Cargo warehousing method and system
Patent Information
- Application Number
- CN202611489166.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-09-23
- Publication Date
- 2026-11-03
AI Technical Summary
Existing intelligent warehousing systems have difficulty accurately obtaining the volume of goods during the storage and retrieval process, leading to problems such as goods overflowing and colliding when there is insufficient space in the shelf compartments, or low utilization rate due to excessive space reservation.
By acquiring the side surface area of the goods facing the mobile device and the depth information perpendicular to the side surface, the volume information of the goods is calculated using a 3D vision module. Combined with the posture adjustment of the baffle and the robotic arm, the volume of the goods can be accurately measured and stored.
This effectively avoids overflow and collisions caused by insufficient space in the storage compartments when goods are received into the warehouse, improves the utilization rate of the shelf compartments, and ensures optimized storage and retrieval efficiency and space utilization.
Smart Images
Figure CN123028503A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of intelligent warehousing technology, and in particular to a method and system for receiving goods into a warehouse. Background Technology
[0002] With the development of intelligent warehousing and logistics, more and more intelligent warehousing systems are using storage and retrieval robots for goods storage and retrieval. For example, storage and retrieval robots are used to store goods in the shelf compartments. In this process, in order to better allocate the space and utilization rate of the shelf compartments, avoid insufficient shelf compartment space leading to goods overflow and collision, or excessive shelf compartment space leading to low utilization, there is an urgent need for a way to accurately obtain the volume of goods. Summary of the Invention
[0003] The purpose of this application is to provide a method and system for goods entry into the warehouse, which can accurately obtain the volume of goods and effectively avoid goods overflowing and colliding due to insufficient space in the shelf compartments or low utilization rate due to excessive reserved space in the shelf compartments.
[0004] To achieve the above objectives, the main technical solutions adopted in this application include:
[0005] In a first aspect, embodiments of this application provide a method for storing goods in a warehouse, applied to a warehousing system. The warehousing system includes a first mobile device and a second mobile device. The first mobile device is used to store and retrieve goods, and the second mobile device is used to transport goods to the first mobile device. The method includes: obtaining the side surface area of the goods facing the first mobile device, and determining the depth information of the goods perpendicular to the side surface of the goods facing the first mobile device; wherein the side surface area and depth information correspond to the same set of orthogonal dimensions of the goods; and determining the first volume information of the goods based on the side surface area and depth information, so that the first mobile device can store the goods based on the first volume information.
[0006] According to the goods storage method provided in the embodiments of this application, by obtaining the side surface area of the goods facing the first mobile device and determining the depth information of the goods perpendicular to the side surface of the goods facing the first mobile device, and the side surface area and depth information correspond to the same set of orthogonal dimensions of the goods, and then determining the first volume information of the goods based on the side surface area and depth information, the volume of the goods can be accurately obtained. Thus, when the first mobile device stores the goods based on the first volume information, it can effectively avoid the overflow and collision of goods due to insufficient shelf space or the low utilization rate due to excessive shelf space.
[0007] Optionally, in some embodiments of this application, the depth information is first depth information or second depth information; wherein, the first depth information is the depth information of the goods facing the first mobile device when the first mobile device is in a docking pose to access the goods on the second mobile device, and the second depth information is the depth information when the first mobile device is in a placement pose and the goods are on the placement module of the first mobile device.
[0008] Optionally, in some embodiments of this application, the side surface area is the area of the side surface of the goods facing the first mobile device when the first mobile device is in a docking pose to access the goods on the second mobile device.
[0009] Optionally, in some embodiments of this application, the second mobile device is provided with a baffle, and the depth information is the first depth information. Determining the depth information of the goods perpendicular to the side surface of the goods facing the first mobile device includes: when the goods are attached to the baffle, obtaining the third depth information from the first mobile device to the side surface of the goods facing the first mobile device, and calculating the first depth information based on the distance from the first mobile device to the baffle and the third depth information.
[0010] Optionally, in some embodiments of this application, the second mobile device includes a conveying mechanism and a driving mechanism, and the method further includes: controlling the driving mechanism to drive the conveying mechanism to move so that the goods on the conveying mechanism move toward the baffle until the goods are in contact with the baffle.
[0011] Optionally, in some embodiments of this application, during the process of controlling the drive mechanism to drive the conveying mechanism to move, the method further includes: obtaining the operating current of the drive mechanism, and determining that the goods are attached to the baffle when the operating current reaches a preset current threshold and continues for a preset time.
[0012] Optionally, in some embodiments of this application, after the goods are attached to the baffle, the method further includes: continuing to control the drive mechanism to drive the conveying mechanism to move, and reducing the driving force of the drive mechanism to keep the goods in an attached state.
[0013] Optionally, in some embodiments of this application, the second mobile device is provided with a baffle, and the depth information is the first depth information. Determining the depth information of the goods perpendicular to the side surface of the goods facing the first mobile device includes: when the goods are not attached to the baffle, obtaining the third depth information from the first mobile device to the side surface of the goods facing the first mobile device, and obtaining the fourth depth information from the baffle to the side surface of the goods facing the baffle, and calculating the first depth information based on the distance from the first mobile device to the baffle, the third depth information, and the fourth depth information.
[0014] Optionally, in some embodiments of this application, the first mobile device includes a robotic arm, wherein a third depth information is obtained through a first three-dimensional vision module disposed at the end of the robotic arm, and a fourth depth information is obtained through a second three-dimensional vision module disposed on a baffle.
[0015] Optionally, in some embodiments of this application, the depth information is second depth information. Determining the depth information of the goods perpendicular to the side surface of the goods facing the first mobile device includes: obtaining the upper surface area of the goods when the first mobile device is in a placement posture and the goods are on the placement module of the first mobile device, and determining the second depth information based on the upper surface area.
[0016] Optionally, in some embodiments of this application, the first mobile device includes a robotic arm and a fixed base, wherein the upper surface area is obtained by a first three-dimensional vision module disposed at the end of the robotic arm; or, the upper surface area is obtained by a third three-dimensional vision module disposed on the fixed base.
[0017] Optionally, in some embodiments of this application, when the goods are irregularly shaped goods, at least one of the side surface area and depth information is estimated by performing minimum bounding rectangle envelope or convex hull fitting on the side surface profile of the goods facing the first mobile device or the three-dimensional point cloud of the goods.
