Stereoscopic sorting control method, computer program product, readable medium and system

Abstract

The invention belongs to the technical field of warehouse logistics, and particularly relates to a three-dimensional sorting control method, a computer program product, a readable storage medium and a system. The three-dimensional sorting control method comprises the following steps that warehouse-out information is obtained, and an instruction of taking goods from a goods shelf where target goods are stored is executed through goods shelf track transmission equipment; a target goods shelf is matched, and goods taking is completed through connection of the movable conveying device and goods shelf rail conveying equipment on the target goods shelf; and according to the corresponding relation between the sorting information of the preset target goods and the sorting equipment, the goods are conveyed to the sorting equipment through the mobile transportation device.

Description

Technical Field

[0001] The present invention belongs to the technical field of warehousing and logistics, and specifically relates to a three-dimensional sorting control method, a computer program product, a computer-readable storage medium, and a three-dimensional sorting system. Background Art

[0002] In the field of warehousing and logistics technology, it is necessary to distribute cargo boxes or goods with different destinations to sorting areas in order to achieve the transfer or packaging of cargo boxes or goods with the same destination.

[0003] In the prior art, the method of sorting goods on an assembly line is often used. The specific operation process of this method of sorting goods on an assembly line is as follows: the boxes or goods on the shelves are removed one by one and fed into the assembly line one by one; multiple identification devices are respectively installed at different points on the assembly line, and the box or goods information corresponding to the assembly line point is preset in the identification devices; each piece of goods is monitored by multiple identification devices in sequence during the operation of the assembly line. When the identification device detects that the box or goods information of the box or goods corresponds to the assembly line point, the identification device transmits a command to the corresponding actuator, thereby moving the goods to the corresponding assembly line point for temporary storage and waiting for unified processing.

[0004] This approach has numerous drawbacks. First, it requires multiple identification devices on the assembly line, which is costly. Second, it is inefficient, as sorting speed is limited by the assembly line's operating speed. However, there is limited room for improvement in assembly line speed, and currently, it is impossible to improve sorting efficiency by simply increasing the assembly line. More importantly, traditional warehouses currently cannot fulfill goods-to-person orders, requiring the construction of sorting areas outside the warehouse, which wastes a significant amount of storage space. Summary of the Invention

[0005] In response to the technical problems described above, the present invention aims to provide a three-dimensional sorting control method, a computer program product, a computer-readable storage medium, and a three-dimensional sorting system.

[0006] According to the present invention, a three-dimensional sorting control method is proposed, comprising the following steps: Obtain outbound information and execute instructions to pick up goods from the shelf where the target goods are stored through the shelf track transmission equipment; Match the target shelf and complete the pickup by connecting the mobile transport device with the shelf track transmission equipment on the target shelf; According to the correspondence between the preset sorting information of the target goods and the sorting equipment, the goods are delivered to the sorting equipment through the mobile transport device.

[0007] In a specific embodiment, according to the correspondence between the preset sorting information of the target goods and the sorting equipment, the specific process of delivering the goods to the sorting equipment by the mobile transport device is as follows: The rack track transmission equipment moves the goods on the target rack to the mobile transport device; Get the sorting information of goods; The mobile transport device is controlled to move according to the sorting information of the goods, and the goods are sent to the corresponding sorting equipment.

[0008] In a specific embodiment, the sorting device is a three-dimensional sorting robot, and the specific process of delivering the goods to the corresponding sorting device is as follows: parsing sorting information of goods, wherein the sorting information carries a correspondence between the goods and the cargo baskets of the three-dimensional sorting robot; Find the corresponding relationship and obtain the coordinate value of the cargo basket; The coordinate values ​​are indexed and located, and the goods are delivered to the cargo basket.

[0009] In a specific embodiment, the sorting equipment is a platform sorting device, and a storage device is provided below the platform sorting device. The platform sorting device is used to deliver goods to the storage device and obtain information on whether the storage device is full. When the information that the storage device is full is obtained, the platform sorting device issues an instruction to replace the full storage device with an empty storage device.

[0010] According to the present invention, a computer program product containing instructions is also proposed. When the computer program product is run on an electronic device, the electronic device executes the three-dimensional sorting control method proposed in the present invention.

[0011] According to the present invention, a computer-readable storage medium is also proposed, comprising instructions. When the instructions are executed on an electronic device, the electronic device executes the three-dimensional sorting control method proposed in the present invention.

