Article sorting method, controller, loading and unloading robot and article sorting system

Abstract

The invention discloses an article sorting method which comprises the steps that a first moving instruction is sent to a transfer robot so that the transfer robot can move to a corresponding loading and unloading robot, and the transfer robot carries a container; a container obtaining instruction is sent to a loading and unloading robot corresponding to the carrying robot, so that the loading and unloading robot is controlled to obtain a container borne by the carrying robot reaching the loading and unloading robot; sending a moving instruction carrying target position information to the loading and unloading robot so as to control the loading and unloading robot acquiring the container to move to a target position; and sending an execution instruction to the loading and unloading robot moving to the target position. The embodiment of the invention further provides electronic equipment and an article sorting system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of logistics, in particular, to an article sorting method, a controller for executing the article sorting method, a loading and unloading robot comprising the controller, and an article sorting system comprising the loading and unloading robot. BACKGROUND

[0002] With the development of logistics technology, sorting automation has been basically realized. Specifically, an article sorting system can comprise a rack, a loading and unloading robot, a carrying robot, and the like. The loading and unloading robot can transfer articles on the rack to the carrying robot, or transfer articles on the carrying robot to the rack.

[0003] However, when sorting small-sized articles by using the above-mentioned article sorting system, the problem of article scattering is prone to occur. SUMMARY

[0004] The present application aims to solve one of the problems in the related art to some extent. To this end, the present application provides an article sorting method, a controller for executing the article sorting method, a loading and unloading robot comprising the controller, and an article sorting system comprising the loading and unloading robot. By using the article sorting method, articles of various sizes can be reliably sorted.

[0005] As a first aspect of the present application, an article sorting method is provided, wherein the article sorting method comprises: sending a first movement instruction to a carrying robot to make the carrying robot move to a corresponding loading and unloading robot, wherein the carrying robot carries a container; sending a container acquisition instruction to the loading and unloading robot corresponding to the carrying robot to control the loading and unloading robot to acquire the container carried by the carrying robot that arrives at the loading and unloading robot; sending a second movement instruction with target position information to the loading and unloading robot to control the loading and unloading robot that acquires the container to move to a target position; sending an execution instruction to the loading and unloading robot that moves to the target position.

[0006] Optionally, in the case where the carrying robot arrives at the corresponding loading and unloading robot, before the loading and unloading robot acquires the container, the article sorting method further comprises: sending a container unloading instruction to the loading and unloading robot to unload the container carried on the loading and unloading robot.

[0007] Optionally, in the step of unloading the container carried on the loading and unloading robot, the container carried on the loading and unloading robot is unloaded to a carrying position of the carrying robot.

[0008] Optionally, the execution instruction comprises one of a loading instruction and an unloading instruction.

[0009] Optionally, before the sending of the first movement instruction to the carrying robot, the article sorting method further comprises: receiving a sorting instruction; parsing the sorting instruction to determine the target position information according to order information corresponding to the sorting instruction; determining a loading and unloading robot corresponding to the carrying robot according to the target position information and the order information, wherein the first movement instruction carries position information of the determined loading and unloading robot.

[0010] Optionally, determining a loading and unloading robot corresponding to the carrying robot according to the target position information and the order information comprises: determining a loading and unloading robot capable of performing sorting according to an attribute of an article to be sorted in the order information; determining a first distance between the carrying robot and each loading and unloading robot capable of performing sorting; determining a second distance between each loading and unloading robot capable of performing sorting and the target position; determining a loading and unloading robot capable of performing sorting and having a smallest sum of the first distance and the second distance as the loading and unloading robot corresponding to the carrying robot.

[0011] As a second aspect of the present application, an article sorting method is provided for a controller of a loading and unloading robot, wherein the article sorting method comprises: acquiring a container carried by a carrying robot in response to a container acquisition instruction; determining target position information in response to a second movement instruction by parsing the second movement instruction; moving to a target position corresponding to the target position information; controlling an execution mechanism of the loading and unloading robot to act according to an execution instruction in response to the execution instruction.