[0018] Optionally, in some embodiments of this application, the warehousing system further includes a light curtain measuring device and multiple sorting devices, and the method further includes: obtaining SKU information of goods and obtaining second volume information of goods through the light curtain measuring device; determining a target sorting device from multiple sorting devices based on the SKU information and the second volume information, so as to sort the goods to a second mobile device through the target sorting device.
[0019] Optionally, in some embodiments of this application, determining a target sorting device from multiple sorting devices based on SKU information and second volume information includes: summarizing and statistically analyzing the second volume information of multiple goods corresponding to the same SKU information to obtain the goods volume statistics information of the SKU information; and determining a target sorting device matching the SKU information from multiple sorting devices based on the goods volume statistics information.
[0020] Optionally, in some embodiments of this application, the light curtain measuring device includes a light curtain component, a barcode scanning component, a camera, and a weighing component. The light curtain component is used to acquire the outer contour dimension information of the goods so that the light curtain measuring device can calculate the second volume information based on the outer contour dimension information. The barcode scanning component is used to scan the barcode information of the goods to obtain SKU information. The camera is used to capture images of the goods to obtain the packaging type information of the goods. The weighing component is used to acquire the weight information of the goods. The method further includes: assisting in determining the target sorting equipment based on at least one of the packaging type information and weight information.
[0021] Optionally, in some embodiments of this application, the multiple sorting devices include at least two of a first sorting device, a second sorting device, and a third sorting device; the first sorting device is used to process goods whose volume reaches a preset volume threshold and whose packaging type is rigid packaging, the second sorting device is used to process goods whose volume is less than the preset volume threshold, and the third sorting device is used to process goods whose volume is greater than the preset volume threshold or whose packaging type is flexible packaging; when determining the target sorting device for processing goods from the multiple sorting devices based on SKU information and second volume information, the method further includes: when the goods simultaneously meet the processing conditions of at least two sorting devices, determining the target sorting device from the at least two sorting devices according to a preset device priority.
[0022] Secondly, embodiments of this application provide a goods receiving system applied to a warehousing system. The warehousing system includes a first mobile device and a second mobile device. The first mobile device is used to store and retrieve goods, and the second mobile device is used to transport goods to the first mobile device. The goods receiving system includes: a three-dimensional vision module; and a first controller configured to acquire the side surface area of the goods facing the first mobile device through the three-dimensional vision module, determine the depth information of the goods perpendicular to the side surface of the goods facing the first mobile device, and determine the first volume information of the goods based on the side surface area and the depth information, so that the first mobile device can store the goods based on the first volume information; wherein the side surface area and the depth information correspond to the same set of orthogonal dimensions of the goods.
[0023] According to the goods storage system provided in the embodiments of this application, by obtaining the side surface area of the goods facing the first mobile device and determining the depth information of the goods perpendicular to the side surface of the goods facing the first mobile device, and the side surface area and depth information correspond to the same set of orthogonal dimensions of the goods, the first volume information of the goods is determined based on the side surface area and depth information. The volume of the goods can be accurately obtained. Therefore, when the first mobile device stores the goods based on the first volume information, it can effectively avoid the overflow and collision of goods due to insufficient shelf space or the low utilization rate due to excessive shelf space.
[0024] Optionally, in some embodiments of this application, the warehousing system further includes multiple sorting devices. The system also includes: a light curtain measurement module for storing goods to obtain second volume information of the goods; and a second controller configured to acquire SKU information and second volume information of the goods, and determine a target sorting device from the multiple sorting devices based on the SKU information and second volume information, so as to sort the goods to a second mobile device through the target sorting device.
[0025] Optionally, in some embodiments of this application, the light curtain measurement module includes a light curtain component, a barcode scanning component, a camera, and a weighing component. The light curtain component is used to acquire the outer contour dimension information of the goods so that the light curtain measurement module can calculate the second volume information based on the outer contour dimension information. The barcode scanning component is used to scan the barcode information of the goods to obtain SKU information. The camera is used to capture images of the goods to obtain the packaging type information of the goods. The weighing component is used to acquire the weight information of the goods. The second controller is also configured to assist in determining the target sorting equipment based on at least one of the packaging type information and weight information. Attached Figure Description
[0026] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0027] Figure 1a Side view of a shelf in a storage system provided for some embodiments of this application;
[0028] Figure 1b A front view of a shelf in a storage system provided for some embodiments of this application;
[0029] Figure 1c A side view of a second mobile device in a warehousing system provided for some embodiments of this application;
[0030] Figure 1d A schematic diagram of the structure of a first mobile device in a warehousing system provided in some embodiments of this application;
[0031] Figure 1e for Figure 1d An enlarged schematic diagram of the access module of the first mobile device in the diagram;
[0032] Figure 2 A schematic flowchart illustrating a goods receiving method provided in some embodiments of this application;
[0033] Figure 3 This is a schematic diagram illustrating the acquisition of first volume information provided in some embodiments of this application;
[0034] Figure 4 This is a schematic diagram illustrating the acquisition of first volume information provided in other embodiments of this application;
[0035] Figure 5 A schematic diagram illustrating the acquisition of first volume information when a second mobile device has a baffle and the goods are attached to the baffle, as provided in some embodiments of this application;
[0036] Figure 6 A schematic diagram illustrating the acquisition of first volume information when the second mobile device has a baffle and the goods are not attached to the baffle, as provided in some embodiments of this application;
[0037] Figure 7 A schematic diagram illustrating the acquisition of first volume information when a three-dimensional vision module is provided at the end of the robotic arm of a first mobile device according to some embodiments of this application;
[0038] Figure 8 A schematic diagram illustrating the acquisition of first volume information when a three-dimensional vision module is provided on the end effector of the robotic arm and the mounting base of the first mobile device provided in some embodiments of this application;
[0039] Figure 9 A schematic diagram illustrating a first mobile device storing goods into a shelf compartment, provided for some embodiments of this application;
[0040] Figure 10 Schematic diagram of a target-determining sorting device provided for some embodiments of this application;
[0041] Figure 11 This application provides schematic flowcharts for determining target sorting equipment in some embodiments;
[0042] Figure 12 This is a schematic diagram of the structure of a goods receiving system provided in some embodiments of this application;
[0043] Figure 13 A schematic diagram of the structure of a goods receiving system provided for other embodiments of this application. Detailed Implementation
[0044] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0045] Figure 1a and Figure 1b These are side and front views of shelves in a warehousing system provided in some embodiments of this application. Figure 1c A side view of a second mobile device in a warehousing system provided for some embodiments of this application. See also Figures 1a-1c The warehousing system includes a first mobile device 1 and a second mobile device 2. The first mobile device 1 is used to store and retrieve goods 3, and the second mobile device 2 is used to transport goods 3 to the first mobile device 1.