[0012] According to the present invention, a three-dimensional sorting system is also proposed, which is used to implement the three-dimensional sorting control method proposed according to the present invention, comprising: at least one shelf for storing goods; a shelf rail transport device provided on the shelf, the shelf rail transport device being configured to access goods located at any position on the shelf and obtain goods information of the goods, and to access goods on the mobile transport device; At least one mobile transport device is movably arranged on the sorting platform, and the mobile transport device is used to connect the goods to the sorting equipment.

[0013] In a specific embodiment, a track assembly is fixedly provided on the shelf, a column assembly is movably provided on the track assembly in a horizontal direction, and the shelf track transmission device is movably provided on the column assembly in a vertical direction.

[0014] In a specific embodiment, a support assembly is movably provided on the column assembly in a vertical direction, the rack track transmission device is provided on the support assembly, and the rack track transmission device is configured to be able to move goods between the rack, the support assembly and the mobile transport device.

[0015] In a specific embodiment, the sorting device is a three-dimensional sorting robot, and the three-dimensional sorting robot includes: A sorting rack, on which a plurality of cargo baskets are arranged; A transverse conveying device arranged horizontally relative to the sorting rack; A vertical conveying device movably arranged on the horizontal conveying device; An unloading device is movably arranged on the vertical conveying device.

[0016] In a specific embodiment, the sorting equipment is a platform sorting device, and the three-dimensional sorting system includes a plurality of storage devices arranged at different destinations, and each of the storage devices is connected to the sorting platform through a different platform sorting device.

[0017] In a specific embodiment, each of the mobile transport devices is configured to load one cargo or multiple cargoes with the same destination from the rack rail transmission equipment, and the rack rail transmission equipment and the mobile transport device are electrically connected with a control device. The control device is configured to transmit the cargo sorting information obtained by the rack rail transmission equipment to the mobile transport device, and the mobile transport device moves the cargo to the corresponding sorting device.

[0018] Compared with the prior art, the advantages of this application are as follows.

[0019] The present invention sets a shelf track transmission device on the shelf. The shelf track transmission device obtains cargo information of the goods while transporting the goods on the shelf to the mobile transport device. The control device controls the movement of the mobile transport device according to the cargo information obtained by the shelf track transmission device, and sends the goods on the mobile transport device to the sorting device corresponding to the cargo information. After the sorting is completed, the goods are packaged to realize the fulfillment of the goods-to-person contract.

[0020] The time period during which the shelf track transmission equipment moves the goods on the shelf to the mobile transport device coincides with the time period during which the shelf track transmission equipment obtains the goods information. On the one hand, this can save the time for subsequent separate acquisition of the goods information. On the other hand, only the shelf track transmission equipment is required to act as the identification device in the prior art, thereby reducing costs.

[0021] The mobile transport device is different from the assembly line. Each mobile transport device can move independently without being affected by each other. On the one hand, it improves work efficiency, and on the other hand, it prevents the situation where the failure of a certain mobile transport device affects the overall situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be described below with reference to the accompanying drawings.

[0023] Figure 1 A schematic flow chart of an embodiment of a three-dimensional sorting control method according to the present invention is shown; Figure 2 A schematic flow chart of an embodiment of a three-dimensional sorting control method according to the present invention is shown; Figure 3 A schematic flow chart of an embodiment of a three-dimensional sorting control method according to the present invention is shown; Figure 4 A schematic diagram showing an embodiment of a three-dimensional sorting system according to the present invention is shown; Figure 5 A schematic diagram showing an embodiment of a three-dimensional sorting robot according to the present invention is shown; Figure 6 A schematic diagram showing an embodiment of a shelf according to the present invention is shown; Figure 7 A schematic diagram of an embodiment of a control device according to the present invention is shown.

[0024] The reference numerals in the figures are as follows: 100, sorting platform; 101, collection platform; 102, shipping port; 103, storage device; 106, sorting station; 201, control device; 202, mobile transport device; 204, detection device; 1. Track assembly; 2. Column assembly; 3. Support assembly; 10. Shelf; 14. Shelf track transmission equipment; 20. Three-dimensional sorting robot; 21. Sorting rack; 22. Cargo basket; 42. Vertical conveying device; 43. Horizontal conveying device; 60. Unloading device; 1000. Three-dimensional sorting system.