[0012] Optionally, the acquiring of the container carried by the carrying robot comprises: controlling the execution mechanism to move to a position for handover with the carrying robot; performing handover with the carrying robot to acquire the container carried by the carrying robot.

[0013] Optionally, the article sorting method further comprises: placing a container carried on the loading and unloading robot at a carrying position of the carrying robot in response to a container unloading instruction.

[0014] Optionally, when the execution instruction is an unloading instruction, the actuator controlling the loading / unloading robot performs actions according to the execution instruction, including at least one of the following steps: Control the actuator to flip over, so as to tip the container; The feeding mechanism is controlled to push material into the container.

[0015] Optionally, when the execution instruction is a loading instruction, controlling the loading / unloading robot actuator to act according to the execution instruction includes: The actuator is kept stationary.

[0016] As a third aspect of the present invention, an electronic device is provided, wherein the electronic device comprises: One or more processors; A memory having stored one or more computer programs that, when executed by one or more processors, cause the one or more processors to implement the item sorting method.

[0017] The present invention also provides an item sorting system. The item sorting system includes at least one loading and unloading robot and at least one handling robot, wherein the item sorting system further includes the electronic equipment.

[0018] Optionally, the item sorting system further includes a shelf with multiple sorting compartments, and the target location is one of the multiple sorting compartments.

[0019] The handling robot is equipped with a container. When sorting items, the items to be sorted are placed into the container on the handling robot according to the order information. The handling robot is then controlled by sorting instructions to move the container containing the items to be sorted to the loading and unloading robot.

[0020] After receiving a sorting instruction, the loading / unloading robot controls its actuator to move along its column to a matching handover height with the transport robot. Then, it transfers the container containing the items to be sorted from the transport robot to the loading / unloading robot's actuator. During this handover process, only the container moves horizontally; it does not flip, thus preventing items from scattering. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings: Figure 1 This is a flowchart of one embodiment of the sorting method provided by the present invention; Figure 2aThis is a schematic diagram of one implementation of an item sorting system; Figure 2b This is a flowchart of one implementation method of a loading and unloading robot; Figure 3 This is a flowchart of another optional implementation of the sorting method provided by the present invention; Figure 4 This is a schematic diagram of steps S101 to S103 in the sorting method provided by the present invention; Figure 5 This is a flowchart of one embodiment of step S103 in the sorting method provided by the present invention; Figure 6 This is a flowchart of the sorting method provided in the second aspect of the present invention; Figure 7 This is a flowchart of one implementation of step S210; Figure 8 This is a schematic diagram of a module of one embodiment of the electronic device provided by the present invention; Figure 9 This is a schematic diagram of the modules of the computer-readable medium provided by the present invention.

[0022] Explanation of reference numerals in the attached figures 101: Processor; 102: Memory 103: I / O Interface 104: Bus 110: Execution agency; 120: Column. 130: Walking structure; 100: Loading and unloading robot 200: Handling robot; 300: Shelf Detailed Implementation Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain the present invention and should not be construed as limiting the invention.

[0023] The terms "an embodiment," "example," or "trademark" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this invention. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0024] As a first aspect of the present invention, a method for sorting items is provided, wherein, as Figure 1 As shown, the item sorting method includes: In step S110, a first movement command is sent to the handling robot to move the handling robot to the corresponding loading and unloading robot, wherein the handling robot carries a container; In step S120, a container acquisition command is sent to the loading and unloading robot corresponding to the transport robot to control the loading and unloading robot to acquire the container carried by the transport robot that has moved to the loading and unloading robot's location; In step S130, a second movement command carrying target location information is sent to the loading and unloading robot to control the loading and unloading robot that has acquired the container to move to the target location; In step S140, an execution command is sent to the loading and unloading robot so that the loading and unloading robot can operate according to the execution command after moving to the target position.

[0025] The item sorting method provided by this invention can be executed by a host computer, a loading and unloading robot, or a handling robot.

[0026] Figure 2a The schematic diagram shown is of an item sorting system provided by an embodiment of the present invention. The item sorting system includes a loading and unloading robot 100 and a handling robot 200. Figure 2b The diagram shown is a schematic representation of one implementation of a handling robot.