[0046] For example, the first mobile device 1 is set on the track 5 on one side of the shelf 4. When the goods are stored, it is responsible for storing the goods 3 transported by the second mobile device 2 into the shelf compartment 41. When the goods are taken out, it is responsible for taking the goods 3 out of the shelf compartment 41 and placing them into the downstream automated guided vehicle or mobile handling container for cross-regional scheduling.
[0047] The first mobile device 1 may include a storage module 11 and a storage module 12. The storage module 11 is used to store and retrieve goods 3, and the storage module 12 is used to temporarily store goods 3. The storage module 11 may include a fixed base 111 and a robotic arm 112. The fixed base 111 is slidably mounted on a track 5, and the robotic arm 112 is mounted on the fixed base 111 and can rotate in multiple directions to facilitate the storage and retrieval of goods 3. The storage module 12 is fixedly mounted relative to the fixed base 111 so that the storage module 12 and the storage module 11 slide synchronously on the track 5. The first mobile device 1 may be Figures 1d-1e The storage and retrieval robot shown includes a fixed base 111, which can be a fixed support; a robotic arm 112, which can be a multi-joint robotic arm; and a suction cup 112b, which is provided at the end 112a of the robotic arm to pick up and retrieve goods 3. The storage module 12 includes a belt conveyor to assist the suction cup 112b in storing and retrieving goods. The second mobile device 2 can be a cart.
[0048] Figure 2 This is a flowchart illustrating a goods receiving method provided in some embodiments of this application. See also... Figure 2 The methods for receiving goods into the warehouse include:
[0049] S101: Obtain the side surface area of the cargo facing the first mobile device, and determine the depth information of the cargo perpendicular to the side surface of the cargo facing the first mobile device; wherein the side surface area and depth information correspond to the same set of orthogonal dimensions of the cargo.
[0050] In some examples, the side surface area is the area of the side surface of the goods facing the first mobile device when the first mobile device is in a docking pose to access goods on the second mobile device. The depth information is either first depth information or second depth information. The first depth information is the depth information of the goods facing the first mobile device when the first mobile device is in a docking pose to access goods on the second mobile device; the second depth information is the depth information when the first mobile device is in a placement pose and the goods are on the placement module of the first mobile device.
[0051] S102: Based on the side surface area and depth information, determine the first volume information of the goods so that the first mobile device can store the goods based on the first volume information.
[0052] As one implementation method, the side surface area of the goods facing the first mobile device is obtained when the first mobile device is in a docking pose to access the goods on the second mobile device, and the depth information of the goods perpendicular to the side surface is obtained in this state. The first volume information of the goods is calculated based on the side surface area and the depth information.
[0053] For example, a first three-dimensional vision module can be set on the first mobile device. When the second mobile device delivers the goods to the docking position of the shelf and the first mobile device is in the docking posture, the first three-dimensional vision module on the first mobile device can obtain the side surface area and depth information of the goods to obtain the first volume information of the goods.
[0054] For example, see Figure 1e A first three-dimensional vision module, such as a camera 112d and a TOF sensor 112c, is disposed at the end effector 112a of the robotic arm of the first mobile device 1. See also Figure 3 When the second mobile device 2 transports the goods 3 to the docking position of the shelf 4 and the first mobile device 1 is in the docking posture, the first three-dimensional vision module of the end of the robotic arm 112a of the first mobile device 1 will face the side surface of the goods 3 on the second mobile device 2, and obtain the side surface area and depth information L of the goods 3 through the first three-dimensional vision module. The first volume information of the goods 3 can be obtained by multiplying the two.
[0055] As another implementation, the side surface area of the goods facing the first mobile device is obtained when the first mobile device is in a docking pose to access the goods on the second mobile device, and the depth information of the goods perpendicular to the side surface is obtained when the first mobile device is in a placement pose and the goods are on the placement module of the first mobile device, and the first volume information of the goods is calculated based on the side surface area and depth information.
[0056] For example, a first three-dimensional vision module can be set on the first mobile device. When the second mobile device transports the goods to the docking position of the shelf and the first mobile device is in the docking posture, the side surface area of the goods can be obtained through the first three-dimensional vision module on the first mobile device. When the first mobile device is in the placement posture, the depth information of the goods can be obtained through the first three-dimensional vision module on the first mobile device to obtain the first volume information of the goods.
[0057] For example, see Figure 1e A first three-dimensional vision module, such as a camera 112d and a TOF sensor 112c, is disposed at the end effector 112a of the robotic arm of the first mobile device 1. See also Figure 3When the second mobile device 2 delivers the goods 3 to the docking position of the shelf 4 and the first mobile device 1 is in the docking posture, the first three-dimensional vision module of the robotic arm end effector 112a of the first mobile device 1 will face the side surface of the goods 3 on the second mobile device 2, and obtain the side surface area of the goods 3 through the first three-dimensional vision module; see Figure 4 When the first mobile device 1 is in the placement position, the first three-dimensional vision module of the end of the robotic arm 112a of the first mobile device 1 will face the upper surface of the cargo 3 on the placement module 12, and obtain the depth information L of the cargo 3 through the first three-dimensional vision module. The first volume information of the cargo can be obtained by multiplying the two.
[0058] In the above embodiments, the side surface area and depth information of the goods are obtained in the docking posture to obtain the volume of the goods, or the side surface area of the goods is obtained in the docking posture and the depth information of the goods is obtained in the placement posture to obtain the volume of the goods. Both methods can accurately obtain the first volume information of the goods, and then the goods can be stored in the shelf compartment by the first mobile device based on the first volume information. Since the obtained first volume information is relatively accurate, it can effectively avoid the overflow and collision of goods due to insufficient shelf compartment space or low utilization rate due to excessive shelf compartment space when the goods are put into the warehouse.
