Stereo sort control method, computer program product, readable medium and system

Abstract

The present application 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: obtaining delivery information, executing an instruction of taking goods from a goods shelf where target goods are stored through a goods shelf track transmission device; matching the target goods shelf, completing the taking of goods through the connection of a mobile transportation device and the goods shelf track transmission device on the target goods shelf; and according to a preset correspondence relationship between the sorting information of the target goods and the sorting device, sending the goods to the sorting device through the mobile transportation device.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of warehouse logistics, and particularly relates to a three-dimensional sorting control method, a computer program product, a computer readable storage medium and a three-dimensional sorting system. BACKGROUND

[0002] In the technical field of warehouse logistics, it is necessary to distribute the boxes or goods with different destinations to the sorting area to realize the transfer or packaging of the boxes or goods with the same destination.

[0003] In the prior art, the method of sorting goods on a flow line is often used. The specific operation process of this method of sorting goods on a flow line is as follows: the boxes or goods on the shelves are taken out one by one and sent into the flow line one by one; a plurality of identification devices are arranged at different points of the flow line, and the box or goods information corresponding to the flow line point is preset in the identification device; each goods is monitored by the plurality of identification devices in the process of running on the flow line, and when the identification device detects that the box or goods information of the box or goods corresponds to the flow line point, the identification device transmits an instruction to the corresponding execution mechanism, so as to move the goods to the corresponding flow line point for temporary storage, waiting for unified processing.

[0004] The above method has many shortcomings. First, a plurality of identification devices need to be arranged on the flow line, which is high in cost. Second, the efficiency is very low, and the sorting speed will be limited by the running speed of the flow line, but the improvement space of the flow line running speed is limited, and it is currently impossible to improve the efficiency of goods sorting by improving the flow line. More importantly, at present, the order fulfillment business of goods to people cannot be completed in the traditional warehouse, and a sorting area needs to be built outside the warehouse, which wastes a large amount of warehouse space. SUMMARY

[0005] In view of the above technical problems, the present application 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 application, a three-dimensional sorting control method is provided, comprising the following steps:

[0007] Obtaining the outbound information, and executing the instruction of taking goods from the target goods stored in the shelves by the shelf track transmission equipment;

[0008] Matching the target shelves, and completing the taking of goods by the mobile transportation device and the shelf track transmission equipment on the target shelves;

[0009] According to the preset correspondence between the sorting information of the target goods and the sorting equipment, the goods are sent to the sorting equipment by the mobile transportation device.

[0010] In a specific embodiment, according to the preset correspondence between the sorting information of the target goods and the sorting device, the goods are sent to the sorting device by the mobile transport device in the following specific process:

[0011] The goods on the target shelf are moved to the mobile transport device by the shelf track conveying device;

[0012] The sorting information of the goods is acquired;

[0013] The mobile transport device is controlled to move according to the sorting information of the goods, and the goods are sent into the corresponding sorting device.

[0014] In a specific embodiment, the sorting device is a stereoscopic sorting robot, and the specific process of sending the goods into the corresponding sorting device is as follows:

[0015] The sorting information of the goods is analyzed, and the sorting information carries the correspondence between the goods and the baskets of the stereoscopic sorting robot;

[0016] The correspondence is searched to acquire the coordinate value of the basket;

[0017] The coordinate value is indexed and positioned, and the goods are delivered to the basket.

[0018] In a specific embodiment, the sorting device is a platform sorting device, and a storage device is arranged below the platform sorting device. The platform sorting device is used to send the goods into the storage device and acquire information whether the storage device is full. When the information that the storage device is full is acquired, the platform sorting device issues an instruction to replace the full storage device with an empty storage device.

[0019] According to the present application, a computer program product containing instructions is also proposed, which, when running on an electronic device, causes the electronic device to perform the stereoscopic sorting control method according to the present application.

[0020] According to the present application, a computer readable storage medium containing instructions is also proposed, which, when running on an electronic device, causes the electronic device to perform the stereoscopic sorting control method according to the present application.

[0021] According to the present application, a stereoscopic sorting system is also proposed, which is used to implement the stereoscopic sorting control method according to the present application, and includes:

[0022] At least one shelf for storing goods;

[0023] A shelf track conveying device arranged on the shelf, the shelf track conveying device being configured to access a cargo at any position on the shelf and obtain cargo information of the cargo, and to access a cargo on the mobile conveying device;

[0024] At least one mobile conveying device movably arranged on the sorting platform, the mobile conveying device being used to connect the cargo to the sorting device.