[0025] 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

[0026] The present invention will be described below with reference to the accompanying drawings.

[0027] It should be noted that the directional terms and qualifiers "upper," "lower," "front," "rear," "left," and "right" used in this application are intended to refer to the accompanying drawings. They are not intended to limit the absolute positions of the components involved and may vary depending on the specific circumstances.

[0028] Example 1: According to the present invention, a three-dimensional sorting control method is provided, such as Figure 1 As shown, the following steps are included: S11: Obtain outbound information and execute the instruction to pick up the target goods from the shelf 10 where the target goods are stored through the shelf track transmission device 14; S12: Match the target shelf 10, and complete the pickup by connecting the mobile transport device 202 with the shelf track transmission device 14 on the target shelf 10; S13: According to the correspondence between the preset sorting information of the target goods and the sorting equipment, the goods are delivered to the sorting equipment by the mobile transport device 202 .

[0029] First, the correspondence between the sorting information of different goods and the sorting equipment is preset. In this embodiment, the correspondence between the sorting information of different goods and the sorting equipment is preset in the control device 201 .

[0030] Afterwards, each cargo is sent to the corresponding sorting equipment according to the sorting information of the cargo. In this embodiment, Figure 2 As shown, the specific steps include: S21: Control the rack track transmission device 14 to move the cargo boxes or goods on the rack 10 to the mobile transport device 202; S22: Obtaining sorting information of goods; S23: The control device 201 controls the movement of the mobile transport device 202 according to the sorting information of the goods, and sends the goods to the corresponding sorting equipment.

[0031] It should be noted that the sorting equipment can be a three-dimensional sorting robot 20, or a multi-layer platform sorting device. In actual order fulfillment, the flexible goods-to-arrival sorting system composed of the mobile transport device 202, the three-dimensional sorting robot 20, the shelves 10, and the shelf track transmission equipment 14 is highly efficient.

[0032] There are multiple ways for the rack track transport device 14 to obtain cargo information. Preferably, the cargo information is contained in the destination address information code. In some embodiments, each rack track transport device 14 or mobile transport device 202 includes a scanner (not shown) for scanning the destination address information code to obtain cargo information of the cargo. As mentioned above, the cargo information includes at least the sorting information of the cargo. The destination address information code can be a barcode, a QR code, a radio frequency tag, etc., and the corresponding rack track transport device 14 or mobile transport device 202 can be configured as a barcode scanning module, a QR code scanning module, a radio frequency identification module, etc. The mobile transport device 202 can be an autonomous guided vehicle (AGV).

[0033] Preferably, in addition to sorting information, cargo information may also include cargo volume, weight, and other information, which may be carried in the destination address information code. Alternatively, the rack track transmission device 14 may also include a scale, a volume scanner, etc., to obtain cargo weight, volume, and other information.

[0034] According to the present invention, to improve subsequent sorting efficiency, after the rack track conveyor 14 on multiple shelves 10 concurrently acquires cargo information for each item, the control device 201 analyzes and processes all acquired cargo information, obtains sorting information for each item, and controls multiple different mobile transport devices 202 to move to the vicinity of each shelf 10 to wait for the boxes or items from the rack track conveyor 14. After receiving the items, the multiple mobile transport devices 202 each move to the corresponding shipping port 102 and deliver their respective boxes or items to the corresponding sorting device located at the sorting station 106. After the rack track conveyor 14 delivers the items to the mobile transport device 202, it continues to move the remaining items on the shelf 10 and acquires cargo information. The control device 201 then controls the other mobile transport devices 202 to repeat the above actions.

[0035] like Figure 4 As shown, the sorting equipment is located at the sorting station 106 of the sorting platform 100. There are multiple sorting stations 106 and multiple delivery ports 102, and the sorting stations 106 and delivery ports 102 overlap (or are located in the same area). In this configuration, after the mobile transport device 202 receives a container or cargo and moves to the corresponding delivery port 102, it can simultaneously deliver the container or cargo to the corresponding sorting equipment located at the sorting station 106.

[0036] In the above description, after obtaining the sorting information for each item from each rack rail conveyor 14, the control device 201 analyzes and determines the transport path for each mobile transport device 202 based on the location of the shipping outlet 102 corresponding to each sorting information. The control device 201 then controls the mobile transport device 202 to transport each item along the obtained transport path to the shipping outlet 102 corresponding to the sorting information. After the mobile transport device 202 reaches the corresponding shipping outlet 102, it delivers the item to the sorting equipment. For example, a tiltable bucket (not shown) is mounted on the upper end of the mobile transport device 202. When the mobile transport device 202 is transporting items, the bucket is in a horizontal position; the bucket tilts, allowing the items to fall into the sorting equipment.

