Sorting system

Abstract

The utility model relates to the technical field of warehouse logistics, and discloses a sorting system which comprises a second-layer walking platform and a first-layer walking platform which are arranged up and down in a spaced mode. And a storage rack is placed below the first layer of walking platform. The first carrying robot and the second carrying robot are distributed on the first-layer walking platform and the second-layer walking platform correspondingly. The first layer walking platform and the second layer walking platform are provided with a first lower detection opening and a second lower detection opening respectively. The first carrying robot and the second carrying robot each comprise a carrier, a movable base and a lifting device, the carriers are used for receiving and putting goods, and the movable bases are used for driving the carriers to move on the first-layer walking platform or the second-layer walking platform. The lifting device is arranged on the movable base and used for driving the carrier to ascend and descend at the second lower probing opening and / or the first lower probing opening. The goods sorting efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, specifically to a sorting system. Background Technology

[0002] Picking is a crucial part of logistics warehousing and distribution. Ensuring consistently high-efficiency picking operations can improve the overall outbound efficiency of goods.

[0003] In related technologies, the warehousing system of a logistics center generally includes racks, picking stations, and conveying equipment. The picking stations typically employ traditional pick-and-place workstations. When goods enter or leave the warehouse, picking personnel perform the picking work, classifying goods according to order tasks or product types, and placing them into the corresponding storage slots on the pick-and-place wall. The goods in these slots are then moved in and out of the warehouse by conveying equipment such as handling robots. However, the picking efficiency of current pick-and-place workstations is relatively low. Improving the picking efficiency of these workstations is an urgent problem to be solved. Utility Model Content

[0004] In view of the above problems, embodiments of this application provide a sorting system, sorting method, control device, and computer-readable storage medium to solve the problem of low workstation picking efficiency in the prior art.

[0005] According to a first aspect of the embodiments of this application, a sorting system is provided, the sorting system comprising: a first-level walking platform erected on a supporting surface, wherein a receiving space is provided between the first-level walking platform and the supporting surface; a second-level walking platform disposed above the first-level walking platform; a plurality of storage racks spaced apart within the receiving space, each storage rack having an aisle on at least one side, each storage rack including a plurality of storage columns, each storage column having a plurality of storage layers arranged vertically, and storage containers placed on the storage layers; a first handling robot distributed on the first-level walking platform; and a second handling robot distributed on the second-level walking platform; wherein the... The first-level walking platform has multiple first downward probes, which are corresponding to the alleyway. The second-level walking platform has multiple second downward probes, each of which corresponds to one of the first downward probes. Both the first and second transport robots include a carrier, a mobile base, and a lifting device. The carrier is used to receive and place goods. The mobile base is used to move the carrier on the first or second-level walking platform. The lifting device is located on the mobile base and is used to lift the carrier up and down between the second downward probe and / or the first downward probe.

[0006] The sorting system of this application embodiment uses at least two layers of walking platforms, with storage racks located in the accommodating space below the lower walking platform. Each walking platform has a downward access opening. The first downward access opening on the lower walking platform corresponds to the aisle next to the storage rack, allowing the carrier of a first handling robot on the lower walking platform to pass through the first downward access opening and place goods onto the storage rack. At least one first downward access opening is correspondingly located below the second downward access opening on the upper walking platform, allowing the carrier of a second handling robot on the upper walking platform to pass through both the second and first downward access openings sequentially to place goods onto the storage rack. By using at least two walking platforms, multiple handling robots can be arranged on each platform, increasing the number of handling robots that can operate simultaneously and improving order sorting efficiency.

[0007] In some embodiments, the lifting device is flexibly connected to the carrier; the sorting system further includes a carrier guide frame disposed in the aisle, and the carrier rises and / or falls along the carrier guide frame in the aisle.