[0025] In one specific embodiment, a track assembly is fixedly arranged on the shelf, a column assembly is movably arranged on the track assembly in a horizontal direction, and the shelf track conveying device is movably arranged on the column assembly in a vertical direction.

[0026] In one specific embodiment, a support assembly is movably arranged on the column assembly in a vertical direction, and the shelf track conveying device is arranged on the support assembly, the shelf track conveying device being configured to move the cargo between the shelf, the support assembly and the mobile conveying device.

[0027] In one specific embodiment, the sorting device is a three-dimensional sorting robot, the three-dimensional sorting robot comprising:

[0028] A sorting rack, a plurality of cargo baskets being arranged on the sorting rack;

[0029] A transverse conveying device arranged horizontally relative to the sorting rack;

[0030] A vertical conveying device movably arranged on the transverse conveying device;

[0031] An unloading device movably arranged on the vertical conveying device.

[0032] In one specific embodiment, the sorting device is a platform sorting device, the three-dimensional sorting system comprising a plurality of receiving devices arranged at different destinations, each of the receiving devices being connected to the sorting platform through a different platform sorting device.

[0033] In one specific embodiment, each of the mobile conveying devices is arranged to load one cargo or a plurality of cargos with the same destination from the shelf track conveying device, the shelf track conveying device and the mobile conveying device being electrically connected to a control device, the control device being configured to transmit the cargo sorting information obtained by the shelf track conveying device to the mobile conveying device, and the mobile conveying device moving the cargo into the corresponding sorting device.

[0034] Compared with the prior art, the application has the following advantages.

[0035] The present application sets a shelf track conveying device on a shelf, the shelf track conveying device obtains the goods information of the goods on the shelf while conveying the goods on the shelf to the mobile conveying device, the control device controls the mobile conveying device to move according to the goods information obtained by the shelf track conveying device, and sends the goods on the mobile conveying device into the sorting device corresponding to the goods information, and then packs after sorting, realizing goods-to-person fulfillment.

[0036] The time when the shelf track conveying device conveys the goods on the shelf to the mobile conveying device coincides with the time when the shelf track conveying device obtains the goods information, which can save the time of separately obtaining the goods information, and only needs the shelf track conveying device to serve as the identification device in the prior art, thereby reducing the cost.

[0037] The mobile conveying device is different from the assembly line, and each mobile conveying device can move separately and is not affected by each other, which improves the work efficiency and avoids the situation that the failure of one mobile conveying device affects the whole. BRIEF DESCRIPTION OF DRAWINGS

[0038] The present application will be described below with reference to the drawings.

[0039] Figure 1 A flowchart showing one embodiment of the stereoscopic sorting control method according to the present application is shown;

[0040] Figure 2 A flowchart showing one embodiment of the stereoscopic sorting control method according to the present application is shown;

[0041] Figure 3 A flowchart showing one embodiment of the stereoscopic sorting control method according to the present application is shown;

[0042] Figure 4 A schematic diagram showing one embodiment of the stereoscopic sorting system according to the present application is shown;

[0043] Figure 5 A schematic diagram showing one embodiment of the stereoscopic sorting robot according to the present application is shown;

[0044] Figure 6 A schematic diagram showing one embodiment of the shelf according to the present application is shown;

[0045] Figure 7 A schematic diagram showing one embodiment of the control device according to the present application is shown.

[0046] The reference signs in the drawings are as follows:

[0047] 100, sorting platform; 101, collection platform; 102, delivery outlet; 103, storage device; 106, sorting station; 201, control device; 202, mobile transport device; 204, detection device;

[0048] 1, track assembly; 2, column assembly; 3, support assembly; 10, shelf; 14, shelf track conveying device;

[0049] 20, stereoscopic sorting robot; 21, sorting frame; 22, cargo basket; 42, vertical conveying device; 43, horizontal conveying device; 60, unloading device;

[0050] 1000, stereoscopic sorting system.

[0051] In this application, all the drawings are schematic drawings, only for explaining the principles of the application, and are not drawn in actual proportion. DETAILED DESCRIPTION

[0052] The application will be described below by the drawings.

[0053] It should be noted that the directional phrases or limiting words "up", "down", "front", "back", "left", "right" and the like used in this application are with reference to the drawings. They are not used to define the absolute position of the parts involved, but can be changed according to the specific situation.