[0059] In some embodiments of this application, the second mobile device is provided with a baffle, and the depth information includes first depth information. Determining the depth information of the goods perpendicular to the side surface of the goods facing the first mobile device includes: when the goods are attached to the baffle, obtaining third depth information from the first mobile device to the side surface of the goods facing the first mobile device, and calculating the first depth information based on the distance from the first mobile device to the baffle and the third depth information.
[0060] For example, a first 3D vision module can be installed on the first mobile device, and a baffle can be installed at one end of the second mobile device to place the goods against the baffle. When the second mobile device transports the goods to the docking position of the shelf and the first mobile device is in the docking posture, the first 3D vision module on the first mobile device obtains the side surface area of the goods and the third depth information of the first mobile device to the side surface of the goods. Since the docking position of the second mobile device is a fixed position and the length of the second mobile device perpendicular to the side surface is known, the distance from the first mobile device to the baffle is known. The depth information of the goods can be calculated based on the difference between this distance and the third depth information, and then the volume of the goods can be calculated based on the depth information and the side surface area.
[0061] For example, a first three-dimensional vision module, such as a camera 112d and a TOF sensor 112c, is provided at the end effector 112a of the robotic arm of the first mobile device 1, see [link to documentation]. Figure 5When the second mobile device 2 transports the goods 3 to the docking position of the shelf 4 and the first mobile device 1 is in the docking posture, the first three-dimensional vision module of the robotic arm end cap 112a of the first mobile device 1 will face the side surface of the goods 3 on the second mobile device 2. The first three-dimensional vision module will obtain the side surface area of the goods 3 and the third depth information L3 from the robotic arm end cap 112a to the side surface of the goods 3. Since the docking position of the second mobile device 2 is fixed and the posture of the robotic arm of the first mobile device 1 is fixed when in the docking posture, the distance d1 from the robotic arm end cap 112a to the side surface of the second mobile device 2 is fixed. At the same time, the length d2 of the second mobile device 2 is fixed, and the corresponding distance D from the robotic arm end cap 112a to the baffle 21 is fixed. The depth information L (i.e., the first depth information) of the goods 3 can be obtained according to the difference between the distance D and the third depth information L3. The first volume information of the goods can be obtained based on the product of the depth information L and the side surface area.
[0062] In the above embodiments, by setting a baffle on the second mobile device and placing the goods against the baffle, the floating measurement reference can be transformed into a known fixed reference, eliminating the placement deviation of the goods, thereby enabling the volume of the goods to be obtained quickly and accurately, and achieving high-precision measurement.
[0063] Furthermore, in some embodiments of this application, the second mobile device includes a conveying mechanism and a driving mechanism, and the method further includes: controlling the driving mechanism to drive the conveying mechanism to move so that the goods on the conveying mechanism move toward the baffle until the goods are in contact with the baffle.
[0064] Specifically, there are several ways to make goods fit the baffle. One way is to fit the goods to the baffle when they are placed on the second mobile device, but this method requires other equipment or manual assistance. Another way is to set an adjustment module on the second mobile device so that the goods can fit the baffle after they are placed on the second mobile device. This method does not require other equipment or manual assistance.
[0065] For example, the second mobile device includes a conveying mechanism and a driving mechanism. The conveying mechanism may be a belt conveyor for carrying goods, and the driving mechanism may be a motor for driving the belt conveyor. After the second mobile device conveys the goods to the docking position of the shelf, the motor starts working and drives the belt conveyor to move, so that the goods located on the belt conveyor move towards the baffle until the goods are in contact with the baffle.
[0066] Furthermore, in some embodiments of this application, during the process of controlling the drive mechanism to drive the conveying mechanism to move, the method further includes: acquiring the operating current of the drive mechanism, and determining that the goods are attached to the baffle when the operating current reaches a preset current threshold and continues for a preset time. After the goods are attached to the baffle, the method further includes: continuing to control the drive mechanism to drive the conveying mechanism to move, and reducing the driving force of the drive mechanism to keep the goods in an attached state.
[0067] For example, let's continue with the belt conveyor and motor. During the process of the motor driving the belt conveyor to move the goods towards the baffle, the motor's operating current is monitored in real time. When the motor's operating current continuously reaches a preset current threshold within a preset time, it is determined that the belt conveyor is obstructed and the motor is stalled, indicating that the goods are completely pressed against the baffle. At this point, the side of the baffle facing the first mobile device becomes the geometric reference surface. Based on this geometric reference surface, depth information is acquired, and the depth information L of the goods can be obtained. After the goods are pressed against the baffle, a small torque can be maintained to keep the goods in a pressed state, i.e., self-locking the goods, preventing them from rebounding, and reducing inertial errors.
[0068] In some other embodiments of this application, the second mobile device is provided with a baffle, and the depth information is the first depth information. Determining the depth information of the goods perpendicular to the side surface of the goods facing the first mobile device includes: when the goods are not attached to the baffle, obtaining the third depth information from the first mobile device to the side surface of the goods facing the first mobile device, and obtaining the fourth depth information from the baffle to the side surface of the goods facing the baffle, and calculating the first depth information based on the distance from the first mobile device to the baffle, the third depth information and the fourth depth information.
[0069] For example, a first three-dimensional vision module can be set on the first mobile device, and a baffle can be set at one end of the second mobile device. A second three-dimensional vision module can be set on the baffle. When the second mobile device transports the goods to the docking position of the shelf and the first mobile device is in the docking posture, the first three-dimensional vision module on the first mobile device can obtain the side surface area of the goods and the third depth information of the first mobile device to the side surface of the goods. When the goods are not attached to the baffle, the second three-dimensional vision module on the baffle can obtain the fourth depth information of the baffle to the side surface of the goods facing the baffle. Since the distance from the first mobile device to the baffle is known, the depth information of the goods can be calculated based on the distance from the first mobile device to the baffle, the third depth information and the fourth depth information. Then, the first volume information of the goods can be calculated based on the depth information and the side surface area.