[0008] In some embodiments, the top of the vehicle guide frame is fixed to the bottom of the first-layer walking platform, and the height of the bottom of the vehicle guide frame is less than or equal to a first height, wherein the first height is the height at which the vehicle transfers the goods to the storage container on the bottom storage layer of the storage rack.

[0009] In some embodiments, the vehicle guide frame includes multiple guide rails extending vertically, the top ends of the guide rails being fixed to the bottom of the first-layer walking platform, and the bottom ends of the guide rails being fixed to a fixed frame.

[0010] In some embodiments, the lifting device is rigidly connected to the vehicle.

[0011] In some embodiments, the first-level walking platform and the second-level walking platform are grid tracks, the grid tracks including a first track group extending along a first direction and a second track group extending along a second direction, the first track group and the second track group intersect to form multiple grids, the multiple grids of the first-level walking platform and the multiple grids of the second-level walking platform are positioned correspondingly along the vertical direction; the multiple grids include a first grid area and a second grid area, the multiple storage racks are located below the second grid area, and the aisle is located below the first grid area; the first downward probe is a hole in at least a portion of the grids in the first grid area of ​​the first-level walking platform, and the second downward probe is a hole in at least a portion of the grids in the first grid area of ​​the second-level walking platform.

[0012] In some embodiments, the first-layer walking platform and the second-layer walking platform are planes, and the planes are provided with markings for robot navigation.

[0013] In some embodiments, a plurality of first sorting stations are provided along the first direction at both the first and second edges of the first layer walking platform, and a plurality of second sorting stations are provided along the first direction at both the first and second edges of the second layer walking platform, wherein the first and second edges are opposite to each other; a working platform is provided outside the first and second sorting stations for accommodating picking personnel or setting up picking devices; the first handling robot is used to move to the first sorting station, and the second handling robot is used to move to the second sorting station to receive goods placed by the picking personnel or the picking device.

[0014] In some embodiments, the sorting system further includes a control device, which is configured to: determine a second target storage column and a second target storage layer corresponding to the second goods received by the second handling robot; determine a second probing opening adjacent to the second target storage column in the second layer walking platform as the target second probing opening of the second handling robot based on the map data of the second layer walking platform and the position correspondence data between the plurality of storage columns and the second layer walking platform; control the second handling robot to move to the target second probing opening, and lock the first probing opening located on the first layer walking platform corresponding to the target second probing opening.

[0015] In some embodiments, the control device is further configured to: lock a first port on the first-level walking platform corresponding to the target second port in the map data of the first-level walking platform during the period from when the second handling robot moves to the target second port until it leaves the target second port after completing the transfer of the second cargo, so as to make the movement path of the first handling robot avoid the first port corresponding to the target second port; and lock the target second port in the map data of the second-level walking platform so as to make the movement paths of other second handling robots avoid the target second port; and after the second handling robot leaves the target second port, unlock the first port corresponding to the target second port in the map data of the first-level walking platform, and unlock the target second port in the map data of the second-level walking platform.

[0016] In some embodiments, the control device is further configured to: determine a first target storage column and a first target storage layer corresponding to the first cargo received by the first transport robot; determine a first downward protrusion in the first layer of the walking platform adjacent to the first target storage column as the target first downward protrusion of the first transport robot based on the map data of the first layer of the walking platform and the position correspondence data between the plurality of storage columns and the first layer of the walking platform; and control the first transport robot to move to the target first downward protrusion.

[0017] In some embodiments, the control device is further configured to: during the period when the first probe corresponding to the target second probe is locked, if the first probe corresponding to the target second probe is determined to be the target first probe of another first transport robot, control the other first transport robot to wait at another position on the first layer walking platform; after the first probe corresponding to the target second probe is unlocked, control the other first transport robot to move to the first probe corresponding to the target second probe.

[0018] In some embodiments, the control device is further configured to: during the period when the target second lower probe is locked, if the target second lower probe is determined to be the target second lower probe of another second transport robot, control the other second transport robot to wait at another position on the second layer walking platform; and after the target second lower probe is unlocked, control the other second transport robot to move to the target second lower probe.