[0054] Example one:

[0055] According to the application, a stereoscopic sorting control method is provided, as shown in Figure 1 The steps include:

[0056] S11: Obtain the delivery information, and execute the instruction of taking the target goods from the shelf 10 where the target goods are stored through the shelf track conveying device 14;

[0057] S12: Match the target shelf 10, and complete the taking of goods by connecting the mobile transport device 202 with the shelf track conveying device 14 on the target shelf 10;

[0058] S13: According to the preset correspondence between the sorting information of the target goods and the sorting device, the goods are sent to the sorting device by the mobile transport device 202.

[0059] First, the correspondence between the sorting information of different goods and the sorting device is preset, in this embodiment, the correspondence between the sorting information of different goods and each sorting device is preset in the control device 201.

[0060] Then, according to the sorting information of the goods, each goods is sent to the corresponding sorting device, in this embodiment, as shown in Figure 2As shown, specifically comprising the following steps:

[0061] S21: controlling the goods shelf track conveying device 14 to move the goods box or goods on the goods shelf 10 to the mobile conveying device 202;

[0062] S22: obtaining the sorting information of the goods;

[0063] S23: controlling the mobile conveying device 202 to move according to the sorting information of the goods, and sending the goods into the corresponding sorting device.

[0064] It should be noted that the sorting device can be a three-dimensional sorting robot 20, or a multi-layer platform sorting device. In actual order fulfillment, the mobile conveying device 202, the three-dimensional sorting robot 20, the goods shelf 10 and the goods shelf track conveying device 14 form a flexible goods-to-sorting system with high efficiency.

[0065] The goods shelf track conveying device 14 can obtain the goods information in various ways. Preferably, the goods information is contained in the destination address information code. In some embodiments, each goods shelf track conveying device 14 or mobile conveying device 202 comprises a scanner (not shown in the figure) for scanning the destination address information code to obtain the goods information of the goods, wherein the goods information at least comprises the sorting information of the goods, as described above. The destination address information code can be a bar code, a two-dimensional code, a radio frequency tag, etc., and the corresponding goods shelf track conveying device 14 or mobile conveying device 202 can be configured as a bar code scanning module, a two-dimensional code scanning module, a radio frequency identification module, etc. The mobile conveying device 202 can be an AGV.

[0066] Preferably, in addition to the sorting information, the goods information can also include the volume and weight of the goods, etc., which can be carried in the destination address information code. Alternatively, the goods shelf track conveying device 14 can also comprise a weighter, a volume scanner, etc., for obtaining the weight and volume of the goods, etc.

[0067] According to the present application, in order to improve the subsequent sorting efficiency, after the goods information of each goods is obtained by the goods shelf track conveying device 14 on the plurality of goods shelves 10 in parallel, the control device 201 is used to complete the analysis and processing of all the obtained goods information, to obtain the sorting information of each goods, and to control the plurality of different mobile conveying devices 202 to move to the vicinity of each goods shelf 10 respectively to wait for the goods box or goods from the goods shelf track conveying device 14. After the plurality of mobile conveying devices 202 receive the goods, they are moved to the corresponding delivery port 102 respectively, and the corresponding goods box or goods is sent into the sorting device located at the sorting station 106. After the goods shelf track conveying device 14 sends the goods to the mobile conveying device 202, the remaining goods on the goods shelf 10 are continued to be carried and the goods information is obtained, and the control device 201 controls the other mobile conveying devices 202 to repeat the above-mentioned actions again.

[0068] As shown in Figure 4 The sorting device is located at the sorting station 106 of the sorting platform 100. The sorting station 106 and the delivery port 102 are provided with a plurality of sorting stations 106 and delivery ports 102, and the sorting station 106 and the delivery port 102 coincide (or are located in the same area). Under this arrangement, after the mobile conveying device 202 receives the goods box or goods, it can move to the corresponding delivery port 102, and at the same time, the corresponding goods box or goods can be sent into the sorting device located at the sorting station 106.

[0069] In the above-mentioned, after the control device 201 obtains the sorting information of each goods of each goods shelf track conveying device 14, the conveying path of each mobile conveying device 202 is analyzed according to the position of the delivery port 102 corresponding to each sorting information, and the mobile conveying device 202 is controlled to convey each goods to the delivery port 102 corresponding to the sorting information according to the obtained conveying path. After the mobile conveying device 202 moves to the corresponding delivery port 102, the goods is sent to the sorting device. For example, a tiltable hopper (not shown in the figure) is installed at the upper end of the mobile conveying device 202, and during the conveying of the goods, the hopper is in a horizontal state; the hopper is tilted, and the goods falls into the sorting device.