[0037] The control device 201 analyzes the transport paths of the goods in parallel. After completing the path analysis, the control device 201 can control multiple mobile transport devices 202 in parallel to complete the transport of multiple goods in parallel, thereby significantly improving efficiency.

[0038] According to the present invention, each mobile transport device 202 is used to load one cargo or multiple cargo boxes or cargoes with the same sorting information. Preferably, the mobile transport device 202 is used to transport one cargo at a time.

[0039] Example 2: On the basis of the first embodiment, the sorting device is specifically a three-dimensional sorting robot 20 , and the structure of the three-dimensional sorting robot 20 is described in detail below.

[0040] After the mobile transport device 202 delivers the goods into the unloading device 60 of the three-dimensional sorting robot 20, Figure 3 As shown, the following steps are included: S31: The three-dimensional sorting robot 20 analyzes the sorting information of the goods. The sorting information carries the correspondence between the goods and the cargo basket 22 of the three-dimensional sorting robot 20; S32: Find the corresponding relationship and obtain the coordinate value of the cargo basket 22; S33: Index the coordinate value and locate it, move the unloading device 60 to the coordinate position of the cargo basket 22 through the vertical conveying device 42 and the horizontal conveying device 43, and deliver the goods into the cargo basket 22 through the unloading device 60.

[0041] Example 3: On the basis of the first embodiment, the sorting device is specifically a platform sorting device, the specific structure of which is not shown in the figure. The specific structure of the platform sorting device is well known to those skilled in the art and will not be described in detail here. Figure 4 As shown, a storage device 103 is provided below the platform sorting device (sorting station 106 ), and the platform sorting device is configured to deliver goods into the corresponding storage device 103 .

[0042] like Figure 7 As shown, the three-dimensional sorting system further includes a detection device 204 , which is used to detect whether the storage device 103 is full and transmit the obtained information of whether the storage device 103 is full to the control device 201 .

[0043] After the mobile transport device 202 delivers the goods to the platform sorting device, the platform sorting device delivers the goods to the storage device 103. The detection device 204 obtains information on whether the storage device 103 is full. If the information is obtained that the storage device 103 is full, the control device 201 issues an instruction to replace the full storage device 103 with an empty one.

[0044] Example 4: The 3D sorting control methods of Examples 1 to 3 can be implemented via a computer program product containing instructions. When the computer program product is executed on an electronic device, the electronic device executes the 3D sorting control method described above. The electronic device can be a cloud server or a local area network control center, but is not limited to this.

[0045] Embodiment 5: The present invention also discloses a computer-readable storage medium comprising instructions, which, when executed on an electronic device, enable the electronic device to execute the above-mentioned three-dimensional sorting control method.

[0046] It should be noted that in Examples 1 to 3, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the process or function described in this application is executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive).

[0047] Those skilled in the art will appreciate that all or part of the process steps in the above-described embodiments can be implemented by a computer program instructing related hardware to perform the process steps, which can be stored in a computer-readable storage medium. When executed, the process steps can include the processes of each of the above-described embodiments. The aforementioned computer-readable storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

[0048] Example 6: like Figure 5 As shown, the three-dimensional sorting robot 20 includes a cargo basket 22, a vertical conveying device 42, a horizontal conveying device 43 and an unloading device 60.

[0049] A plurality of cargo baskets 22 are arranged in an array in a vertical plane. In a specific embodiment, the three-dimensional sorting robot includes a sorting rack 21, which is provided with multiple layers from bottom to top, and each layer is provided with a plurality of cargo baskets 22.

[0050] The vertical conveying device 42, the transverse conveying device 43, and the unloading device 60 are all arranged on the sides of the cargo baskets 22. The transverse conveying device 43 is arranged horizontally. The vertical conveying device 42 is arranged vertically and is movably mounted on the transverse conveying device 43. The unloading device 60 is movably mounted on the vertical conveying device 42. In this arrangement, the vertical conveying device 42 and the transverse conveying device 43 cooperate to move the unloading device 60 to the coordinate position of each cargo basket 22.