[0070] For example, a first three-dimensional vision module, such as a camera 112d and a TOF sensor 112c, is provided at the end of the robotic arm 112a of the first mobile device 1, and a second three-dimensional vision module, such as a TOF sensor, is provided on the baffle 21. See [link to relevant documentation]. Figure 6 When the second mobile device 2 transports the goods 3 to the docking position of the shelf 4 and the first mobile device 1 is in the docking posture, the first three-dimensional vision module of the robotic arm end 112a of the first mobile device 1 will face the side surface of the goods 3 on the second mobile device 2. The first three-dimensional vision module will obtain the side surface area of the goods 3 and the third depth information L3 from the robotic arm end 112a to the side surface of the goods 3. At the same time, the second three-dimensional vision module on the baffle 21 will obtain the fourth depth information L4 from the baffle 21 to the side surface of the goods 3. Since the docking position of the second mobile device 2 is fixed and the posture of the robotic arm of the first mobile device 1 is fixed when in the docking posture, the distance d1 from the robotic arm end 112a to the side surface of the second mobile device 2 is fixed. At the same time, the length d2 of the second mobile device 2 is fixed, and the corresponding distance D from the robotic arm end 112a to the baffle 21 is fixed. Then, the depth information L (i.e., the first depth information) of the goods can be obtained according to the difference between the distance D and the sum of the third depth information L3 and the fourth depth information L4. The first volume information of the goods can be obtained based on the product of the depth information L and the side surface area.
[0071] In the above embodiments, by setting a three-dimensional vision module on the baffle to obtain the depth information of the goods from the baffle, the depth information of the goods can be accurately obtained even when the goods are not attached to the baffle.
[0072] In some other embodiments of this application, the depth information is second depth information. Determining the depth information of the goods perpendicular to the side surface of the goods facing the first mobile device includes: obtaining the upper surface area of the goods when the first mobile device is in a placement posture and the goods are on the placement module of the first mobile device, and determining the second depth information based on the upper surface area.
[0073] As an example, a first three-dimensional vision module, such as a camera 112d and a TOF sensor 112c, is provided at the end effector 112a of the robotic arm of the first mobile device 1, see [link to documentation]. Figure 7When the second mobile device 2 transports the goods 3 to the docking position of the shelf 4 and the first mobile device 1 is in the docking posture, the first three-dimensional vision module of the end effector 112a of the robotic arm of the first mobile device 1 will face the side surface of the goods 3 on the second mobile device 2 and obtain the side surface area of the goods 3 through the first three-dimensional vision module; then the robotic arm grabs the goods 3 and transfers it to the placement module 12 of the first mobile device 1. After the goods are placed, by adjusting the multi-joint posture of the robotic arm, the first three-dimensional vision module of the end effector 112a of the robotic arm is made to face the upper surface of the goods 3 on the placement module 12. The upper surface area of the goods 3 is obtained through the first three-dimensional vision module, and the depth information L of the goods 3 is extracted from the upper surface area. Multiplying the depth information L and the side surface area gives the first volume information of the goods.
[0074] As another example, a first three-dimensional vision module, such as a camera 112d and a TOF sensor 112c, is provided at the end effector 112a of the robotic arm of the first mobile device 1, and a third three-dimensional vision module, such as a camera and a TOF sensor, is provided on the mounting base 111 of the first mobile device 1. See [link to documentation]. Figure 8 When the second mobile device 2 transports the goods 3 to the docking position of the shelf 4 and the first mobile device 1 is in the docking posture, the first three-dimensional vision module of the end effector 112a of the robotic arm of the first mobile device 1 will face the side surface of the goods 3 on the second mobile device 2 and obtain the side surface area of the goods 3 through the first three-dimensional vision module; then the robotic arm grabs the goods 3 and transfers it to the placement module 12 of the first mobile device 1. When the goods 3 is within the field of view of the third three-dimensional vision module on the fixed seat 111, the upper surface area of the goods 3 is obtained through the third three-dimensional vision module, and the depth information L of the goods 3 is extracted from the upper surface area. Multiplying the depth information L and the side surface area can obtain the first volume information of the goods.
[0075] Specifically, the upper surface of cargo 3 includes mutually perpendicular width and depth edges, with the width edges coplanar with the side surfaces. When acquiring upper surface information, edge extraction is performed on the upper surface image to obtain the upper surface contour, and the length of the edge perpendicular to the side surface in the contour is used as the depth information L. Since the width dimension has already been obtained from the side surface area, only the depth edge needs to be extracted from the upper surface to multiply it with the side surface area to obtain the first volume information. For cargo with irregular shapes, the maximum span of the upper surface contour in the direction perpendicular to the side surface is taken as the depth information L.
[0076] In the above embodiments, without relying on the baffle as a geometric reference surface, the volume of the cargo can be accurately obtained by utilizing the multi-joint pose adjustment of the robotic arm in the first mobile device to acquire and synthesize morphological information in the docking pose and the placement pose respectively.
[0077] In some instances, the first mobile device maintains the cargo's posture essentially unchanged during the process of picking up and transferring the cargo using a suction cup. That is, the direction perpendicular to the side surface in the placement posture is consistent with the direction perpendicular to the side surface in the docking posture, thereby ensuring that the depth information measured in the placement posture and the side surface area measured in the docking posture correspond to the same set of orthogonal dimensions of the cargo.
[0078] In other instances, if the posture of the goods changes during the transfer process, the position parameters of the robotic arm end effector in the docking posture and the placement posture are recorded. The depth information measured in the placement posture is converted to the direction corresponding to the side surface through coordinate transformation, and then combined with the side surface area to form the first volume information.
[0079] In some examples, when acquiring the side surface area of a cargo using the first 3D vision module, the side surface image information can be obtained by capturing images of the cargo's side surface using a camera within the first 3D vision module. This image information is then preprocessed and features extracted to obtain the cargo's side surface contour. Finally, the depth information acquired by the TOF sensor in the first 3D vision module is used as a depth compensation coefficient to correct the camera's visual pixel scale, thereby improving the accuracy of the side surface area acquisition. The same method can be used when acquiring the top surface area of a cargo using the third 3D vision module; details will not be elaborated here.
[0080] When acquiring depth information through the TOF sensor in the first 3D vision module, the Z-axis rigid elevation encoder coordinate Z_arm of the robotic arm servo motor can be introduced for redundancy verification and noise filtering. This is used to deal with extreme working conditions such as high reflectivity, light absorption, or unevenness of the cargo surface causing transient noise in the TOF sensor, thereby improving the robustness of the system.
