubic storage space.

[0023] Preferably, when the load of the sorting robot exceeds a preset value, a queuing instruction is generated for the storage robot to temporarily store the target box in an empty space until the load of the sorting robot is lower than the preset value.

[0024] According to the present invention, a three-dimensional sorting system is also provided, comprising:

[0025] cubic storage space;

[0026] At least one movable sorting rack is provided within the cubic storage space. The sorting rack is equipped with an identification device and multiple sorting baskets. The sorting rack can be moved to any available unloading area. The unloading area is equipped with a detection device adapted to the identification device.

[0027] The freight platform is set up within the cubic storage space, and an import device capable of identifying and importing goods is installed at the cargo entrance of the freight platform.

[0028] At least one cargo robot capable of driving on the cargo platform, the cargo robot being able to transport the received cargo to a designated unloading area for unloading;

[0029] The automated sorting robot installed in the cubic storage space can sort unloaded goods into baskets on the movable sorting racks.

[0030] 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:

[0031] A hollow rod fixed to the ground, the hollow rod is horizontally installed and has an open end, and the two outer sides of the hollow rod have grooves;

[0032] The first and second synchronous pulleys are rotatably fixed at both ends inside the hollow rod;

[0033] A timing belt, which connects the first timing pulley and the second timing pulley;

[0034] The servo motor has its housing fixed to the hollow rod, and its shaft is connected to the central shaft of the first synchronous pulley or the second synchronous pulley.

[0035] The slider is provided with a protrusion and a slide rail. The protrusion can be inserted into the open end of the hollow rod and is fixed to the timing belt. The slide rail is only movably connected to the groove.

[0036] 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 set vertically and fixed to the slider of the horizontal moving device.

[0037] Preferably, the flipping device includes:

[0038] A conveyor frame, which is fixed to the slider of the vertical moving device;

[0039] The housing of the first reducer is fixed to the conveyor frame;

[0040] The flip motor has its housing fixed to the housing of the first reducer, and its rotating shaft fixed to the input shaft of the first reducer.

[0041] A flip-up bracket is fixed to the output shaft of the first reducer;

[0042] A tilting tray, which is fixed to the tilting bracket, is used to hold or unload goods.

[0043] The second reducer has its housing fixed to the conveyor frame;

[0044] The swing motor has its housing fixed to the housing of the second reducer, and its shaft fixed to the input shaft of the second reducer.

[0045] The swing arm has one end fixed to the output shaft of the second reducer and the other end fixed to the housing of the first reducer.

[0046] The rotation of the oscillating motor can drive the tilting tray containing the goods to swing from outside the movable sorting shelf to above the predetermined basket. The rotation of the tilting motor can sort the unloaded goods into the basket.

[0047] Preferably, the identification device is a QR code or a barcode, and the detection device is a camera;

[0048] Alternatively, the identification device may be an RFID electronic tag, and the detection device may be a card reader.

[0049] Preferably, the cubic storage space is a shipping container.

[0050] Preferably, multiple cubic storage spaces are arranged sequentially from bottom to top, with an opening at the top of each cubic storage space, through which the storage robot in the cubic storage space can connect with the freight robot in the cubic storage space above.

[0051] Preferably, the system also includes a storage robot, which includes a storage rack and a task module that is mobilely mounted on the storage rack. The task module is configured to place goods onto or remove them from a cargo robot that operates at the bottom of the storage rack.

[0052] The lower part of the storage rack is equipped with at least one removable partition to provide operating space for the cargo robot.

[0053] Compared with the prior art, the present invention has the following advantages:

[0054] Freight robots can queue for loading and unloading in a circular manner, with a large number of exits and high sorting efficiency. The freight platform can be set up as a single layer or multiple layers, and the sorting volume is large. The movable sorting racks can store a lot of goods, with high space utilization. The movable sorting racks can be moved, which is very flexible and maximizes site utilization. The three-dimensional sorting robot has a small footprint and does not require high positioning accuracy, which helps to reduce costs. When the three-dimensional sorting robot malfunctions, it can be resolved quickly. The packaging area can be set up flexibly without affecting the sorting of the sorting site.