[0019] In some embodiments, the control device is further configured to: lock the target first lower opening in the map data of the first layer walking platform during the period from when the first handling robot moves to the target first lower opening until it leaves the target first lower opening after completing the transfer of the first cargo, so that the movement paths of other first handling robots avoid the target first lower opening; and unlock the target first lower opening in the map data of the first layer walking platform after the first handling robot leaves the target first lower opening.

[0020] In some embodiments, the control device is further configured to: during the period when the target first lower probe is locked, if the target first lower probe is determined to be the target first lower probe of another first transport robot, control the other first transport robot to wait at other positions on the first layer walking platform; and after the target first lower probe is unlocked, control the other first transport robot to move to the target first lower probe.

[0021] In some embodiments, the control device is further configured to: during the period when the target first lower probe is locked, if the second lower probe on the second layer walking platform corresponding to the target first lower probe is determined to be the target second lower probe of another second transport robot, control the other second transport robot to wait at the second lower probe corresponding to the target first lower probe; after the target first lower probe is unlocked, control the other second transport robot to lower the vehicle from the second lower probe corresponding to the target first lower probe.

[0022] According to a second aspect of the embodiments of this application, a sorting method is provided, applied to a control device of a sorting system, the sorting system comprising: a first-layer walking platform erected on a support surface, wherein a accommodating space is provided between the first-layer walking platform and the support surface; a second-layer walking platform disposed above the first-layer walking platform; a plurality of storage racks spaced apart within the accommodating space, each storage rack having an aisle on at least one side, each storage rack including a plurality of storage columns, each storage column having a plurality of storage layers arranged vertically, and storage containers placed on the storage layers; a first transport robot distributed on the first-layer walking platform; and a second transport robot distributed on the second-layer walking platform; wherein the first-layer walking platform has a plurality of first downward probing openings, the plurality of first downward probing openings corresponding to the aisles, and the second-layer walking platform has a plurality of second downward probing openings, each of the plurality of second downward probing openings corresponding to one of the plurality of first downward probing openings; both the first transport robot and the second transport robot include a carrier, a mobile base, and a lifting mechanism. The apparatus includes a carrier for receiving and discharging goods, a movable base for moving the carrier on a first or second walking platform, and a lifting device disposed on the movable base for lifting the carrier at a second lower opening and / or the first lower opening. The method includes: controlling the movable base of a first handling robot receiving goods to move to a target first lower opening on the first walking platform; using the lifting device to lower the carrier through the target first lower opening to a position within the aisle corresponding to a target storage layer of a target storage column, transferring the goods to a storage container on the target storage layer; controlling the movable base of a second handling robot receiving goods to move to a target second lower opening on the second walking platform; using the lifting device to lower the carrier sequentially through the target second lower opening and a corresponding first lower opening, lowering it to a position within the aisle corresponding to a target storage layer of a target storage column, transferring the goods to a storage container on the target storage layer.

[0023] In some embodiments, the method further includes: determining a second target storage column and a second target storage layer corresponding to the second cargo received by the second transport robot; determining a second probing opening adjacent to the second target storage column in the second layer of the transport platform as a target second probing opening for the second transport robot based on map data of the second layer of the transport platform and position correspondence data between the plurality of storage columns and the second layer of the transport platform; controlling the second transport robot to move to the target second probing opening, and locking a first probing opening located on the first layer of the transport platform corresponding to the target second probing opening.

[0024] In some embodiments, during the period from when the second transport robot moves to the target second lower opening until it leaves the target second lower opening after completing the transfer of the second cargo, a first lower opening corresponding to the target second lower opening on the first layer walking platform is locked in the map data of the first layer walking platform, so that the movement path of the first transport robot avoids the first lower opening corresponding to the target second lower opening, and the target second lower opening is locked in the map data of the second layer walking platform, so that the movement paths of other second transport robots avoid the target second lower opening; after the second transport robot leaves the target second lower opening, the first lower opening corresponding to the target second lower opening is unlocked in the map data of the first layer walking platform, and the target second lower opening is unlocked in the map data of the second layer walking platform.