[0081] Furthermore, the above example uses goods with regular shapes for illustration. For goods with irregular shapes, the acquisition method of sensor data (side surface image, top surface image, and TOF depth point cloud) is the same as for regular goods. The difference lies in the feature extraction stage: because the side surface and depth contours of irregular goods are irregular, it is difficult to directly read the regular area and depth values. Therefore, the acquired side surface contours or 3D point clouds are processed using minimum bounding rectangle envelope or convex hull fitting to estimate the side surface area and / or depth information of the goods. Then, based on the estimated side surface area and depth information, the volume of the goods is obtained by multiplying them in the aforementioned manner. Among them, minimum bounding rectangle envelope obtains the smallest rectangle that can accommodate the corresponding contour of the goods. The estimation result is conservative and helps prevent overflow from the shelf compartments; convex hull fitting is closer to the real contour of the goods, the estimation result is closer to the real volume, and it helps to improve space utilization.
[0082] After accurately obtaining the first volume information of the goods through the above methods, the goods can be stored based on the first volume information of the goods and the inventory status of the shelf compartments, so as to better allocate the space and utilization rate of the shelf compartments, avoid the overflow and collision of goods due to insufficient shelf compartment space, or the low utilization rate due to excessive shelf compartment space.
[0083] For example, when storing goods, Figure 5 or Figure 6 Taking the second mobile device 2 with baffle 21 as an example, after the second mobile device 2 is in the docking position and the first mobile device 1 receives the storage instruction for the goods 3 and is in the docking posture, the first mobile device 1 obtains the first volume information of the goods through the aforementioned method and feeds it back to the dispatch center. The dispatch center, based on the first volume information of the goods and the current storage status of the goods in the shelf compartment, determines the target shelf compartment through a preset anti-collision allocation strategy (e.g., the dispatch center based on the matching rules between the remaining space of the shelf compartment and the volume of the goods) to avoid shelf compartment overflow or collision, and feeds it back to the first mobile device 1; the first mobile device 1 picks up the goods 3 from the second mobile device 2 and temporarily stores them on its own storage module 12. After reaching the target shelf compartment, it proceeds according to... Figure 9 The goods 3 are placed in the target shelf compartment according to the placement direction shown. The first three-dimensional vision module of the end of the robotic arm 112a of the first mobile device 1 identifies the information of the goods already stored in the target shelf compartment and the remaining space information, and feeds it back to the dispatch center so as to facilitate the subsequent storage of goods 3.
[0084] When retrieving goods, the dispatch center can stack the goods according to their volume, following a strategy of large boxes at the bottom, small boxes on top, and compact side-by-side, to determine the target stacking position of each goods on the downstream automated guided vehicle. The dispatch center then sends a corresponding retrieval command to the first mobile device 1, which retrieves each goods from the corresponding shelf slot 41 based on the retrieval command and places them on the downstream automated guided vehicle according to the target stacking position, thereby improving the loading rate and transportation efficiency of the downstream automated guided vehicle.
[0085] In the above embodiments, by integrating a three-dimensional vision module on the first mobile device, or by integrating a three-dimensional vision module on the first mobile device and an auxiliary module on the second mobile device, the volume of goods can be accurately measured by utilizing the transmission and transfer actions between the second mobile device and the first mobile device.
[0086] In some embodiments of this application, goods need to be sorted before storage. During sorting, sorting equipment can be allocated beforehand to match goods with the equipment, thereby improving sorting efficiency. See also Figure 10The warehousing system also includes a light curtain measuring device 6 and multiple sorting devices 7 (three are shown in the figure as an example). The light curtain measuring device 6 is used to obtain the SKU (Stock Keeping Unit) information, second volume information, optional packaging type information, and weight information of goods 3 during the sorting process. The multiple sorting devices 7 are used to sort goods 3, and different sorting devices 7 can handle different specifications of goods.
[0087] For example, the light curtain measuring device 6 can be a static light curtain measuring device or a dynamic through-type light curtain measuring device, and integrates a light curtain component 61, a barcode scanning component 62, a camera 63, and a weighing component 64. The light curtain component 61 is located on opposite sides of the measuring station 8 and is used to emit and receive light signals to obtain the outer contour dimension information of the goods 3; the barcode scanning component 62 is used to scan the barcode information of the goods 3 to obtain the SKU information of the goods 3; the camera 63 is used to capture images of the goods 3, which can be used to verify the outer contour dimension information obtained by the light curtain component 61, and can also be used to obtain the packaging type information of the goods 3; the weighing component 64 is used to obtain the weight information of the goods 3. During measurement, the goods 3 can be placed statically on the measuring station 8 for measurement, or it can be dynamically measured as it passes through the measuring area where the light curtain component 61 is located along the conveyor line of the measuring station 8. The light curtain measuring device 6 calculates the second volume information of the goods 3 based on the outer contour dimension information of the goods 3.
[0088] During goods sorting, the barcode information of goods 3 can be scanned by the barcode scanning component 62 to obtain the SKU information of goods 3, and the second volume information of goods 3 can be obtained by the light curtain component 61. Since goods 3 with the same SKU information may have multiple different size specifications, the second volume information of multiple goods 3 corresponding to the same SKU information can be summarized and statistically analyzed to obtain the goods volume statistics information of that SKU information. The goods volume statistics information may include at least one of the following: maximum value, minimum value, mean, median, quantile, and volume distribution range. For example, the maximum and minimum values can constitute the goods volume range to reflect the goods volume distribution of that SKU information. Then, based on the SKU information and second volume information of goods 3, a target sorting device is determined from multiple sorting devices 7; optionally, the target sorting device corresponding to that SKU information is determined based on the goods volume statistics information of the same SKU information. See also Figure 11 After steps S201 to S205 (steps S203 to S204 are optional), at least one candidate sorting device can be obtained.