[0055] The cubic storage space is movable and can be a standard-sized storage unit such as a freight container, allowing for flexible arrangement. An opening at the top of the cubic storage space enables connection between two adjacent cubic storage spaces.

[0056] This invention has the advantages of compact structure, large sorting capacity, full space utilization, and high sorting efficiency. Attached Figure Description

[0057] The present invention will be described below with reference to the accompanying drawings.

[0058] Figure 1 This is a schematic diagram of the internal structure of the cubic storage space of the present invention;

[0059] Figure 2 This is a flowchart of the three-dimensional sorting method of the present invention;

[0060] Figure 3 This is a flowchart illustrating the process of determining the optimal path from the sorting operation cost data in this invention.

[0061] Figure 4 This is a top view of the three-dimensional sorting robot and sorting rack of the present invention;

[0062] Figure 5 This is a three-dimensional structural diagram of the three-dimensional sorting robot and sorting rack of the present invention;

[0063] Figure 6 , Figure 7 This is a schematic diagram of the structure of the flipping device of the present invention;

[0064] Figure 8 This is a schematic diagram of the hollow rod related to the vertical moving device and the horizontal moving device of the present invention;

[0065] Figure 9 This is a schematic diagram of the storage robot of the present invention;

[0066] Figure 10 This is a schematic diagram of the top of the cubic storage space of the present invention.

[0067] The reference numerals in the figure are as follows:

[0068] 1. Freight robot; 2. Sorting rack; 3. Identification device; 4. Detection device; 5. 3D sorting robot; 8. Opening;

[0069] 11. Freight platform;

[0070] 21. Cargo basket; 22. Crossbar;

[0071] 30. Storage robot; 31. Horizontal rail; 32. Vertical rail; 33. Task module; 34. Storage rack; 35. Connecting position;

[0072] 42. Lateral movement device; 43. Vertical movement device;

[0073] 421. Servo motor; 422. Hollow rod; 4221. Groove; 4222. Open end; 423. Synchronous belt; 424. First synchronous belt pulley; 425. Slider; 4251. Slide rail; 4252. Protrusion;

[0074] 60. Tilting plate; 61. Conveyor frame; 62. Tilting motor; 63. Tilting support; 64. First reducer; 65. Swing rod; 66. Second reducer; 67. Swing motor;

[0075] 100. Cube-shaped storage space.

[0076] In this application, all drawings are schematic and are used only to illustrate the principles of the invention, and are not drawn to scale. Detailed Implementation

[0077] The invention will now be described with reference to the accompanying drawings.

[0078] It should be noted that the directional terms "up", "down", "left", and "right" used in the text refer to the corresponding attached diagrams. They are not used to limit the absolute position of the parts involved, but can vary depending on the specific circumstances.

[0079] like Figures 1-10As shown, according to the present invention, a three-dimensional sorting method is provided for 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 rack 2 disposed within each cubic storage space 100, the movable sorting rack 2 being provided with a sorting basket 21; and a three-dimensional sorting robot 5 disposed within each cubic storage space 100, capable of sorting unloaded goods into the basket 21 of the movable sorting rack 2. A storage robot 30 is also disposed within each cubic storage space 100, the storage robot 30 including a storage rack 34 and a task module 33 movable on the storage rack 34, the task module 33 being configured to access goods within the storage rack 34. A plurality of ground-based freight robots 1 capable of moving on the ground of the cubic storage space 100 are disposed within the cubic storage space 100. The freight robots 1 perform path planning under server control and are equipped with connecting components supporting the placement of goods or boxes. To improve transportation efficiency, the ground-based freight robots 1 can operate directly on the ground of the cubic storage space 100. At least one removable partition is provided at the lower part of the storage rack 34. By removing the partition, the cargo robot 1 can be provided with movement space. The task module 33 can remove the goods from the storage rack 34, move them to the lower part of the storage rack 34, and place the goods onto the docking component of the cargo robot 1. The above coordination makes it possible to complete cargo storage, cargo / cargo box transfer, and cargo / cargo box sorting within the cubic storage space 100. The detailed structure of the automated sorting system is described below.