[0070] The analysis of the conveying path of each goods by the control device 201 is carried out in parallel. After the path analysis is completed, the control device 201 can control a plurality of mobile conveying devices 202 in parallel, and complete the conveying of a plurality of goods in parallel, thereby significantly improving the efficiency.

[0071] According to the present application, each mobile conveying device 202 is used to load one goods or a plurality of goods boxes or goods with the same sorting information. Preferably, the mobile conveying device 202 is used to convey one goods at a time.

[0072] Embodiment two:

[0073] On the basis of the embodiment one, the sorting device is specifically a stereoscopic sorting robot 20, and the structure of the stereoscopic sorting robot 20 is specifically shown as follows.

[0074] After the mobile transport device 202 sends the goods into the unloading device 60 of the stereoscopic sorting robot 20, as shown in the figure, the following steps are included: Figure 3

[0075] S31: The stereoscopic sorting robot 20 analyzes the sorting information of the goods, and the sorting information carries the corresponding relationship between the goods and the goods basket 22 of the stereoscopic sorting robot 20.

[0076] S32: The corresponding relationship is found to obtain the coordinate value of the goods basket 22.

[0077] S33: The coordinate value is indexed and positioned, the unloading device 60 is moved to the coordinate position where the goods basket 22 is located through the vertical conveying device 42 and the horizontal conveying device 43, and the goods are delivered into the goods basket 22 through the unloading device 60.

[0078] Embodiment three:

[0079] On the basis of the embodiment one, the sorting device is specifically a platform sorting device, and the specific structure of the platform sorting device is not shown in the figure, and the specific structure of the platform sorting device is well known to those skilled in the art, and will not be described here. As shown in the figure, Figure 4 The platform sorting device is configured to send the goods into the corresponding storage device 103.

[0080] As shown in the figure, Figure 7 The stereoscopic sorting system further includes a detection device 204, which is used to detect whether the storage device 103 is full, and to transmit the obtained information whether the storage device 103 is full to the control device 201.

[0081] After the mobile transport device 202 sends the goods into the platform sorting device, the platform sorting device sends the goods into the storage device 103. The detection device 204 obtains the information whether the storage device 103 is full, and when the information that the storage device 103 is full is obtained, the control device 201 issues an instruction to replace the full storage device 103 with an empty storage device 103.

[0082] Embodiment four:

[0083] The stereoscopic sorting control method of the embodiments one to three can be realized by a computer program product containing instructions, when the computer program product runs on an electronic device, the electronic device executes the above-mentioned stereoscopic sorting control method. The electronic device can be a cloud server or a local area network control center, and is not limited. ​

[0084] Example 5:

[0085] The present invention also discloses a computer-readable storage medium including instructions that, when executed on an electronic device, cause the electronic device to perform the three-dimensional sorting control method described above.

[0086] It should be noted that in Embodiments 1 to 3, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially 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, all or part of the process or function described in this application is executed. 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. 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 wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk).

[0087] Those skilled in the art will understand that implementing all or part of the processes in the methods of the above embodiments can be accomplished by a computer program instructing related hardware. The processes can be stored in a computer-readable storage medium, and when executed, they can include the processes of the above 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.

[0088] Example 6:

[0089] like Figure 5 As shown, the three-dimensional sorting robot 20 includes a basket 22, a vertical conveying device 42, a horizontal conveying device 43, and an unloading device 60.

[0090] Multiple baskets 22 are arranged in an array in a vertical plane. In one specific embodiment, the three-dimensional sorting robot includes a sorting rack 21, which has multiple layers from bottom to top, and each layer has multiple baskets 22.

[0091] The vertical conveying device 42, the horizontal conveying device 43 and the unloading device 60 are arranged at the side of the cargo basket 22. Among them, the horizontal conveying device 43 is arranged in the horizontal direction. The vertical conveying device 42 is arranged in the vertical direction and is movably arranged on the horizontal conveying device 43. The unloading device 60 is movably arranged on the vertical conveying device 42. In this arrangement, through the cooperation of the vertical conveying device 42 and the horizontal conveying device 43, the unloading device 60 can be moved to the coordinate position where each cargo basket 22 is located.

[0092] Embodiment seven:

[0093] Figure 4 The structure of the stereoscopic 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. As shown in Figure 4 、 Figure 6 and Figure 7 The stereoscopic sorting system 1000 includes a sorting platform 100, a storage device 103, a mobile transportation device 202, a sorting equipment, a shelf 10, a shelf rail transmission equipment 14 and a control device 201.