[0089] For example, the sorting devices 7 include a first sorting device, a second sorting device, and a third sorting device. The first sorting device may include a suction cup to pick up goods. Due to its structural limitations, the first sorting device is suitable for processing goods whose volume reaches a preset volume threshold and whose packaging type is rigid packaging (such as a cardboard box); the second sorting device is suitable for processing goods whose volume is less than the preset volume threshold; and the third sorting device is suitable for processing goods whose volume is greater than the preset volume threshold or whose packaging type is flexible packaging (such as a plastic bag). When determining the target sorting equipment, the volume statistics of the goods for the SKU information, combined with the packaging type information, weight information and other dimensions, can be used to select a matching sorting equipment as a candidate sorting equipment from multiple sorting equipment. When there are multiple candidate sorting equipment, the target sorting equipment can be selected according to the preset equipment priority, and the goods corresponding to the SKU information can be assigned to the target sorting equipment for processing, thereby avoiding problems such as low processing efficiency and equipment failure caused by the mismatch between the sorting equipment and the specifications of the goods. When there is only one candidate sorting equipment, it can be directly used as the target sorting equipment. That is, the target sorting equipment that matches the goods can be obtained through steps S206 to S208.
[0090] After being processed by the target sorting equipment, the goods are transported by the second mobile device to the docking position on the shelf, and then stored in the shelf compartment by the first mobile device. Before the goods are stored, the first volume information of the goods can be obtained through the method provided in the aforementioned embodiment to allocate shelf compartments. It is understood that the second volume information of the goods obtained by the light curtain measuring device during the sorting stage can also be stored in the scheduling center. When the goods are stored, the second volume information can be directly called to allocate shelf compartments without the need for remeasurement.
[0091] When storing goods, the second mobile device transports the goods to the docking position on the shelf. The first mobile device first assumes the docking position to retrieve the goods from the second mobile device; then it assumes the placement position to temporarily place the goods on its own placement module; finally, it stores the goods from its own placement module into the shelf compartment. When retrieving goods, the first mobile device first removes the goods from the shelf compartment and temporarily stores them on its own placement module, then places the goods into a downstream automated guided vehicle or mobile transport container.
[0092] In the above embodiments, during the sorting stage before goods are stored, the second volume information of the goods is also obtained, and sorting equipment matching the goods is selected in combination with other goods information for sorting, which can effectively improve sorting efficiency. At the same time, the second volume information can replace the first volume information for the allocation of shelf slots when storing goods in the future, or the second volume information can be used to verify the first volume information to further improve the accuracy of the first volume information.
[0093] In some embodiments of this application, a goods receiving system is also provided, applied to a warehousing system. The warehousing system includes a first mobile device and a second mobile device. The first mobile device is used to store and retrieve goods, and the second mobile device is used to transport goods to the first mobile device. See also Figure 12 The goods receiving system 100 includes a 3D vision module 110 and a first controller 120. The first controller 120 is configured to acquire the side surface area of the goods facing the first mobile device via the 3D vision module 110, determine the depth information of the goods perpendicular to the side surface facing the first mobile device, and determine the first volume information of the goods based on the side surface area and depth information, so that the first mobile device can store the goods based on the first volume information; wherein the side surface area and depth information correspond to the same set of orthogonal dimensions of the goods. In some examples, the first controller 120 may be integrated into the first mobile device; specific integration is not limited here.
[0094] In some embodiments of this application, the warehousing system further includes multiple sorting devices, see [link to relevant documentation]. Figure 13 The goods receiving system 100 also includes: a light curtain measurement module 6 and a second controller 130. The light curtain measurement module 6 is used to receive goods to obtain second volume information of the goods. The second controller 130 is configured to obtain SKU information and second volume information of the goods, and based on the SKU information and second volume information, determine a target sorting device from multiple sorting devices so that the goods can be sorted to a second mobile device through the target sorting device.
[0095] In some embodiments of this application, see Figure 10 The light curtain measurement module 6 includes a light curtain component 61, a barcode scanning component 62, a camera 63, and a weighing component 64. The light curtain component 61 is used to acquire the outer contour dimension information of the goods so that the light curtain measurement module 6 can calculate the second volume information based on the outer contour dimension information. The barcode scanning component 62 is used to scan the barcode information of the goods to obtain SKU information. The camera 63 is used to capture images of the goods to obtain the packaging type information of the goods. The weighing component 64 is used to acquire the weight information of the goods. The second controller 130 is also configured to assist in determining the target sorting equipment based on at least one of the packaging type information and weight information.
[0096] It should be noted that for details regarding the goods warehousing system in this application embodiment that are not disclosed, please refer to the details disclosed in the goods warehousing method in this application embodiment, which will not be repeated here.
[0097] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0098] Although embodiments of this application have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make modifications, alterations, substitutions, and variations to the above embodiments within the scope of this application.
Claims
1. A method for receiving goods into a warehouse, characterized in that, Applied to a warehousing system, the warehousing system including a first mobile device and a second mobile device, the first mobile device being used for storing and retrieving goods, and the second mobile device being used for transporting the goods to the first mobile device, the method includes: The side surface area of the cargo facing the first mobile device is obtained, and the depth information of the cargo perpendicular to the side surface of the cargo facing the first mobile device is determined; wherein the side surface area and the depth information correspond to the same set of orthogonal dimensions of the cargo; Based on the side surface area and the depth information, the first volume information of the cargo is determined so that the first mobile device can store the cargo based on the first volume information.
2. The method for receiving goods into a warehouse according to claim 1, characterized in that, The depth information is either first depth information or second depth information; wherein, the first depth information is the depth information of the goods facing the first mobile device when the first mobile device is in a docking pose to access the goods on the second mobile device, and the second depth information is the depth information when the first mobile device is in a placement pose and the goods are on the placement module of the first mobile device.
3. The method for receiving goods into a warehouse according to claim 2, characterized in that, The side surface area is the area of the side surface of the goods facing the first mobile device when the first mobile device is in a docking posture to access the goods on the second mobile device.
4. The method for receiving goods into a warehouse according to claim 2, characterized in that, The second mobile device is provided with a baffle, and the depth information is the first depth information. Determining the depth information of the cargo perpendicular to the side surface of the cargo facing the first mobile device includes: When the goods are attached to the baffle, the third depth information of the goods from the first mobile device to the side surface of the goods facing the first mobile device is obtained, and the first depth information is calculated based on the distance from the first mobile device to the baffle and the third depth information.