[0080] like Figure 1 As shown, the automated sorting system mainly includes a cubic storage space 100, movable sorting shelves 2, a freight platform 11, a freight robot 1, an automated sorting robot 5, and a server.

[0081] The cubic storage space 100 can be a standard container unit. Storage robots 30, freight platforms 11, automated sorting robots 5, movable sorting racks 2, servers, freight robots 1, etc., are housed within the cubic storage space 100. By utilizing idle standard containers instead of traditional fixed warehouses, goods storage, retrieval, and even sorting are achieved, effectively improving order transmission efficiency and container utilization. It should be noted that although the cubic storage space 100 in this embodiment is a container, this is merely one embodiment proposed according to the present invention and is not intended to limit the scope of protection of the present invention.

[0082] In one specific embodiment, multiple cubic storage spaces 100 are arranged sequentially from top to bottom to form a multi-layer structure. An opening 8 is provided at the top of each cubic storage space 100, allowing the current cubic storage space 100 to communicate with the upper cubic storage space 100 via 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 via the opening 8 to complete the handover of goods. The freight robot 1 is used to move on the floor of the cubic storage space 100 to transport goods.

[0083] 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 goods to the basket 21 of the sorting shelf 2.

[0084] refer to Figure 2 Three-dimensional sorting methods include:

[0085] S11: Obtain order information, wherein the order information includes at least sorting information;

[0086] S12: Select the target warehouse space set and obtain the sorting operation cost data according to the preset model;

[0087] S13: 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 warehouse space that control the order information;

[0088] S14: The target cargo robot and the target three-dimensional sorting robot execute the sorting instruction.

[0089] The specific implementation of obtaining sorting operation cost data based on the preset model is as follows: A comprehensive cost model is established for each cubic storage space 100 to determine which target cubic storage space 100 the item should enter. The comprehensive cost model is as follows:

[0090] ,

[0091] Where Cost is the path with the lowest cost; Distance is the physical or path network distance of cube storage space 100; Load is the current cycle time occupancy of cube storage space 100; EAT is the estimated task completion time; the multiple cube storage spaces 100 are arranged from top to bottom as follows: , ... , Let be the i-th cubic storage space 100 from top to bottom; α, β, and γ are all weighting factors that can be adaptively adjusted according to actual conditions, where α is the distance weight, β is the load weight, and γ is the time weight. It is easy to understand that the individual calculation methods for the physical or path network distance of the cubic storage space 100, the current cycle time occupancy rate of the cubic storage space 100, and the estimated task completion time are well known to those skilled in the art and will not be elaborated here.

[0092] refer to Figure 3 When a storage robot 30 is also configured within the cubic storage space 100, the optimal path in the sorting operation cost data is determined as follows:

[0093] S21: Obtain the current flow rate of the freight robot and the load of the storage robot;

[0094] S22: Based on the order information, determine which storage robot 30 will be used to take the target goods out of the warehouse, and move the storage robot 30 to the path set of the three-dimensional sorting robot 5;

[0095] S23: Using the sorting operation cost data, sort the path set to select the target freight robot 1, the target storage robot 30, and the target three-dimensional sorting robot 5.

[0096] Furthermore, based on the current load and / or request density and / or neighbor status dynamics of each cubic storage space 100, it is determined which storage robot 30 will be used for the outbound shipment of the target goods, thereby selecting the target cubic storage space 100.

[0097] In some implementations, the storage robot 30 can be implemented using a fixed-track rack machine, see reference. Figure 9 The storage robot 30 includes a storage rack 34. Two horizontal rails 31 are arranged on the front of the storage rack 34, and 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, enabling reliable tasks such as retrieving and returning goods, connecting goods, and sorting. A connecting position 35 is provided at the lower part of the storage rack 34. The connecting position 35 is the location where the task module 33 retrieves goods from the storage rack 34 and then completes the goods transfer with the freight robot 1.