[0027] The handling robot 200 is equipped with a container. During item sorting, a first movement command is sent to the handling robot 200 to control it to transfer the container to the corresponding loading / unloading robot 100. After the loading / unloading robot 100 obtains the container from the handling robot 200, it can move under the control of the executed command.

[0028] In this embodiment of the invention, the container carried by the handling robot 200 can contain items to be sorted or it can be an empty container.

[0029] When the handling robot 200 and the loading and unloading robot exchange containers, only the containers are moved horizontally and not flipped. Therefore, even if the containers contain items to be sorted, the items will not be scattered, ensuring the smooth progress of the sorting process.

[0030] It should be noted that the execution command can be a loading command regardless of whether the container contains items to be sorted. That is, after the handling robots 200 transfer the container containing the items to be sorted to the loading / unloading robot 100, the loading / unloading robot 100 carries the container to the target location to continue loading items. In this case, the loading / unloading robot 100 only needs to keep the container's position unchanged under the control of the loading command.

[0031] Of course, if the execution command is an unloading command, the loading and unloading robot 100 can execute the unloading command after moving to the target position.

[0032] The execution instructions are issued by an electronic device (e.g., a host computer) that performs the sorting method and are not limited by the loading status of the containers transferred from the handling robot 200 to the loading / unloading robot 100. Furthermore, the loading / unloading robot 100 operates solely under the control of the execution instructions issued by the electronic device and is also not limited by the loading status of the containers transferred from the handling robot to the loading / unloading robot 100.

[0033] Typically, a material bin is provided at the sorting destination. After completing all loading processes, the loading and unloading robot 100 directly transfers the items into the material bin at the sorting destination, preventing material spillage. Therefore, the item sorting method provided in this embodiment of the invention can reliably sort items of various sizes. The sorting destination here may be the same as or different from the target location mentioned above.

[0034] In this embodiment of the invention, before sending a first movement command to the handling robot to move it to the corresponding loading / unloading robot, a loading command can also be sent to the handling robot. This loading command carries the location information of the loading point. Under the control of the loading command, the handling robot can move to the loading point. A person or robot at the loading point provides a container to the handling robot, or loads the items to be sorted into the handling robot's container. Before sending the first movement command, at least one loading command can be sent to the handling robot so that the handling robot passes through each loading point sequentially.

[0035] In this embodiment of the invention, there is no special limitation on the timing of executing step S120. For example, step S120 can be executed immediately after the handling robot 200 arrives at the loading and unloading robot 100, or step S120 can be executed some time after the handling robot 200 arrives at the loading and unloading robot 100, as long as the loading and unloading robot 100 can transfer the container carried by the handling robot 200 onto itself.

[0036] It should also be pointed out that, although Figure 1 The steps S110 to S140 are shown in chronological order; however, this invention does not imply that each instruction must be followed exactly. Figure 1The commands are issued in sequence. For example, a first movement command to control the movement of a handling robot, a container acquisition command, a second movement command carrying target location information, and an execution command can be issued simultaneously. For instance, after receiving the first movement command, the handling robot can wait a certain period of time before moving. Similarly, after receiving the container acquisition command, the second movement command carrying target location information, and the execution command simultaneously, the loading and unloading robot can execute the corresponding commands at set times.

[0037] For example, at time t1, the host computer sends a first movement command to the handling robot to control its movement, and sends a container acquisition command, a second movement command carrying the target location, and an execution command to the loading and unloading robot.

[0038] At time t1+Δt, the transport robot moves to the loading and unloading robot, and the loading and unloading robot executes the container acquisition command at time t1+Δt. At time t1+2Δt, the loading and unloading robot executes a second movement command carrying the target position and moves to the target position; At time t1+3Δt, the loading and unloading robot moves to the target position and operates under the control of the execution command.

[0039] Of course, the present invention is not limited to this; it is sufficient to enable container transfer between the handling robot and the loading / unloading robot, and to ensure that the loading / unloading robot operates under the control of the execution command at the target location. Furthermore, the present invention does not exclude the possibility that the loading / unloading robot begins operating under the control of the execution command before reaching the target location.