5. The method for receiving goods into a warehouse according to claim 4, characterized in that, The second mobile device includes a conveying mechanism and a driving mechanism, and the method further includes: The drive mechanism is controlled to drive the conveying mechanism to move, so that the goods on the conveying mechanism move toward the baffle until the goods are in contact with the baffle.
6. The method for receiving goods into a warehouse according to claim 5, characterized in that, In the process of controlling the drive mechanism to drive the conveying mechanism to move, the method further includes: The operating current of the drive mechanism is obtained, and when the operating current reaches a preset current threshold and continues for a preset time, it is determined that the goods are attached to the baffle.
7. The method for receiving goods into a warehouse according to claim 5, characterized in that, After the goods are attached to the baffle, the method further includes: Continue to control the drive mechanism to drive the conveying mechanism to move, and reduce the driving force of the drive mechanism to keep the goods in a fitted state.
8. The method for receiving goods into a warehouse according to claim 2, characterized in that, The second mobile device is provided with a baffle, and the depth information is the first depth information. Determining the depth information of the cargo perpendicular to the side surface of the cargo facing the first mobile device includes: When the goods are not attached to the baffle, the third depth information from the first mobile device to the side surface of the goods facing the first mobile device is obtained, and the fourth depth information from the baffle to the side surface of the goods facing the baffle is obtained. The first depth information is calculated based on the distance from the first mobile device to the baffle, the third depth information and the fourth depth information.
9. The method for receiving goods into a warehouse according to claim 8, characterized in that, The first mobile device includes a robotic arm, wherein the third depth information is obtained by a first three-dimensional vision module located at the end of the robotic arm, and the fourth depth information is obtained by a second three-dimensional vision module located on the baffle.
10. The method for receiving goods into a warehouse according to claim 2, characterized in that, The depth information is the second depth information, and determining the depth information of the cargo perpendicular to the side surface of the cargo facing the first mobile device includes: The upper surface area of the goods is obtained when the first mobile device is in a placement position and the goods are placed on the placement module of the first mobile device, and the second depth information is determined based on the upper surface area.
11. The method for receiving goods into a warehouse according to claim 10, characterized in that, The first mobile device includes a robotic arm and a fixed base, wherein the upper surface area is obtained by a first three-dimensional vision module located at the end of the robotic arm; or, the upper surface area is obtained by a third three-dimensional vision module located on the fixed base.
12. The method for receiving goods into a warehouse according to claim 1, characterized in that, When the goods are irregularly shaped, at least one of the side surface area and the depth information is estimated by performing minimum bounding rectangle envelope or convex hull fitting on the side surface profile of the goods facing the first mobile device or the three-dimensional point cloud of the goods.
13. The method for receiving goods into a warehouse according to claim 1, characterized in that, The warehousing system also includes a light curtain measuring device and multiple sorting devices, and the method further includes: The SKU information of the goods is obtained, and the second volume information of the goods is obtained through the light curtain measuring device; Based on the SKU information and the second volume information, a target sorting device is determined from the plurality of sorting devices so that the goods can be sorted to the second mobile device through the target sorting device.
14. The method for receiving goods into a warehouse according to claim 13, characterized in that, Based on the SKU information and the second volume information, the target sorting device is determined from the plurality of sorting devices, including: The second volume information of multiple goods corresponding to the same SKU is summarized and statistically analyzed to obtain the cargo volume statistics of that SKU. Based on the cargo volume statistics, a target sorting device matching the SKU information is determined from the plurality of sorting devices.
15. The method for receiving goods into a warehouse according to claim 13, characterized in that, The light curtain measuring device includes a light curtain component, a barcode scanning component, a camera, and a weighing component. The light curtain component acquires the outer contour dimensions of the goods, enabling the light curtain measuring device to calculate the second volume information based on these dimensions. The barcode scanning component scans the barcode information of the goods to obtain the SKU information. The camera captures an image of the goods to obtain their packaging type information. The weighing component acquires the weight information of the goods. The method further includes: assisting in determining the target sorting device based on at least one of the packaging type information and the weight information.
16. The method for receiving goods into a warehouse according to claim 14, characterized in that, The plurality of sorting devices includes at least two of a first sorting device, a second sorting device, and a third sorting device; the first sorting device is used to process goods whose volume reaches a preset volume threshold and whose packaging type is rigid packaging; the second sorting device is used to process goods whose volume is less than the preset volume threshold; and the third sorting device is used to process goods whose volume is greater than the preset volume threshold or whose packaging type is flexible packaging. When determining the target sorting device for processing the goods from the plurality of sorting devices based on the SKU information and the second volume information, the method further includes: When the goods simultaneously meet the processing conditions of at least two sorting devices, the target sorting device is determined from the at least two sorting devices according to the preset device priority.
17. A goods receiving system, characterized in that, The system is applied to a warehousing system, which includes a first mobile device and a second mobile device. The first mobile device is used to store and retrieve goods, and the second mobile device is used to transport the goods to the first mobile device. The goods receiving system includes: 3D vision module; A first controller is configured to acquire the side surface area of the cargo facing the first mobile device through the three-dimensional vision module, determine the depth information of the cargo perpendicular to the side surface of the cargo facing the first mobile device, and determine the first volume information of the cargo based on the side surface area and the depth information, so that the first mobile device can store the cargo based on the first volume information; wherein the side surface area and the depth information correspond to the same set of orthogonal dimensions of the cargo.
18. The goods receiving system according to claim 17, characterized in that, The warehousing system also includes multiple sorting devices, and the goods receiving system also includes: A light curtain measurement module is used to store the goods in the warehouse to obtain the second volume information of the goods; The second controller is configured to acquire the SKU information and the second volume information of the goods, and based on the SKU information and the second volume information, determine a target sorting device from the plurality of sorting devices so as to sort the goods to the second mobile device through the target sorting device.
19. The goods receiving system according to claim 18, characterized in that, The light curtain measurement module includes a light curtain component, a barcode scanning component, a camera, and a weighing component. The light curtain component acquires the outer contour dimensions of the goods, allowing the light curtain measurement module to calculate the second volume information based on these dimensions. The barcode scanning component scans the barcode information of the goods to obtain the SKU information. The camera captures an image of the goods to obtain their packaging type information. The weighing component acquires the weight information of the goods. The second controller is further configured to assist in determining the target sorting device based on at least one of the packaging type information and the weight information.