[0094] In this embodiment, the upper end surface of the sorting platform 100 is arranged as a plane, which can be arranged in multiple shapes, such as quadrilateral, circular, polygonal, etc. In this embodiment, the sorting platform 100 is arranged as a quadrilateral. The sorting platform 100 is used to provide a moving space for the mobile transportation device 202.

[0095] At least one shelf 10 and sorting equipment are arranged on the sorting platform 100. The positions of the shelf 10 and the sorting equipment (sorting station 106) on the sorting platform 100 are not limited to the positions shown in Figure 4 The positions shown in the figure, and can be deployed according to the actual warehouse type and business needs.

[0096] The embodiments provided in this embodiment are only several specific implementations, and are not intended to limit the protection scope of the present application. Those skilled in the art can make adaptive changes according to actual conditions.

[0097] In this embodiment, a plurality of storage devices 103 are arranged in the lower part of the sorting platform 100 corresponding to the sorting equipment respectively. When the goods are transported to the sorting equipment on the sorting platform 100 by the mobile transportation device 202, the sorting equipment sorts the goods and then puts them into the corresponding storage device 103.

[0098] The mobile transportation device 202 is movably arranged on the sorting platform 100, which is used to move on the sorting platform 100 to carry goods. The number of mobile transportation devices 202 can be increased or decreased according to actual conditions.

[0099] The rack rail transport device 14 is provided on the rack 10, and is configured to access and obtain the goods information of the goods or the container placed at any position on the rack 10. After the rack rail transport device 14 takes the goods from the rack 10, the rack rail transport device 14 can move the goods to the mobile transport device 202.

[0100] The rack rail transport device 14 can be a component with one or more tasks of identification, extraction, playback, grabbing, etc. The specific structure of the rack rail transport device 14 is 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 realize the action of goods extraction, playback, etc. The push-pull container module includes a support structure (such as a loading and unloading rack) and a conveying component (such as a conveying belt driven by a conveying motor). The rack rail transport device 14 further includes a device such as a scanner for identifying goods information.

[0101] The control device 201 can send an execution instruction carrying the order information to the rack rail transport device 14 and the mobile transport device 202.

[0102] The rack rail transport device 14 takes the goods or the container on the rack 10 and moves to the mobile transport device 202. In this process, the rack rail transport device 14 obtains the goods information of the goods (for example, at least including the sorting information of the goods). The control device 201 controls the movement of the mobile transport device 202 according to the goods information obtained by the rack rail transport device 14, and sends the goods into the sorting device corresponding to the goods information. Finally, the sorting device sends the goods into the corresponding storage device 103.

[0103] In a specific embodiment, a plurality of storage devices 103 are respectively provided at different destinations corresponding to different goods information. The goods information includes the sorting information of the goods.

[0104] The control device 201 predefines the correspondence between the goods information and each destination and / or each storage device 103 (or sorting device), so that the control device 201 can control the mobile transport device 202 to move to the correct position according to the goods information.

[0105] In a specific embodiment, in a single carrying process of the mobile transport device 202, the mobile transport device 202 can load one goods or a plurality of goods with the same SKU information from the rack rail transport device 14. At this time, the control device 201 transmits the goods sorting information obtained by the rack rail transport device 14 to the mobile transport device 202, and the mobile transport device 202 moves the goods to the corresponding sorting device, so that the goods reach the corresponding storage device 103.

[0106] According to the present application, in a preferred embodiment, the stereoscopic sorting system comprises a detection device 204. The detection device 204 is configured to detect whether the receiving device 103 is full, and to transmit the obtained information of whether the receiving device 103 is full to the control device 201. The control device 201 issues an instruction to transfer the full receiving device 103 and timely place an empty receiving device 103.

[0107] Further, a transfer device (not shown in the figure) for processing the full receiving device can be provided. The transfer device can be selected in various ways. For example, the transfer device can be configured as an intelligent robot, or the transfer device can be configured as a large self-guided vehicle. The receiving device 103 is installed on the transfer device, and the transfer device can move position and load and unload goods according to the control instruction of the control device 201. The specific structure of the detection device 204 and the transfer device is well known to those skilled in the art, and will not be described here.

[0108] In a preferred embodiment, the receiving device 103 is located below the sorting platform 100. In this arrangement, the goods on the sorting platform 100 can automatically enter the receiving device 103 under the action of gravity after entering the sorting device.