[0051] Embodiment seven: Figure 4 The structure of the three-dimensional sorting system 1000 is shown. Figure 6 The structure of the shelf 10 is shown. Figure 7 The electrical connection structure of the control device 201 is shown. Figure 4 、 Figure 6 and Figure 7 As shown, the three-dimensional sorting system 1000 includes a sorting platform 100, a storage device 103, a mobile transportation device 202, a sorting device, a shelf 10, a shelf track transmission device 14 and a control device 201.

[0052] In this embodiment, the upper surface of the sorting platform 100 is configured as a plane, which can be configured in various shapes, such as a quadrilateral, a circle, a polygon, etc. In this embodiment, the sorting platform 100 is configured as a quadrilateral. The sorting platform 100 is used to provide a moving space for the mobile transport device 202.

[0053] At least one shelf 10 and a sorting device are provided on the sorting platform 100. The positions of the shelf 10 and the sorting device (sorting station 106) on the sorting platform 100 are not limited to Figure 4 The locations shown can be deployed according to the actual warehouse type and business needs.

[0054] The present embodiment provides only some specific implementation methods and is not intended to limit the scope of protection of the present invention. Those skilled in the art may make adaptive changes according to actual conditions.

[0055] In this embodiment, multiple storage devices 103 are respectively arranged at the lower part of the sorting platform 100 corresponding to the sorting equipment. When the goods are transported to the sorting equipment on the sorting platform 100 through the mobile transport device 202, the sorting equipment sorts the goods and then puts them into the corresponding storage device 103.

[0056] The mobile transport device 202 is movably provided on the sorting platform 100, and is used to move on the sorting platform 100 to transport goods. The number of the mobile transport devices 202 can be increased or decreased according to actual conditions.

[0057] The rack rail transport device 14 is disposed on the rack 10 and is configured to access a container or cargo placed at any location on the rack 10 and obtain cargo information about the container or cargo. After the rack rail transport device 14 removes the cargo from the rack 10, it can move the cargo to the mobile transport device 202.

[0058] The rack rail transport device 14 can be a component capable of one or more tasks, such as identification, extraction, playback, and grasping. The specific structure of the rack rail transport device 14 is well known to those skilled in the art. For example, the rack rail transport device 14 can be configured as a push-pull container module to facilitate actions such as cargo extraction and playback. This push-pull container module includes a support structure (such as a loading and unloading rack) and a conveyor assembly (such as a conveyor belt driven by a conveyor motor). The rack rail transport device 14 also includes a device for identifying cargo information, such as a scanner.

[0059] The control device 201 can send an execution instruction carrying order information to the shelf track transmission device 14 and the mobile transportation device 202.

[0060] The rack rail transport device 14 removes boxes or goods from the rack 10 and moves them to the mobile transport device 202. During this process, the rack rail transport device 14 obtains cargo information (e.g., at least sorting information). The control device 201 controls the movement of the mobile transport device 202 based on the cargo information obtained by the rack rail transport device 14, delivering the cargo to the sorting device corresponding to the cargo information. Finally, the sorting device delivers the cargo to the corresponding storage device 103.

[0061] In a specific embodiment, a plurality of storage devices 103 are respectively set at different destinations, corresponding to different cargo information. The cargo information includes cargo sorting information.

[0062] The control device 201 presets the correspondence between the cargo information and each destination and / or each storage device 103 (or sorting equipment), so that the control device 201 can control the mobile transport device 202 according to the cargo information to move it to the correct location.

[0063] In one specific embodiment, during a single transport operation of the mobile transport device 202 , the mobile transport device 202 may load one or more items of the same type (SKU) from the rack track conveyor 14 . In this case, the control device 201 transmits the item sorting information obtained from the rack track conveyor 14 to the mobile transport device 202 . The mobile transport device 202 then moves the items to the corresponding sorting device, thereby ensuring that the items arrive at the corresponding storage device 103 .

[0064] According to the present invention, in a preferred embodiment, the three-dimensional sorting system includes a detection device 204. The detection device 204 is used to detect whether the storage device 103 is full and transmit the obtained information on whether the storage device 103 is full to the control device 201. The control device 201 issues an instruction to move the full storage device 103 and promptly place an empty storage device 103.