[0098] Remove the bottom shelf of the storage rack 34 to provide a height that matches the cargo robot 1, supporting the ground cargo robot 1 to operate on the ground. Remove the bottom shelf near the docking position 35 of the storage rack 34 to form a docking position 35 for the ground cargo robot 1 to dock.

[0099] refer to Figure 10Multiple cubic storage spaces 100 are arranged sequentially from bottom to top. An opening 8 is provided at the top of the cubic storage space 100, through which the storage robot 30 can connect with the freight robot 1 in the cubic storage space 100 above.

[0100] Based on the selected target cubic storage space 100, when the load of the three-dimensional sorting robot 5 exceeds the preset value, a queuing instruction is generated for the storage robot 30 to temporarily store the target box in an empty space until the load of the three-dimensional sorting robot 5 is lower than the preset value.

[0101] In one specific embodiment, the outbound method includes the following steps:

[0102] Step A1: Determine whether the sorting load of the 3D sorting robot 5 is greater than the preset load value (e.g., 90%).

[0103] Step A2: If the load is not greater than the preset load value, the storage robot 30 will normally send the goods out of the warehouse. The cargo robot 1 will send the target goods box to the workbench to take out the target goods and send it to the cargo robot 1 of the cargo platform 11 for unloading. Finally, the sorted items will be put into the cargo basket 21 by the three-dimensional sorting robot 5.

[0104] In step A3, if the load is greater than the preset load value, the storage robot 30 will store the target goods box in an empty storage location of the storage shelf 34 until step A2 is executed.

[0105] After the above adaptation is completed, a LocalAgent Scheduler is also added: each module manages the task queue and optimizes the timing of tasks deployed to the 3D sorting robot; weighted minimum load selection; timing prediction + fuzzy control adjusts the task flow rate of freight robot 1; micro-batch strategy (e.g., 5 items are packaged into a group for scheduling).

[0106] The three-dimensional sorting system of the present invention will now be further described with reference to the accompanying drawings.

[0107] Multiple movable sorting racks 2 are installed within the cubic storage space 100. For example... Figure 5 As shown, each movable sorting rack 2 is equipped with multiple baskets 21 for carrying goods. In this embodiment, the movable sorting rack 2 has multi-layered components, each capable of holding multiple baskets 21. The movable sorting rack 2 is fixed with an identification device 3, and can be moved to any available unloading area. In this embodiment, multiple movable sorting racks 2 are arranged in parallel; in reality, multiple movable sorting racks 2 can also be arranged around the freight platform 11 to further improve the utilization rate of the cubic storage space.

[0108] For easy retrieval of goods, the layering component consists of two horizontal bars 22 arranged in parallel on the movable sorting shelf 2. The basket 21 is provided with two corresponding flaps, which can press against the two horizontal bars 22, so that the basket 21 can be placed on the layering component.

[0109] Multiple cargo robots 1 are installed and can travel on the cargo platform 11. Cargo robots 1 transport goods received at the cargo entrance to designated unloading areas for unloading. Cargo robots 1 are typically self-navigating vehicles that circulate along the cargo platform 11, transporting goods. The cargo exit is usually located at the edge of the cargo platform 11. When unloading, cargo robots 1 simply rotate a flap to dump the goods out. The cargo platform 11 usually has a certain height and can be multi-layered, with each layer of the cargo platform 11 capable of housing cargo robots 1.

[0110] The three-dimensional sorting system also includes a cargo robot positioning device, which can locate the cargo robot 1. The positioning can be done using a wireless positioning system or by affixing QR codes, barcodes, etc. on the cargo platform 11. The cargo robot 1 is equipped with a camera to collect the location information of the QR codes and barcodes. This part is existing technology.