[0040] In this embodiment of the invention, there are no special limitations on how the loading and unloading robot 100 unloads empty containers after transferring the items to be sorted to the sorting destination. As an optional implementation, the loading and unloading robot 100 may move to the empty container recycling area after completing the item sorting and unload the empty containers there.

[0041] Accordingly, such as Figure 3 As shown, when the handling robot arrives at the corresponding loading / unloading robot, before controlling the loading / unloading robot to obtain the container, the item sorting method further includes: In step S150, a container unloading command is sent to the loading and unloading robot to unload the container carried on the loading and unloading robot.

[0042] To improve sorting efficiency and increase the utilization rate of sorting robots, optionally, in the step of unloading the container carried on the loading and unloading robot, the container carried on the loading and unloading robot is unloaded to the carrying position of the handling robot.

[0043] In other words, the handling robot 200 can be equipped with multiple carrying positions. If the loading / unloading robot 100 is carrying an empty container, the empty container is first unloaded onto the handling robot 200. It should be noted that the handling robot 200 receiving the empty container unloaded by the loading / unloading robot 100 can be a handling robot 200 that has already moved in front of the loading / unloading robot 100. This handling robot 200 can carry a container; after the loading / unloading robot 100 transfers its own empty container to the handling robot 200, the container on the handling robot 200 is then transferred to the loading / unloading robot 100.

[0044] In this embodiment of the invention, there is no special limitation on the timing of sending the movement command to the transport robot. Optionally, before sending the first movement command to the transport robot, such as... Figure 4 As shown, the item sorting method further includes: In step 101, a sorting instruction is received; In step S102, the sorting instruction is parsed, and the target location information is determined based on the order information corresponding to the sorting instruction; In step S103, a loading / unloading robot corresponding to the handling robot is determined based on the target location information and the order information, wherein the first movement command carries the location information of the determined loading / unloading robot.

[0045] In this embodiment of the invention, no special limitation is made on how to determine the loading and unloading robot corresponding to the handling robot. To improve sorting efficiency, optionally, the loading and unloading robot corresponding to the handling robot is determined based on the target location information and the order information, including: In step S103a, based on the attributes of the items to be sorted in the order information, a loading and unloading robot capable of performing the sorting is determined; In step S103b, a first distance is determined between the handling robot and each of the loading and unloading robots capable of performing sorting; In step S103c, a second distance is determined between each sorting robot and the target location; In step S103d, the loading and unloading robot that minimizes the sum of the first distance and the second distance and is capable of performing sorting is determined as the loading and unloading robot corresponding to the transport robot.

[0046] In this embodiment of the invention, the "attributes of the items to be sorted" can refer to the type, volume, weight, etc. of the items to be sorted.

[0047] By implementing the above methods, the combined travel distance of the handling robot and the loading / unloading robot can be minimized, thereby improving sorting efficiency.

[0048] Steps S101 to S103 define the process of scheduling the loading / unloading robot 100 and the handling robot 200. The scheduling process is described below through a specific embodiment.

[0049] In step 101, a sorting instruction is received; In step S102, the sorting instruction is parsed to determine that the order corresponding to the sorting instruction is to sort 100 pens, and the order information can determine the coordinates of the target location information (i.e., the bin for holding 100 pens) as (100, 200, 300). In step S103a, based on the target location information (i.e., the coordinates mentioned above) and the order information (i.e., 100 pens are sorted out), multiple loading and unloading robots that can be used to load and unload pens and multiple handling robots that can be used to transport pens are determined. In step S103b, a first distance is determined between each handling robot capable of carrying pens and each loading and unloading robot capable of loading and unloading pens. In step S103c, a second distance is determined between each pen loading and unloading robot and the target position; In step S103d, the loading and unloading robot that minimizes the sum of the first distance and the second distance and is capable of performing sorting is determined as the loading and unloading robot corresponding to the transport robot.