[0065] Furthermore, a transfer device (not shown) can be provided to handle full storage devices. Various options are available for the transfer device. For example, the transfer device can be configured as an intelligent robot or a large self-guided vehicle. Storage device 103 is mounted on the transfer device, which can move and load and unload cargo in response to control commands from control device 201. The specific structures of detection device 204 and the transfer device are well known to those skilled in the art and will not be described in detail here.

[0066] In a preferred embodiment, the storage device 103 is located below the sorting platform 100. Under this setting, after the goods on the sorting platform 100 enter the sorting device, they can automatically enter the storage device 103 along the sorting device under the action of gravity.

[0067] Furthermore, a collection platform 101 is provided below the sorting platform 100. The upper surface of the collection platform 101 is flat, and each storage device 103 is located on the collection platform 101. This arrangement provides support for the storage devices 103 and facilitates their movement, allowing the transfer device to easily transfer filled storage devices 103.

[0068] In this embodiment, the collecting platform 101 can be configured in various shapes. Preferably, the collecting platform 101 and the sorting platform 100 have substantially the same shape.

[0069] According to the present invention, the rack track transport device 14 can obtain cargo information of goods in a variety of ways. Preferably, the cargo information is contained in a destination address information code. The destination address information code is set on the goods. Each rack track transport device 14 includes a scanner (not shown in the figure) for scanning the destination address information code to obtain the cargo information of the goods. As mentioned above, the cargo information includes at least the sorting information of the goods. The destination address information code can be a barcode, a QR code, a radio frequency tag, etc., and the corresponding scanning module of the rack track transport device 14 can be a barcode scanner, a QR code scanner, a radio frequency identifier, etc. The mobile transport device 202 can be an autonomous guided vehicle (AGV).

[0070] Preferably, in addition to the sorting information, the cargo information may also include cargo volume, weight, and other information, which may be carried in the destination address information code. Alternatively, the rack track transmission device 14 may also include a weighing device, a volume scanner, and the like.

[0071] According to the present invention, to improve subsequent sorting efficiency, after the rack track conveyor 14 on multiple shelves 10 concurrently acquires cargo information for each item, the control device 201 analyzes and processes all acquired cargo information, obtains sorting information for each item, and controls multiple different mobile transport devices 202 to move to the vicinity of each shelf 10 to wait for the boxes or items from the rack track conveyor 14. After receiving the items, the multiple mobile transport devices 202 each move to the corresponding shipping port 102 and deliver their respective boxes or items to the corresponding sorting device located at the sorting station 106. After the rack track conveyor 14 delivers the items to the mobile transport device 202, it continues to move the remaining items on the shelf 10 and acquires cargo information. The control device 201 then controls the other mobile transport devices 202 to repeat the above actions.

[0072] In the above description, after obtaining the sorting information for each item from each rack rail conveyor 14, the control device 201 analyzes and determines the transport path for each mobile transport device 202 based on the location of the shipping outlet 102 corresponding to each sorting information. The control device 201 then controls the mobile transport device 202 to transport each item along the obtained transport path to the shipping outlet 102 corresponding to the sorting information. After the mobile transport device 202 reaches the corresponding shipping outlet 102, it delivers the item to the sorting equipment. For example, a tiltable bucket (not shown) is mounted on the upper end of the mobile transport device 202. When the mobile transport device 202 is transporting items, the bucket is in a horizontal position; the bucket tilts, allowing the items to fall into the sorting equipment.

[0073] The control device 201 analyzes the transport paths of the goods in parallel. After completing the path analysis, the control device 201 can control multiple mobile transport devices 202 in parallel to transport multiple goods in parallel, thereby significantly improving sorting efficiency.

[0074] According to the present invention, each mobile transport device 202 is used to load one cargo or multiple cargo boxes or cargoes with the same sorting information. Preferably, the mobile transport device 202 is used to transport one cargo at a time.

[0075] In a specific embodiment, Figure 6 As shown, a track assembly 1 is fixedly mounted on a shelf 10, a column assembly 2 is movably mounted horizontally on the track assembly 1, and a shelf track conveyor 14 is movably mounted vertically on the column assembly 2. The track assembly 1 extends horizontally across the entire shelf 10, and the column assembly 2 can pass through the entire shelf 10 as it moves horizontally along the track assembly 1. The column assembly 2 extends vertically across the entire shelf 10, and the shelf track conveyor 14 can pass through the entire shelf 10 as it moves vertically along the column assembly 2. In this configuration, the shelf track conveyor 14 can access boxes or goods at any location on the shelf 10.