[0111] The automated sorting system also includes an import device, which can be fixed at the cargo entrance of the freight platform 11 or manually operated to identify and import goods. The import device can be a barcode scanner, capable of identifying goods, which typically have QR codes or barcodes affixed. Generally, either manually or via the freight robot 1, the goods are scanned by the barcode scanner and then placed on the freight robot 1 at the cargo entrance. Cargo entrances can be located at all points on the freight platform 11 except for the exit. The import device can also be a robotic arm, which transports goods to the freight robot 1. The server can obtain specific information about the goods being transported by the robotic arm, such as knowing that the goods are toothbrushes.

[0112] The automated sorting robot 5 can receive goods transported by the freight robot 1 and unload them into pre-defined empty baskets 21 on the movable sorting shelf 2. The automated sorting robot 5 is positioned along the edge of the freight platform 11 to facilitate connection with the freight robot 1.

[0113] The automated sorting system also includes a detection device 4, which is fixed to the ground in the unloading area or to a stationary component of the automated sorting robot 5. The detection device 4 can collect information from the identification device 3 and also collect spatial orientation data. In this embodiment, the identification device 3 is a QR code or barcode, and correspondingly, the detection device 4 is a camera. Alternatively, the identification device 3 is a wirelessly communicating RFID electronic tag, and correspondingly, the detection device 4 is a wirelessly communicating card reader.

[0114] The server connects wirelessly to the controller of the freight robot 1, and wired or wirelessly to the controller, detection device 4, and import device of the three-dimensional sorting robot 5.

[0115] In this embodiment, the server can sort goods according to their attributes. For example, the goods may belong to a customer, a shelf, a supplier, a delivery area, or a delivery person. Several items from a customer can be sorted into different baskets 21 of the same movable sorting shelf 2, and the same movable sorting shelf 2 can store goods from multiple customers. Similarly, several items from a supplier can be sorted into different baskets 21 of the same movable sorting shelf 2, and the same movable sorting shelf 2 can store multiple items from the same supplier.

[0116] Furthermore, if Figures 4-8 As shown, the three-dimensional sorting robot 5 includes a vertical moving device 43, two sets of parallel horizontal moving devices 42, and a flipping device.

[0117] The lateral moving device 42 includes:

[0118] Hollow rod 422 is fixed to the ground by a bracket. Hollow rod 422 is installed horizontally and has an open end 4222. The two outer sides of hollow rod 422 are provided with grooves 4221.

[0119] The first synchronous pulley 424 and the second synchronous pulley are respectively rotatably fixed at both ends inside the hollow rod 422;

[0120] Synchronous belt 423 connects the first synchronous pulley 424 and the second synchronous pulley;

[0121] The servo motor 421 has its housing fixed to the hollow rod 422, and its rotating shaft is fixed to the central shaft of the first synchronous pulley 424 or the central shaft of the second synchronous pulley. The servo motor 421 is electrically connected to the controller of the three-dimensional sorting robot 5.

[0122] The slider 425 is provided with a protrusion 4252 and two slide rails 4251. The protrusion 4252 can be inserted into the open end 4222 of the hollow rod 422 and fixed to the timing belt 423. The slide rails 4251 can only move back and forth along the groove 4221.

[0123] 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 set vertically, and the two ends of the hollow rod 422 of the vertical moving device 43 are respectively fixed to the sliders 425 of the two sets of horizontal moving devices 42.

[0124] The structure of the vertical moving device 43 is the same as that of the horizontal moving device 42, which simplifies the overall structure and facilitates maintenance.

[0125] The flipping device includes:

[0126] The conveyor frame 61 is fixed to the slider 425 of the vertical moving device 43;

[0127] First reducer 64;

[0128] The flip motor 62 has its housing fixed to the housing of the first reducer 64, and its 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.

[0129] The flip bracket 63 is fixed to the output shaft of the first reducer 64. In this embodiment, two brackets are symmetrically arranged to improve stability.

[0130] A tilting tray 60 is fixed to a tilting bracket 63, and the tilting tray 60 can be used to hold or unload goods.