[0050] After determining the corresponding loading / unloading robot for the transport robot, steps S110 to S140 can be further executed. That is, the transport robot is controlled to move to the corresponding loading / unloading robot, and the loading / unloading robot is controlled to move its actuator to the handover position with the transport robot, transferring the container from the transport robot to the loading / unloading robot. The loading / unloading robot can move to (100, 200) in the xy plane, and then the actuator is controlled to move to a height of z = 300. The robot then operates under the control of the execution command.

[0051] As a second aspect of the present invention, an item sorting method is provided for a controller of a loading and unloading robot, wherein, as Figure 6 As shown, the item sorting method includes: In step S210, in response to the container acquisition command, the container carried by the handling robot is acquired; In step S220, in response to the second movement command, the second movement command is parsed to determine the target position information; In step S230, move to the target location corresponding to the target location information; In step S240, in response to the execution command, the actuator of the loading and unloading robot is controlled to perform actions according to the execution command.

[0052] The item sorting method provided in the second aspect of the present invention is executed by the controller of the loading and unloading robot 100. The container acquisition instruction here is the same as the container acquisition instruction mentioned in the item sorting method mentioned in the first aspect of the present invention. The second movement instruction here is the same as the second movement instruction mentioned in the item sorting method provided in the first aspect of the present invention. The execution instruction here is also the same as the execution instruction mentioned in the item sorting method provided in the first aspect of the present invention.

[0053] The specific action process of the loading and unloading robot has been defined in detail in the first aspect of the present invention, and will not be repeated here.

[0054] In embodiments of the present invention, such as Figure 7 As shown, step S210 can be specifically performed as follows: In step S211, the actuator is controlled to move to the position where it will hand over to the handling robot; In step S212, the container is handed over to the transport robot to obtain the container carried by the transport robot.

[0055] The loading and unloading robot 100 may include an actuator 110, a column 120, and a moving mechanism 130. The column 120 is mounted on the moving mechanism 130. The actuator 110 can move up and down along the column 120 under the control of the robot's controller. Accordingly, step S211 can be specifically executed as: controlling the actuator 110 to move along the column 120 to a position that matches the height of the handling robot.

[0056] In this embodiment of the invention, no special limitation is made on how the container is transferred from the handling robot to the loading / unloading robot. For example, at least a portion of the container may be made of a ferromagnetic material, and the transfer with the handling robot to obtain the container carried by the handling robot includes: The electromagnet of the actuator is energized to attract the container on the handling robot to the actuator.

[0057] Using electromagnetic adsorption for container transfer can reduce control costs and improve transfer efficiency. Of course, the embodiments of the present invention are not limited to this; any method that allows containers to be transferred from the handling robot 200 to the loading / unloading robot 100 via translation is acceptable. For example, containers can also be transferred from the handling robot 200 to the loading / unloading robot 100 using hooking, clamping, or other methods.

[0058] Optionally, the item sorting method further includes: In step S250, in response to the container unloading command, the container carried on the loading and unloading robot is placed in the carrying position of the handling robot.

[0059] The following is a brief description of the unloading process of the loading and unloading robot. The first transport robot, carrying container 'a' containing items to be sorted, moves to the loading and unloading robot. The loading and unloading robot then removes container 'a' and moves away. The loading and unloading robot empties the items from container 'a' into the bin at the sorting destination and then waits for the arrival of the second transport robot with the empty container 'a'. The second transport robot, carrying container 'b' containing items to be sorted, moves to the loading and unloading robot. The loading and unloading robot first places container 'a' in an unused bin on the second transport robot, and then transfers container 'b' to the loading and unloading robot's actuator. The second transport robot then moves away with the empty container 'b'. This process is repeated until all items have been sorted.

[0060] Of course, the present invention is not limited to this. As another optional implementation, the loading and unloading robot 100 may be equipped with multiple actuators and the transport robot may be equipped with multiple bearing positions.

[0061] During container handover, at least one of the multiple actuators is used to carry an empty container, while at least another of the multiple actuators is not carrying an empty container and is in an unloaded state. Accordingly, while the actuator carrying the empty container unloads the empty container onto the transport robot, the unloaded actuator can transfer the container from the transport robot to that actuator.