[0109] Further, a collection platform 101 is provided below the sorting platform 100. The upper end surface of the collection platform 101 is configured as a plane, and each receiving device 103 is located on the collection platform 101. In this arrangement, the collection platform 101 can provide support for the receiving device 103 and facilitate the movement of the receiving device 103, so that the transfer device can transfer the full receiving device 103.

[0110] In the present embodiment, the collection platform 101 can be configured in various shapes. Preferably, the collection platform 101 is substantially consistent with the shape of the sorting platform 100.

[0111] According to the present application, the goods information of the goods can be obtained in various ways by the rack track conveying device 14. Preferably, the goods information is contained in a destination address information code. The destination address information code is provided on the goods. Each rack track conveying device 14 comprises a scanner (not shown in the figure) for scanning the destination address information code to obtain the goods information of the goods. As described above, the goods information at least comprises the sorting information of the goods. The destination address information code can be a bar code, a two-dimensional code, a radio frequency tag, etc., and the corresponding scanning module of the rack track conveying device 14 can be a bar code scanner, a two-dimensional code scanner, a radio frequency identifier, etc. The mobile conveying device 202 can be an AGV.

[0112] Preferably, in addition to the sorting information, the cargo information can also include cargo volume, weight, etc. information, which can be carried in the destination address information code. Alternatively, the rack track conveying device 14 can also include a weighter, a volume scanner, etc.

[0113] According to the present application, in order to improve the subsequent sorting efficiency, after the rack track conveying device 14 on each rack 10 obtains the cargo information of each cargo, the control device 201 is used to complete the analysis and processing of all the obtained cargo information, to obtain the sorting information of each cargo, and to control the plurality of different mobile conveying devices 202 to move to the vicinity of each rack 10 to wait for the receiving of the cargo box or cargo from the rack track conveying device 14. After the plurality of mobile conveying devices 202 receive the cargo, they move to the corresponding delivery port 102 respectively, and send the respective cargo box or cargo into the sorting device located at the sorting station 106. After the rack track conveying device 14 sends the cargo to the mobile conveying device 202, it continues to carry the remaining cargo on the rack 10 and obtains the cargo information, and the control device 201 controls the other mobile conveying devices 202 to repeat the above-mentioned actions again.

[0114] In the above-mentioned, after the control device 201 obtains the sorting information of each cargo of each rack track conveying device 14, the transport path of each mobile conveying device 202 is analyzed according to the position of the delivery port 102 corresponding to each sorting information, and the mobile conveying device 202 is controlled to transport each cargo to the delivery port 102 corresponding to the sorting information according to the obtained transport path. After the mobile conveying device 202 moves to the corresponding delivery port 102, the cargo is sent to the sorting device. For example, a tiltable hopper (not shown in the figure) is installed at the upper end of the mobile conveying device 202, and during the process of carrying the cargo, the hopper is in a horizontal state; the hopper is tilted, and the cargo falls into the sorting device.

[0115] The analysis of the transport path of each cargo by the control device 201 is carried out in a parallel manner. After completing the path analysis, the control device 201 can control a plurality of mobile conveying devices 202 in parallel, and complete the transport of a plurality of cargos in parallel, thereby significantly improving the sorting efficiency.

[0116] According to the present application, each mobile conveying device 202 is used to load one cargo or a plurality of cargo boxes or cargos with the same sorting information. Preferably, the mobile conveying device 202 is used to transport one cargo at a time.

[0117] In a specific embodiment, as shown in FIG. 1, the rack track conveying device 14 is used to obtain the cargo information of each cargo on the rack 10, and the control device 201 is used to analyze and process the obtained cargo information, to obtain the sorting information of each cargo, and to control the plurality of different mobile conveying devices 202 to move to the vicinity of each rack 10 to wait for the receiving of the cargo box or cargo from the rack track conveying device 14. After the plurality of mobile conveying devices 202 receive the cargo, they move to the corresponding delivery port 102 respectively, and send the respective cargo box or cargo into the sorting device located at the sorting station 106. After the rack track conveying device 14 sends the cargo to the mobile conveying device 202, it continues to carry the remaining cargo on the rack 10 and obtains the cargo information, and the control device 201 controls the other mobile conveying devices 202 to repeat the above-mentioned actions again. Figure 6As shown, the rail assembly 1 is fixedly arranged on the shelf 10, the column assembly 2 is movably arranged on the rail assembly 1 in the horizontal direction, and the shelf rail conveying device 14 is movably arranged on the column assembly 2 in the vertical direction. The rail assembly 1 extends across the entire shelf 10 in the horizontal direction, and the column assembly 2 can pass through the entire shelf 10 during movement in the horizontal direction along the rail assembly 1. The column assembly 2 extends across the entire shelf 10 in the vertical direction, and the shelf rail conveying device 14 can pass through the entire shelf 10 during movement in the vertical direction along the column assembly 2. In this arrangement, the shelf rail conveying device 14 can access the cartons or goods at any position on the shelf 10.