[0131] The second reducer 66 has its housing fixed to the conveyor frame 61;

[0132] The swing motor 67 has its housing fixed to the housing of the second reducer 66 and its 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.

[0133] The swing arm 65 has one end fixed to the output shaft of the second reducer 66 and the other end fixed to the housing of the first reducer 64. In this embodiment, two swing arms 65 are provided, which are located on the top and bottom surfaces of the housing of the first reducer 64, respectively, to improve stability.

[0134] The rotation of the swing motor 67 can drive the tilting tray 60 containing goods to swing from outside the movable sorting shelf 2 to above the predetermined basket 21. The rotation of the tilting motor 62 can sort the unloaded goods into the basket 21.

[0135] Two parallel horizontal moving devices 42 can control the vertical moving device 43 to move along the length of the movable sorting shelf 2. The vertical moving device 43 can control the flipping device to move along the height of the movable sorting shelf 2. The flipping device can control the goods to move horizontally along a circular trajectory and can also flip the goods for unloading.

[0136] The 3D sorting robot 5 adopts an open-loop control method. By controlling the servo motor 421 in the vertical moving device 43 through software, it can accurately move the goods to a designated layer. By controlling the servo motor 421 in the horizontal moving device 42 through software, it can accurately move the goods to a designated column. Since the size of the basket 21 is relatively large, the flipping device can accurately position itself to the predetermined basket 21 for unloading. Similarly, it can also accurately move to the edge of the freight platform 11 to receive the goods unloaded by the freight robot 1. This control method can reduce hardware costs, as it eliminates the need to equip each basket 21 with a sensor.

[0137] To improve unloading efficiency and increase the utilization rate of the 3D sorting robot 5, the flip tray 60 can sort the unloaded goods onto either of the movable sorting racks 2 on both sides of the 3D sorting robot 5.

[0138] The movable sorting rack 2 can be moved manually or by a handling robot. To ensure precise positioning of the movable sorting rack 2, each unloading area is equipped with two detection devices 4. Correspondingly, each movable sorting rack 2 is equipped with two identification devices 3. When the two detection devices 4 are aligned with the two identification devices 3 respectively, the movable sorting rack 2 is accurately positioned. The two pairs of identification devices 3 and detection devices 4 of this invention have the functions of positioning and reading information of the movable sorting rack 2, serving two purposes in one device.

[0139] Preferably, the detection device 4 is fixed on the sorting site or on a stationary component in the three-dimensional sorting robot. The detection device 4 can be fixed on a bracket.

[0140] The initial position of each motor in this invention can be obtained by setting limit positions, or by setting an initial position sensor to locate the initial position of the motor. For example, when the slider 425 moves to the limit position of touching the first synchronous pulley 424 or the second synchronous pulley, it will be blocked, and the stall current of the motor will increase. The controller can use this position as the initial position of the motor and calculate how far the slider 425 moves for one revolution of the motor. Alternatively, the initial position of the motor can be set by setting an initial position sensor, and when the slider 425 touches the initial position sensor, it can be used as the initial position of the motor. Similarly, the initial positions of the flip motor 62 and the swing motor 67 can also be obtained by setting limit positions or initial position sensors.

[0141] This invention provides a three-dimensional sorting method. As an example, the sorting method of the above-mentioned three-dimensional sorting system includes the following steps:

[0142] S1. Select a movable sorting rack 2, which has at least one empty basket 21. Move the movable sorting rack 2 to any empty unloading area to wait for unloading. There are usually three situations: First, the movable sorting rack 2 has not been loaded with goods; second, the movable sorting rack 2 has been unloaded and is ready to unload again; third, the movable sorting rack 2 was previously loaded with goods but was interrupted when it was not full, so it is necessary to change the unloading area and the automated sorting robot 5 to continue unloading. The reason for the interruption here may be that the automated sorting robot 5 malfunctions or that the sorting site needs to be moved.