[0025] In some embodiments, the method further includes: determining a first target storage column and a first target storage layer corresponding to the first cargo received by the first transport robot; determining a first downward protrusion in the first layer of the walking platform adjacent to the first target storage column as a target first downward protrusion of the first transport robot based on the map data of the first layer of the walking platform and the position correspondence data between the plurality of storage columns and the first layer of the walking platform; and controlling the first transport robot to move to the target first downward protrusion.

[0026] In some embodiments, the method further includes: during the period when the first probe corresponding to the target second probe is locked, if the first probe corresponding to the target second probe is determined to be the target first probe of another first transport robot, controlling the other first transport robot to wait at another position on the first layer walking platform; after the first probe corresponding to the target second probe is unlocked, controlling the other first transport robot to move to the first probe corresponding to the target second probe.

[0027] In some embodiments, the method further includes: during the period when the target second lower probe is locked, if the target second lower probe is determined to be the target second lower probe of another second transport robot, controlling the other second transport robot to wait at another position on the second layer walking platform; after the target second lower probe is unlocked, controlling the other second transport robot to move to the target second lower probe.

[0028] In some embodiments, the method further includes: locking the target first lower opening in the map data of the first layer walking platform during the period from when the first handling robot moves to the target first lower opening until it leaves the target first lower opening after completing the transfer of the first cargo, so that the movement paths of other first handling robots avoid the target first lower opening; and unlocking the target first lower opening in the map data of the first layer walking platform after the first handling robot leaves the target first lower opening.

[0029] In some embodiments, the method further includes: during the period when the target first lower probe is locked, if the target first lower probe is determined to be the target first lower probe of another first transport robot, controlling the other first transport robot to wait at another position on the first layer walking platform; after the target first lower probe is unlocked, controlling the other first transport robot to move to the target first lower probe.

[0030] In some embodiments, the method further includes: during the period when the target first lower probe is locked, if the second lower probe on the second-layer walking platform corresponding to the target first lower probe is determined to be the target second lower probe of another second transport robot, controlling the other second transport robot to wait at the second lower probe corresponding to the target first lower probe; after the target first lower probe is unlocked, controlling the other second transport robot to lower the vehicle from the second lower probe corresponding to the target first lower probe.

[0031] According to a third aspect of the embodiments of this application, a control device is provided, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the sorting method described above.

[0032] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the sorting method described above.

[0033] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0034] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0035] Figure 1 A schematic diagram of the sorting system according to an embodiment of this application is shown;

[0036] Figure 2 A partial structural schematic diagram of the sorting system according to an embodiment of this application is shown;

[0037] Figure 3 A partial structural schematic diagram of the sorting system according to an embodiment of this application is shown;

[0038] Figure 4 A schematic diagram of the storage rack structure according to an embodiment of this application is shown;

[0039] Figure 5 Another partial structural schematic diagram of the sorting system according to an embodiment of this application is shown;

[0040] Figure 6 The diagram shows a structural schematic of the handling robot according to an embodiment of this application;

[0041] Figure 7 This diagram illustrates the state of the transport robot after its carrier has been lowered, according to an embodiment of this application.

[0042] Figure 8 A schematic diagram of a first handling robot delivering goods according to an embodiment of this application is shown;

[0043] Figure 9 A schematic diagram of the structure of the vehicle guide frame according to an embodiment of this application is shown;

[0044] Figure 10 A schematic diagram of the structure of the walking platform according to an embodiment of this application is shown;

[0045] Figure 11 A top view of the sorting system according to an embodiment of this application is shown;

[0046] Figure 12This paper illustrates a flowchart of the workflow of a control device according to an embodiment of the present application controlling a first handling robot to deliver goods.