[0076] Furthermore, a support assembly 3 is mounted on the column assembly 2 in a vertically movable manner. A rack rail transport device 14 is mounted on the support assembly 3 and is configured to move cargo between the rack 10, the support assembly 3, and the mobile transport device 202. In other words, the support assembly 3 can temporarily support cargo. The support assembly 3 can be configured in various shapes, such as a flat plate.

[0077] In other embodiments of the present invention, the rack rail transport device 14 may include other components. Connectors may be provided based on the specific functions of the rack rail transport device 14 to interconnect the multiple components. The specific structure of the rack rail transport device 14 is not limited to the specific implementation provided in this embodiment.

[0078] According to the present invention, in a specific embodiment, after the rack rail conveyor 14 moves the cargo boxes or goods on the shelf 10 onto the support assembly 3, the support assembly 3 and the rack rail conveyor 14 move downward along the column assembly 2 until the lower end surface of the cargo boxes or goods on the support assembly 3 is flush with or slightly higher than the top of the mobile transport device 202. At this time, the mobile transport device 202 is located on the side of the support assembly 3 away from the shelf 10, and the rack rail conveyor 14 pushes the cargo boxes or goods on the support assembly 3 toward the mobile transport device 202, thereby moving the cargo boxes or goods on the support assembly 3 to the mobile transport device 202, completing the transfer of the goods from the shelf 10 to the mobile transport device 202.

[0079] According to the present invention, in a specific embodiment, the rack rail conveying device 14 is configured not to directly move the cargo box or cargo on the support assembly 3 to the mobile transport device 202. In this embodiment, the bottom layer of the shelf 10 is set as a docking position (not shown in the figure), and the docking position is configured to include two support rods to support the left and right sides of the lower end of the cargo. After the rack rail conveying device 14 moves the cargo box or cargo on the shelf 10 onto the support assembly 3, the support assembly 3 and the rack rail conveying device 14 move downward along the column assembly 2 until the lower end surface of the cargo box or cargo on the support assembly 3 is flush with or slightly higher than the top of the docking position. At this time, the rack rail conveying device 14 pushes the cargo box or cargo on the support assembly 3 to move toward the docking position, thereby moving the cargo box or cargo on the support assembly 3 to the docking position. The mobile transport device 202 includes a lifting mechanism. The mobile transport device 202 moves to the bottom of the docking position, specifically between the two support rods of the docking position. Then the lifting mechanism of the mobile transport device 202 rises, lifting the cargo box or cargo on the docking position to the support rod that is separated from the docking position. Then the mobile transport device 202 moves the cargo out of the docking position from the opening along the horizontal direction, completing the transfer of the cargo from the shelf 10 to the mobile transport device 202.

[0080] It is easy to understand that the specific structure of the docking station is well known to those skilled in the art and will not be described in detail here. The mobile transport device 202 can be an AGV (Automated Guided Vehicle), commonly also called an AGV cart; or an AMR (Autonomous Mobile Robot), both of which are well known to those skilled in the art and will not be described in detail here.

[0081] In a preferred embodiment, the rack rail transport device 14 includes a first container (not shown) and a second container (not shown). The first container is used to store and retrieve cargo boxes or goods on the rack 10, and the second container is used to store and retrieve cargo boxes or goods on the mobile transport device 202. The cargo boxes or goods in the first and second containers can be at least partially transferred to each other. In this arrangement, when there are multiple cargo boxes or goods on the rack 10, after the first container transfers the cargo boxes or goods from the rack 10 to the first container, the first and second containers transfer some of the cargo boxes or goods from the first container to the second container based on the actual required quantity. Finally, the second container transfers the cargo boxes or goods to the mobile transport device 202. The specific structure of the rack rail transport device 14, including the first and second containers, is well known to those skilled in the art and will not be described in detail here.

[0082] It should be noted that, in this application, "goods" specifically refers to ordered goods, and "cargo box" specifically refers to the container used to hold the goods. In the description of this specification, "goods" and "cargo box" can be used interchangeably.

[0083] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0084] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0085] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and does not constitute any limitation to the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A three-dimensional sorting control method, characterized in that: The steps include: Obtaining outbound information and executing instructions to pick up goods from the shelf (10) where the target goods are stored through the shelf track transmission device (14); Matching the target shelf (10), and completing the picking of goods by connecting the mobile transport device (202) with the shelf track transmission equipment on the target shelf; According to the correspondence between the preset sorting information of the target goods and the sorting equipment, the goods are delivered to the sorting equipment via the mobile transport device (202).