[0143] S2. The identification device 3 of the movable sorting shelf 2 in the unloading area is read by the detection device 4 fixed in the unloading area;

[0144] S3. Based on the information obtained by the identification device 3 regarding the available baskets 21, unloaded goods, and goods awaiting unloading on the movable sorting shelf 2, the server begins scheduling. For example, the original plan was for the No. 1 automated sorting robot 5 to store three items in baskets 21 of No. 1, No. 2, and No. 3 respectively on the movable sorting shelf 2 of No. 1. However, due to a malfunction of the No. 1 automated sorting robot 5, the process needs to be interrupted, and basket 21 of No. 3 has not yet been filled with the last item. In this case, one remedial solution is to manually move the movable sorting shelf 2 of No. 1. Upon reaching the vacant unloading area No. 10, the server obtains this information through the detection device 4 at No. 10. If the server detects that a freight robot has installed a third item, it transports the third item to the unloading area No. 10 where the automated sorting robot 5 is located. The automated sorting robot 5 then sorts the unloaded item into basket 21 at No. 3. Alternatively, an adjacent automated sorting robot, such as automated sorting robot 5 at No. 2, can unload the item into basket 21 at movable sorting shelf 2 at No. 1.

[0145] S4. When the goods sorted by the freight robot need to be unloaded into the empty basket 21, the freight robot transports the goods to a location close to the unloading area.

[0146] S5. The three-dimensional sorting robot in the unloading area receives the goods unloaded by the cargo robot and unloads the goods into the predetermined empty cargo basket 21.

[0147] S6. When the empty basket 21 on the movable sorting shelf 2 is filled with the predetermined goods, the movable sorting shelf 2 can be moved to other packing areas for packing. Obviously, the unloading addresses in other areas are also equipped with detection devices 4. After reading the identification device 3, the information of each basket 21 can be obtained through the server.

[0148] In this article, the terms “goods”, “articles”, “products”, and “boxes” are used interchangeably.

Claims

1. A three-dimensional sorting method, characterized in that, For a cubic storage and sorting system, the cubic storage and sorting system includes multiple cubic storage spaces arranged or stacked, each cubic storage space is equipped with at least a three-dimensional sorting robot and a freight robot, the three-dimensional sorting robot is equipped with a vertical moving device (43), a horizontal moving device (42) and a flipping device, the three-dimensional sorting method includes: Obtain order information, wherein the order information includes at least sorting information; Select a set of target storage spaces, obtain sorting operation cost data based on a preset model, establish a comprehensive cost model for each cubic storage space (100), and determine which target cubic storage space (100) the item should enter. The comprehensive cost model is as follows: ， Where 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 cycle time occupancy of the cube storage space (100), ETA is the estimated task completion time, α is the distance weight, β is the load weight, and γ is the time weight. This represents the i-th cubic storage space from top to bottom; Determine the optimal path from the sorting operation cost data, and generate sorting instructions for the target freight robot and the target 3D sorting robot in the target warehouse space that control the order information; The target cargo robot and the target three-dimensional sorting robot execute the sorting instruction.

2. The three-dimensional sorting method as described in claim 1, characterized in that, The cubic storage space is also equipped with multiple storage robots. The specific implementation of determining the optimal path in the sorting operation cost data is as follows: Obtain the current flow rate of the freight robot and the load of the storage robot; Based on the order information, determine which storage robot will be used for the outbound shipment of the target goods, and then move the storage robot to the set of paths for the three-dimensional sorting robot. Using the sorting operation cost data, the set of paths is sorted to select the target freight robot, the target storage robot, and the target three-dimensional sorting robot.

3. The three-dimensional sorting method as described in claim 2, characterized in that, The outbound method is determined based on the current load and / or request density and / or neighbor status dynamics of each cubic storage space (100), which storage robot will be used to outbound the target goods, and thus the target cubic storage space is selected.

4. The three-dimensional sorting method as described in claim 2, characterized in that, When the sorting robot's load exceeds a preset value, a queuing instruction is generated for the storage robot to temporarily store the target box in an empty space until the sorting robot's load falls below the preset value.