[0047] Figure 13 A flowchart illustrating the workflow of a control device according to an embodiment of this application controlling a second handling robot to deliver goods is shown.

[0048] Figure 14 A flowchart illustrating the sorting method according to an embodiment of this application is shown;

[0049] Figure 15 A structural block diagram of a control device according to an embodiment of this application is shown.

[0050] The reference numerals in the detailed embodiments are as follows:

[0051] 1. Sorting system;

[0052] 11. First-level walking platform;

[0053] 12. Second-level walking platform;

[0054] 110. First downward probe;

[0055] 120. Second downward probe;

[0056] 111. The first downward probe of the target;

[0057] 101. First orbital group;

[0058] 102. Second orbital group;

[0059] 20. Storage rack;

[0060] 21. Store columns;

[0061] 22. Storage layer;

[0062] 23. Storage container;

[0063] 24. Casters;

[0064] 25. Goods;

[0065] 31. The first material handling robot;

[0066] 32. Second transport robot;

[0067] 301. Vehicle;

[0068] 302. Movable base;

[0069] 303. Lifting device;

[0070] 3031. Rope;

[0071] 3021, Walking wheels;

[0072] 40. Operating platform;

[0073] 50. Support surface;

[0074] 60. Accommodation space;

[0075] 61. Lane;

[0076] 71. First pillar;

[0077] 72. Second pillar;

[0078] 80. Vehicle guide frame;

[0079] 81. Guide rail;

[0080] 82. Fixed frame;

[0081] 90. Picking personnel;

[0082] h1, First Height;

[0083] h2, the height of the bottom of the vehicle guide frame;

[0084] R1, the first grid region;

[0085] R2, the second grid region;

[0086] P1, First sorting station;

[0087] P2, Second sorting station. Detailed Implementation

[0088] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0089] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0090] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0091] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0092] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, representing any combination of the listed objects. For example, "A and / or B" can represent three possibilities: A exists, A and B exist simultaneously, or B exists. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0093] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0094] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "lateral," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0095] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0096] Order sorting is a crucial part of warehousing and logistics. With the development of ToConsumer (2C) e-commerce, the demand for a larger number of sorting slots has increased, and the number of slots needs to be dynamically adjustable. This requires sorting systems that can accommodate a large number of slots and flexible configurations. In the seeding wall robotic sorting system, multiple storage positions are set up on a seeding wall. A transport robot sequentially "seeds" goods into the storage positions representing different orders according to the order requirements. Finally, operators or transport robots retrieve the goods from the seeding wall according to the orders, completing the entire sorting process. The seeding wall is distributed in two dimensions and can be expanded into multiple seeding walls in a third dimension (equivalent to a three-dimensional distribution), thus meeting the sorting requirements for a large number of slots and flexible configurations.

[0097] With the increasing demands for sorting efficiency in warehousing and logistics, improving the sorting efficiency of the seed wall robot sorting system has become a problem that needs to be solved.

[0098] To address the aforementioned technical problems, this application provides a sorting system that can improve order sorting efficiency.

[0099] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Where there is no conflict between the embodiments, the following embodiments and the features in the embodiments can be combined with each other.

[0100] For ease of explanation, the embodiments of this application define an XYZ coordinate axis, where the X-axis, Y-axis, and Z-axis indicate the X, Y, and Z directions, respectively. The X direction includes the positive and negative X-axis directions, the Y direction includes the positive and negative Y-axis directions, and the Z direction includes the positive and negative Z-axis directions. For illustrative purposes, only the positive directions of the XYZ coordinate axes are shown in the accompanying drawings.

[0101] Figure 1 A schematic diagram of the sorting system according to an embodiment of this application is shown. Figure 1 As shown, this application provides a sorting system 1, including a first-layer walking platform 11, a second-layer walking platform 12, multiple storage racks 20, a first handling robot 31, a second handling robot 32, and a work platform 40. Figure 2 A partial structural schematic diagram of the sorting system according to an embodiment of this application is shown. Figure 2 To more clearly illustrate the first-level walking platform 11 and the second-level walking platform 12, and Figure 1 compared to Figure 2 The storage rack 20, the first handling robot 31, and the second handling robot 32 are not shown in the diagram.