[0118] Further, the support assembly 3 is movably arranged on the column assembly 2 in the vertical direction. The shelf rail conveying device 14 is arranged on the support assembly 3, and the shelf rail conveying device 14 is configured to move the goods between the shelf 10, the support assembly 3, and the mobile transport device 202. That is, the support assembly 3 can temporarily carry the goods. The support assembly 3 can be arranged in various shapes such as a flat plate.

[0119] In other embodiments of the present application, the shelf rail conveying device 14 further includes other assemblies. At this time, the connecting member can be arranged according to the specific function of the shelf rail conveying device 14, so as to connect the multiple assemblies with each other. The specific structure of the shelf rail conveying device 14 is not limited to the specific embodiments provided in the present embodiment.

[0120] According to the present application, in a specific embodiment, after the shelf rail conveying device 14 moves the cartons or goods on the shelf 10 to the support assembly 3, the support assembly 3 and the shelf rail conveying device 14 move downward along the column assembly 2 until the lower end surface of the cartons 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 shelf rail conveying device 14 pushes the cartons or goods on the support assembly 3 to move towards the mobile transport device 202, thereby moving the cartons 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.

[0121] According to the present application, in one specific embodiment, the rack rail conveying device 14 is configured not to directly move the carton or goods on the support assembly 3 onto the mobile conveying device 202. In this embodiment, the lowermost layer of the rack 10 is provided with a docking station (not shown in the drawings), which is configured to include two support rods on the left and right sides to support the lower end of the goods. After the rack rail conveying device 14 moves the carton or goods on the rack 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 carton or goods on the support assembly 3 is flush or slightly higher than the top of the docking station. At this time, the rack rail conveying device 14 pushes the carton or goods on the support assembly 3 to move towards the docking station, thereby moving the carton or goods on the support assembly 3 to the docking station. The mobile conveying device 202 includes a jacking mechanism, and the mobile conveying device 202 moves to the lower side of the docking station, specifically between the two support rods of the docking station, and then the jacking mechanism of the mobile conveying device 202 is raised to lift the carton or goods on the docking station to be separated from the support rods of the docking station, and then the mobile conveying device 202 moves the goods out of the docking station in the horizontal direction from the opening, completing the transfer of the goods from the rack 10 to the mobile conveying device 202.

[0122] 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 here. The mobile conveying device 202 can be selected as an AGV, i.e. Automated Guided Vehicle, commonly known as AGV trolley; or AMR, i.e. Autonomous Mobile Robot, which is well known to those skilled in the art and will not be described here.

[0123] In one preferred embodiment, the rack rail conveying device 14 includes a first container (not shown in the drawings) for storing the carton or goods on the rack 10 and a second container (not shown in the drawings) for storing the carton or goods on the mobile conveying device 202, and the carton or goods in the first container and the second container can be at least partially transferred to each other. In this arrangement, when there are multiple cartons or goods on the rack 10, after the first container stores the cartons or goods on the rack 10 into the first container, the first container and the second container will transfer part of the cartons or goods from the first container to the second container according to the actual number, and finally the second container will transfer the cartons or goods to the mobile conveying device 202. The related specific structure of the first container and the second container included in the rack rail conveying device 14 is well known to those skilled in the art and will not be described here.

[0124] It should be noted that in this application, "goods" specifically refers to order goods, and "carton" specifically refers to a container for containing goods. In the description of this specification, "goods" and "carton" can be used interchangeably.