[0062] It's easy to understand that the handling robot can move under the control of a host computer. For example, it can be controlled to transport empty containers to the empty box recycling area, or it can be controlled to transport empty containers to any location that requires empty boxes.

[0063] As mentioned above, the actuator of a handling robot can be equipped with an electromagnet, which needs to be energized when transferring containers from the robot. Conversely, the electromagnet of the actuator can be de-energized to place the container onto the handling robot.

[0064] Similarly, electromagnets can be installed at the carrying positions of the handling robot. When it is necessary to pick up and hold a container, the electromagnet at the carrying position can be energized; when it is necessary to transfer items, the electromagnet at the corresponding carrying position can be de-energized.

[0065] Optionally, the handling robot that receives the empty container is a handling robot that carries a container containing items to be sorted.

[0066] Optionally, the actuator is rotatably mounted on the column. When the execution command is an unloading command, the actuator controlling the loading / unloading robot performs actions according to the execution command, including at least one of the following steps: Control the actuator to flip over, so as to tip the container; The feeding mechanism is controlled to push material into the container.

[0067] In the implementation of "pouring", the actuator is rotatably mounted on the column. When it is necessary to unload the items, the actuator can be flipped after being aligned with the target position, and the items in the container can be poured into the hopper at the target position.

[0068] To further prevent material spillage, a pushing mechanism can be optionally installed on the loading and unloading robot. When unloading materials, the pushing mechanism can be used to push the material into the container and move it to the hopper at the target location.

[0069] Optionally, when the execution instruction is a loading instruction, controlling the loading / unloading robot actuator to act according to the execution instruction includes: The actuator is kept stationary.

[0070] With the actuator stationary, the container on it also remains stationary, allowing materials to be loaded into the container using other robots or manually. After loading is complete, the loading / unloading robot can move to the next target location for further material handling or unloading.

[0071] As a third aspect of the present invention, an electronic device is provided, wherein, as Figure 8 As shown, the electronic device includes: One or more processors 101; The memory 102 stores one or more computer programs that, when executed by the one or more processors 101, cause the one or more processors 101 to implement the article sorting method provided according to the first aspect of the invention.

[0072] The electronic device may also include one or more I / O interfaces 103 connected between the processor 101 and the memory 102, configured to enable information interaction between the processor 101 and the memory 102.

[0073] The processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read-write interface) is connected between the processor and the memory, enabling information exchange between the processor and the memory, including but not limited to a data bus (Bus).

[0074] In some embodiments, the processor 101, memory 102, and I / O interface 103 are interconnected via bus 104, and thus connected to other components of the controller.

[0075] As a fourth aspect of the present invention, an item sorting system is provided, such as... Figure 2a As shown, the item sorting system includes at least one loading and unloading robot 100 and at least one handling robot 200, wherein the item sorting system also includes the electronic equipment provided by the present invention.

[0076] In embodiments of the present invention, such as Figure 2b As shown, the loading and unloading robot includes a column 120, a controller, an actuator 110, and a walking mechanism 130. The column 120 is mounted on the walking mechanism 130, and the actuator 110 is movably mounted on the column 120. The controller is the controller described above provided in the embodiment of the present invention.

[0077] It is easy to understand that the actuator 110 can not only move up and down along the column 120, but also rotate around an axis perpendicular to the column 120.

[0078] Optionally, such as Figure 2a As shown, the item sorting system may also include a shelf 300, on which multiple sorting compartments are provided, and the sorting destination is one of the multiple sorting compartments.

[0079] The electronic device can be used as a host computer to issue sorting instructions and to schedule loading and unloading robots and handling robots.

[0080] As a fifth aspect of the present invention, such as Figure 9 As shown, a computer-readable medium is provided having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the article sorting method according to the first aspect of the present invention.

[0081] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. Accordingly, the computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can implement the methods of any of the above embodiments. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0082] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of the present invention will be included within the scope of the claims.