[0102] Please continue reading. Figure 1 and Figure 2The first-layer walking platform 11 is erected on the supporting surface 50, and there is an accommodating space 60 between the first-layer walking platform 11 and the supporting surface 50. The second-layer walking platform 12 is disposed above the first-layer walking platform 11. Specifically, the first-layer walking platform 11 is erected on the supporting surface 50 by a first column 71, and the second-layer walking platform 12 is erected above the first-layer walking platform 11 by a second column 72. The first-layer walking platform 11 is elevated on the supporting surface 50 by the first column 71, forming the accommodating space 60 below the first-layer walking platform 11. The second-layer walking platform 12 is elevated on the first-layer walking platform 11 by the second column 72, forming the activity space of the first handling robot 31. In this application, the first-layer walking platform 11 and the second-layer walking platform 12 can also be collectively referred to as walking platforms.

[0103] Figure 3 A partial structural schematic diagram of a sorting system according to an embodiment of this application is shown. Please refer to... Figure 1 and Figure 3 Multiple storage racks 20 are spaced apart within the accommodating space 60, and each storage rack 20 has a passageway 61 on at least one side, as shown in the figure, where a passageway 61 is provided on one side of the storage rack 20 along the X direction.

[0104] Figure 4 A schematic diagram of the storage rack according to an embodiment of this application is shown. Please refer to... Figure 4 The storage rack 20 includes multiple storage columns 21 arranged sequentially along the Y direction. Each storage column 21 has multiple storage layers 22 arranged vertically (i.e., in the Z direction). Storage containers 23 are placed on the storage layers 22 to receive goods dropped by the handling robot. Goods can include industrial parts, electronic components or products, pharmaceuticals, clothing and accessories, food, books, etc. The storage rack 20 is equipped with casters 24 at its bottom, allowing operators to easily push it into the receiving space 60 below the first-level walking platform 11. Before sorting, the operator places multiple storage containers 23 into the storage rack 20, then pushes the storage rack 20 to be sorted (i.e., the storage rack 20 with empty storage containers 23) into the receiving space 60 below the first-level walking platform 11 and secures the storage rack 20. After the handling robot completes the delivery of goods, the storage container 23 of the storage rack 20 contains the goods. The operator pushes the storage rack 20 out from under the first-level walking platform 11 and replaces it with a storage rack 20 to be sorted. The tasks of placing the storage container 23 on the storage rack 20, pushing the storage rack 20 to the receiving space 60 under the first-level walking platform 11, and replacing the storage rack 20 under the first-level walking platform 11 can also be completed by an autonomous mobile robot (AMR) or an automated guided vehicle (AGV).

[0105] Figure 1 In the specific embodiment shown, four storage rows are arranged along the X direction, and each storage row includes multiple storage racks 20 arranged along the Y direction. Each pair of storage rows forms a storage group, and there is a gap between the two storage rows in each storage group to form the aforementioned aisle 61. That is, the two storage rows in each storage group share the same aisle 61, through which goods can be placed onto the storage racks 20 on both sides of the aisle 61. The figure shown is only a specific example; the number of storage rows, the number of storage racks 20 included in each storage row, the number of storage columns 21 on each storage rack 20, and the number of storage layers included in each storage column 21 can all be configured according to actual needs.