[0125] In this application, unless otherwise clearly indicated and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0126] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0127] Finally, it should be pointed out that the above description is only the preferred embodiments of the present application and does not constitute any limitation on the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent replacements to some technical features. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A stereoscopic sorting control method, characterized by, The method comprises the following steps: acquiring the delivery information, and executing the instruction of taking the target goods from the shelf (10) storing the target goods through the shelf track transmission device (14); matching the target shelf (10), and completing the taking of the goods through the connection between the mobile transportation device (202) and the shelf track transmission device on the target shelf, wherein the mobile transportation device (202) is movably arranged on the sorting platform (100); according to the correspondence between the sorting information of the preset target goods and the sorting device, the goods are sent to the sorting device through the mobile transportation device (202), which comprises the following steps: the shelf track transmission device (14) moves the goods on the target shelf (10) to the mobile transportation device (202) while acquiring the sorting information of the goods; and the control device controls the movement of the mobile transportation device (202) according to the sorting information of the goods, and sends the goods on the mobile transportation device into the corresponding sorting device; the sorting device is a three-dimensional sorting robot (20), and the specific process of sending the goods into the corresponding sorting device is as follows: the three-dimensional sorting robot (20) analyzes the sorting information of the goods, the sorting information carries the correspondence between the goods and the goods basket (22) of the three-dimensional sorting robot; the correspondence is found to obtain the coordinate value of the goods basket (22); the coordinate value is indexed and positioned, and the goods are delivered to the goods basket (22); alternatively, the sorting device is a platform sorting device, a plurality of storage devices (103) are arranged at the lower part of the sorting platform (100), each storage device (103) is connected to the sorting platform (100) through a different platform sorting device, and after the goods are transported to the platform sorting device by the mobile transportation device (202), the platform sorting device sorts the goods and then puts the goods into the corresponding storage device (103).

2. The three-dimensional sorting control method according to claim 1, wherein the platform sorting device is used to send the goods into the storage device (103) and obtain the information whether the storage device (103) is full; when the information that the storage device (103) is full is obtained, the platform sorting device issues the instruction of replacing the full storage device (103) with an empty storage device (103).

3. A computer program product comprising instructions, characterized in that, When the computer program product runs on the electronic device, the electronic device executes the three-dimensional sorting control method according to any one of claims 1-2.

4. A computer-readable storage medium, characterized in that, The computer program product comprises instructions, and when the instructions run on the electronic device, the electronic device executes the three-dimensional sorting control method according to any one of claims 1-2.

5. A stereoscopic sorting system characterized by, The computer program product is used to implement the three-dimensional sorting control method according to any one of claims 1-2, and comprises: at least one shelf (10) for storing goods; A rack rail transmission device (14) is arranged on the rack (10), and the rack rail transmission device (14) is configured to access goods at any position on the rack (10) and obtain goods information of the goods, and access goods on the mobile transportation device (202); At least one mobile transportation device (202) is arranged on the sorting platform (100) in a mobile manner, and the mobile transportation device (202) is used to connect goods to the sorting device.

6. The stereoscopic sorting system of claim 5, wherein, A rail assembly (1) is fixedly arranged on the rack (10), a column assembly (2) is arranged on the rail assembly (1) in a horizontal direction in a mobile manner, and the rack rail transmission device (14) is arranged on the column assembly (2) in a vertical direction in a mobile manner.

7. The stereoscopic sorting system of claim 6, wherein, A support assembly (3) is arranged on the column assembly (2) in a vertical direction in a mobile manner, the rack rail transmission device (14) is arranged on the support assembly (3), and the rack rail transmission device (14) is configured to move goods between the rack (10), the support assembly (3), and the mobile transportation device (202).

8. The stereoscopic sorting system of claim 5, wherein, The sorting device is a three-dimensional sorting robot (20), and the three-dimensional sorting robot (20) comprises: A sorting frame (21) on which a plurality of baskets (22) are arranged; A horizontal conveying device (43) arranged horizontally relative to the sorting frame (21); A vertical conveying device (42) arranged on the horizontal conveying device (43) in a mobile manner; An unloading device (60) arranged on the vertical conveying device (42) in a mobile manner.

9. The stereoscopic sorting system of claim 5, wherein, The sorting device is a platform sorting device, and the three-dimensional sorting system comprises a plurality of storage devices (103) arranged at different destinations, and each storage device (103) is connected to the sorting platform (100) through a different platform sorting device.

10. The stereoscopic sorting system of claim 5, wherein, Each mobile transportation device (202) is arranged to load one or more goods with the same destination from the rack rail transmission device (14), the rack rail transmission device (14) and the mobile transportation device (202) are electrically connected with a control device (201), the control device (201) is configured to transmit goods sorting information obtained by the rack rail transmission device (14) to the mobile transportation device (202), and the mobile transportation device (202) moves the goods into the corresponding sorting device.

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