Claims

1. An article sorting method, characterized by, The article sorting method comprises: sending a first movement instruction to the carrying robot to make the carrying robot move to the corresponding loading and unloading robot, wherein the carrying robot carries a container; sending a container acquisition instruction to the loading and unloading robot corresponding to the carrying robot to control the loading and unloading robot to acquire the container carried by the carrying robot at the loading and unloading robot; sending a second movement instruction carrying target position information to the loading and unloading robot to control the loading and unloading robot acquiring the container to move to the target position; sending an execution instruction to the loading and unloading robot to make the loading and unloading robot move to the target position and operate according to the execution instruction.

2. The article sorting method of claim 1, wherein, In the case that the carrying robot reaches the corresponding loading and unloading robot, before the control of the loading and unloading robot acquiring the container, the article sorting method further comprises: sending a container unloading instruction to the loading and unloading robot to unload the container carried on the loading and unloading robot.

3. The article sorting method of claim 2, wherein, In the step of unloading the container carried on the loading and unloading robot, the container carried on the loading and unloading robot is unloaded to the carrying position of the carrying robot.

4. The article sorting method according to any one of claims 1 to 3, characterized in that, The execution instruction comprises one of a loading instruction and an unloading instruction.

5. The article sorting method according to any one of claims 1 to 3, characterized in that, Before the sending of the first movement instruction to the carrying robot, the article sorting method further comprises: receiving a sorting instruction; analyzing the sorting instruction to determine the target position information according to the order information corresponding to the sorting instruction; determining the loading and unloading robot corresponding to the carrying robot according to the target position information and the order information, wherein the first movement instruction carries the position information of the determined loading and unloading robot.

6. The article sorting method of claim 5, wherein, Determining the loading and unloading robot corresponding to the carrying robot according to the target position information and the order information comprises: determining the loading and unloading robot capable of performing sorting according to the attribute of the article to be sorted in the order information; determining the first distance between the carrying robot and each loading and unloading robot capable of performing sorting; determining the second distance between each loading and unloading robot capable of performing sorting and the target position; determining the loading and unloading robot capable of performing sorting and having the smallest sum of the first distance and the second distance as the loading and unloading robot corresponding to the carrying robot.

7. An article sorting method for a controller of a load / unload robot, characterized by, The article sorting method comprises: acquiring the container carried by the carrying robot in response to the container acquisition instruction; analyzing the second movement instruction to determine the target position information in response to the second movement instruction; moving to the target position corresponding to the target position information; controlling the execution mechanism of the loading and unloading robot to act according to the execution instruction in response to the execution instruction.

8. The article sorting method of claim 7, wherein, The acquisition of the container carried by the carrying robot comprises: controlling the execution mechanism to move to the position of the handover with the carrying robot; handing over with the carrying robot to acquire the container carried by the carrying robot.

9. The article sorting method of claim 7, wherein, The article sorting method further comprises: placing the container carried on the loading and unloading robot on the carrying position of the carrying robot in response to the container unloading instruction.

10. The article sorting method according to any one of claims 7 to 9, characterized in that, In a case where the execution instruction is an unloading instruction, the control of the execution mechanism of the loading and unloading robot to act according to the execution instruction comprises at least one of the following steps: The execution mechanism is controlled to overturn to pour out the container; The pushing mechanism is controlled to push the inside of the container.

11. The article sorting method according to any one of claims 7 to 9, wherein, In a case where the execution instruction is a loading instruction, the control of the execution mechanism of the loading and unloading robot to act according to the execution instruction comprises: The execution mechanism is controlled to remain in a stationary state.

12. An electronic device, comprising: The electronic device comprises: One or more processors; A memory having one or more computer programs stored thereon, wherein when the one or more computer programs are executed by the one or more processors, the one or more processors implement the article sorting method according to any one of claims 1 to 11.

13. An article sorting system comprising at least one load / unload robot, and at least one transport robot, characterized in that, The article sorting system further comprises the electronic device of claim 12.

14. The article sorting system of claim 13, wherein, The article sorting system further comprises a shelf, and a plurality of sorting compartments are arranged on the shelf, and the target position is one of the plurality of sorting compartments. The article sorting system further comprises a shelf, and a plurality of sorting compartments are arranged on the shelf, and the target position is one of the plurality of sorting compartments.

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