[0106] Please continue reading. Figures 1 to 3 The first-level walking platform 11 has multiple first downward probes 110, which are correspondingly arranged above the tunnel 61. The second-level walking platform 12 has multiple second downward probes 120, each of which corresponds to one of the multiple first downward probes 110 (i.e., each second downward probe 120 has a first downward probe 110 below it). In the specific embodiment shown in the figure, the first downward probes 110 on the first-level walking platform 11 and the second downward probes 120 on the second-level walking platform 12 correspond one-to-one. In other embodiments, the number of first downward probes 110 on the first-level walking platform 11 can be greater than the number of second downward probes 120 on the second-level walking platform 12, as long as each of the multiple second downward probes 120 corresponds to one of the multiple first downward probes 110. In this application, the first downward probes 110 and the second downward probes 120 can also be collectively referred to as probes.

[0107] Figure 5 A partial structural schematic diagram of the sorting system according to an embodiment of this application is shown. Please refer to... Figure 1 and Figure 5 Multiple first transport robots 31 are distributed on the first-level walking platform 11, and multiple second transport robots 32 are distributed on the second-level walking platform 12. In this application, the first transport robots 31 and the second transport robots 32 can also be collectively referred to as transport robots.

[0108] In the specific embodiment shown in the figure, the first handling robot 31 and the second handling robot 32 are handling robots with the same structure. Figure 6 The diagram shows the structure of the handling robot according to an embodiment of this application. Both the first handling robot 31 and the second handling robot 32 adopt... Figure 6 The structure shown is as follows. Figure 6 As shown, please continue reading. Figure 1and Figure 5 Both the first handling robot 31 and the second handling robot 32 include a carrier 301, a mobile base 302, and a lifting device 303. The carrier 301 is used to receive and place goods. The mobile base 302 is used to move the carrier 301 on the first walking platform 11 or the second walking platform 12. Specifically, the mobile base 302 is provided with two sets of wheels 3021 that travel along the X and Y directions respectively. The lifting device 303 is provided on the mobile base 302 and is used to move the carrier 301 up and down along the Z direction through the second lower opening 120 and / or the first lower opening 110. Figure 7 This diagram illustrates the state of the transport robot's carrier after it has been lowered, according to an embodiment of this application. The carrier 301 is driven by the lifting device 303 from... Figure 6 Descending to the state shown Figure 7 The state shown.

[0109] The dimensions of each dimension of the vehicle 301 are smaller than or equal to the corresponding dimensions of the first lower opening 110 and the second lower opening 120, so that the vehicle 301 can pass through the lower opening when it descends.

[0110] Figure 8 A schematic diagram of a first transport robot delivering goods according to an embodiment of this application is shown. For ease of illustration, the second-layer walking platform and the second transport robot are not shown in the diagram. Figure 8 As shown, after the carrier 301 of the first handling robot 31 receives the goods 25, the mobile base 302 moves to the target first lower opening 111 of the first walking platform. The lifting device 303 drives the carrier 301 through the first lower opening 110. The carrier 301 descends to the position in the alley 61 corresponding to the target storage layer of the target storage column, and transfers the goods 25 to the storage container 23 on the target storage layer.

[0111] Similarly, after the carrier 301 of the second handling robot 32 receives the goods, the mobile base 302 moves to the target second lower opening of the second walking platform, and the carrier 301 passes through the second lower opening 120 and the first lower opening 110 below the second lower opening 120 in sequence. The carrier 301 descends to the position in the alley 61 corresponding to the target storage layer of the target storage column, and transfers the goods to the storage container 23 on the target storage layer.

[0112] The carrier 301 can deliver goods to the storage container 23 using existing methods, such as a rolling conveyor or an inclined delivery method. In the rolling conveyor method, the carrier 301 may include a belt and a drive unit. Goods are placed on the belt, and the drive unit moves the belt to deliver the goods to the storage container 23. Baffles may be spaced along the belt of the carrier 301. When goods are placed on the carrier 301, the baffles prevent them from falling off. When the belt rotates, the baffles rotate to a position below the belt surface, allowing the goods to be transferred from the belt. Alternatively, the carrier 301 may include multiple spaced rollers. Goods are placed on the rollers, and the drive unit rotates the rollers to deliver the goods to the storage container 23. In the inclined delivery method, the side of the carrier 301 furthest from the storage container 23 can be tilted upwards to deliver the goods to the storage container 23.