5. A three-dimensional sorting system, characterized in that, For implementing the three-dimensional sorting method according to any one of claims 1-4, comprising: Cube storage space (100); At least one movable sorting rack (2) is provided in the cubic storage space (100), and an identification device (3) and a plurality of sorting baskets (21) are provided on the sorting rack (2). The sorting rack (2) can be moved to any free unloading area, and a detection device (4) adapted to the identification device (3) is provided in the unloading area. The freight platform (11) is set up in the cubic storage space (100), and an import device capable of identifying and importing goods is set at the cargo entrance of the freight platform (11). At least one cargo robot (1) is capable of driving on the cargo platform (11) and the cargo robot (1) is capable of transporting the received goods to the designated unloading area for unloading. The three-dimensional sorting robot (5) installed in the cubic storage space (100) can sort unloaded goods into the baskets (21) of the movable sorting rack (2).

6. The three-dimensional sorting system as described in claim 5, characterized in that, The three-dimensional sorting robot (5) includes a vertical moving device (43), a horizontal moving device (42), and a flipping device, wherein the horizontal moving device (42) includes: A hollow rod (422) is fixed to the ground. The hollow rod (422) is horizontally installed and has an open end (4222). The two outer sides of the hollow rod (422) are provided with grooves (4221). The first synchronous pulley (424) and the second synchronous pulley are respectively rotatably fixed at both ends inside the hollow rod (422); A timing belt (423) connects the first timing pulley (424) and the second timing pulley; The servo motor (421) has its housing fixed to the hollow rod (422), and its shaft is connected to the central shaft of the first synchronous pulley (424) or the second synchronous pulley; The slider (425) is provided with a protrusion (4252) and a slide rail (4251). The protrusion (4252) can be inserted into the open end (4222) of the hollow rod (422) and is fixed with the timing belt (423). 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 set vertically and fixed to the slider (425) of the horizontal moving device (42).

7. The three-dimensional sorting system as described in claim 6, characterized in that, The flipping device includes: The conveyor frame (61) is fixed to the slider (425) of the vertical moving device (43); The housing of the first reducer (64) is fixed to the conveyor frame (61); The flip motor (62) has its housing fixed to the housing of the first reducer (64), and its shaft is fixed to the input shaft of the first reducer (64); A flip bracket (63) is fixed to the output shaft of the first reducer (64); A tilting tray (60) is fixed to the tilting bracket (63), and the tilting tray (60) can be used to hold or unload goods; The second reducer (66) has its housing fixed to the conveyor frame (61); The swing motor (67) has its housing fixed to the housing of the second reducer (66), and its shaft is fixed to the input shaft of the second reducer (66); The swing arm (65) has one end fixed to the output shaft of the second reducer (66) and the other end fixed to the housing of the first reducer (64); The rotation of the swing motor (67) can drive the flip tray (60) containing the goods to swing from outside the movable sorting shelf (2) to above the predetermined basket (21), and the rotation of the flip motor (62) can sort the unloaded goods into the basket (21).

8. The three-dimensional sorting system as described in claim 5, characterized in that, The identification device (3) is a QR code or barcode, and the detection device (4) is a camera; Alternatively, the identification device (3) may be an RFID electronic tag, and the detection device (4) may be a card reader.

9. The three-dimensional sorting system as described in claim 5, characterized in that, The cubic storage space (100) is a container.

10. The three-dimensional sorting system as described in claim 5, characterized in that, Multiple cubic storage spaces (100) are arranged sequentially from bottom to top. 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 cubic storage space (100) above through the opening (8).

11. The three-dimensional sorting system as described in claim 10, characterized in that, It also includes a storage robot (30), which includes a storage rack (34) and a task module (33) mobilely mounted on the storage rack (34), the task module being configured to place goods onto or remove them from a cargo robot that operates at the bottom of the storage rack; The lower part of the storage rack is equipped with at least one removable partition to provide operating space for the cargo robot.

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