2. The three-dimensional sorting control method according to claim 1, characterized in that: According to the correspondence between the preset sorting information of the target goods and the sorting equipment, the specific process of delivering the goods to the sorting equipment by the mobile transport device (202) is as follows: The rack rail transmission device (14) moves the goods on the target rack (10) to the mobile transport device (202); Get the sorting information of goods; The mobile transport device (202) is controlled to move according to the sorting information of the goods, and the goods are sent to the corresponding sorting equipment.

3. The three-dimensional sorting control method according to claim 2, characterized in that: The sorting device is a three-dimensional sorting robot (20). The specific process of sending the goods into the corresponding sorting device is as follows: Analyzing sorting information of goods, the sorting information carries a corresponding relationship between the goods and the cargo basket (22) of the three-dimensional sorting robot; Searching for the corresponding relationship and obtaining the coordinate value of the cargo basket (22); The coordinate values ​​are indexed and located, and the goods are delivered to the cargo basket (22).

4. The three-dimensional sorting control method according to claim 2, characterized in that: The sorting device is a platform sorting device, and a storage device (103) is provided below the platform sorting device. The platform sorting device is used to deliver goods to the storage device (103) and obtain information on whether the storage device (103) is full; when the information that the storage device (103) is full is obtained, the platform sorting device issues an instruction to replace the full storage device (103) with an empty storage device (103).

5. A computer program product comprising instructions, characterized in that When the computer program product is run on an electronic device, the electronic device is enabled to execute the three-dimensional sorting control method according to any one of claims 1 to 4.

6. A computer-readable storage medium, characterized in that The invention comprises instructions, which, when executed on an electronic device, enable the electronic device to execute the three-dimensional sorting control method according to any one of claims 1 to 4.

7. A three-dimensional sorting system, characterized in that: A method for implementing a three-dimensional sorting control method according to any one of claims 1 to 4, comprising: at least one shelf (10) for storing goods; a shelf rail transport device (14) provided on the shelf (10), the shelf rail transport device (14) being configured to be able to access goods located at any position on the shelf (10) and obtain goods information of the goods, and to be able to access goods on the mobile transport device (202); At least one mobile transport device (202) is movably arranged on the sorting platform (100), and the mobile transport device (202) is used to connect goods to the sorting equipment.

8. The three-dimensional sorting system according to claim 7, characterized in that: A track assembly (1) is fixedly arranged on the shelf (10), a column assembly (2) is movably arranged on the track assembly (1) in a horizontal direction, and the shelf track transmission device (14) is movably arranged on the column assembly (2) in a vertical direction.

9. The three-dimensional sorting system according to claim 8, characterized in that: A support assembly (3) is movably arranged on the column assembly (2) in a vertical direction, and the shelf track transmission device (14) is arranged on the support assembly (3). The shelf track transmission device (14) is configured to be able to move goods between the shelf (10), the support assembly (3) and the mobile transport device (202).

10. The three-dimensional sorting system according to claim 7, characterized in that: The sorting device is a three-dimensional sorting robot (20), and the three-dimensional sorting robot (20) comprises: A sorting rack (21), wherein a plurality of cargo baskets (22) are provided on the sorting rack (21); A transverse conveying device (43) arranged horizontally relative to the sorting rack (21); A vertical conveying device (42) movably arranged on the horizontal conveying device (43); An unloading device (60) is movably arranged on the vertical conveying device (42).

11. The three-dimensional sorting system according to claim 7, characterized in that: The sorting equipment is a platform sorting device, and the three-dimensional sorting system includes a plurality of storage devices (103) arranged at different destinations, and each of the storage devices (103) is connected to the sorting platform (100) via a different platform sorting device.

12. The three-dimensional sorting system according to claim 7, characterized in that: Each of the mobile transport devices (202) is configured to load one or more goods with the same destination from the rack track transmission device (14). The rack track transmission device (14) and the mobile transport device (202) are electrically connected to a control device (201). The control device (201) is configured to transmit the goods sorting information obtained by the rack track transmission device (14) to the mobile transport device (202), and the mobile transport device (202) moves the goods to the corresponding sorting device.

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