[0113] In some embodiments, the first handling robot 31 and the second handling robot 32 may also be handling robots with different structures, as long as both can move on the walking platform, receive goods, and place the goods into the storage container 23 on the storage rack 20 through the downward probing opening on the walking platform.

[0114] like Figure 6 and Figure 7 As shown, the lifting device 303 in the first handling robot 31 and the second handling robot 32 includes a drive component (not shown) and a rope 3031. The rope 3031 is connected to the carrier 301, and the drive component may include a motor. The output shaft of the motor of the lifting device 303 can be connected to a reducer via a coupling. The output shaft of the reducer drives one or more pulleys to rotate, and the rope 3031 is wound around the pulleys. When the motor starts, the speed reduction and torque increase effect of the reducer converts the rotational power of the motor into the torque of the pulleys, thereby driving the rope 3031 to rise and fall vertically (i.e., in the Z direction), realizing the vertical transportation of the carrier 301.

[0115] In the illustrated rope lifting method, the vehicle 301 can be tilted by individually driving the two ropes 3031 connected to the side of the vehicle 301 away from the storage container 23 to drop the goods into the storage container 23.

[0116] The lifting device 303 is flexibly connected to the carrier 301 via rope 3031. Because this connection is flexible, the carrier 301 will sway during the process of lowering from the second lower opening 120 and / or the first lower opening 110 to deliver goods, thus affecting the accuracy of goods delivery. Please refer to... Figure 3In this embodiment, the sorting system 1 further includes a carrier guide frame 80, which is disposed within the aisle 61. The carrier 301 rises and / or falls along the carrier guide frame 80 within the aisle 61. The carrier guide frame 80 restricts the degrees of freedom of the carrier 301 in the X and Y directions, retaining only the vertical (Z) degree of freedom of the carrier 301. This prevents the carrier 301 from swinging during the process of moving down from the second lower opening 120 and / or the first lower opening 110 and placing goods, thus ensuring the accuracy of goods placement.

[0117] Please continue reading. Figure 3 The top of the vehicle guide frame 80 is fixed to the bottom of the first-level walking platform 11. By fixing the top of the vehicle guide frame 80 to the first-level walking platform 11, the vehicle 301 is restricted from swinging from the very beginning of its descent.

[0118] The height of the bottom of the carrier guide 80 is less than or equal to a first height, where the first height is the height at which the carrier 301 transfers goods to the storage container 23 on the bottom storage layer 22 of the storage rack 20. For example, as Figure 8 As shown, the position of the carrier 301 is when the goods are transferred to the storage container 23 on the bottom storage layer of the storage rack 20. At this time, the height of the carrier 301 is the first height h1. The height h2 of the bottom of the carrier guide frame 80 is less than the first height h1, so that the limiting stroke of the carrier guide frame 80 on the carrier 301 is greater than the movement of the carrier 301 from the first lower opening 110 to... Figure 8 The travel distance at the indicated position allows the vehicle guide frame 80 to limit the swaying of the vehicle 301 throughout the descent.

[0119] Figure 9 A schematic diagram of the structure of the vehicle guide frame according to an embodiment of this application is shown, as follows: Figure 9 As shown, the vehicle guide frame 80 includes multiple guide rails 81 extending vertically, with the top ends of the guide rails 81 fixed to the bottom of the first-level walking platform 11 (e.g., Figure 3 As shown, the bottom end of the guide rail 81 is fixed to a fixed frame 82. The fixed frame 82 makes the structure of the vehicle guide frame 80 more stable.

[0120] In one implementation, if the connection between the lifting device 303 and the carrier 301 is a rigid connection, the aforementioned carrier guide frame 80 may not be required. The rigid lifting device can be a telescopic boom mechanism, a scissor lift mechanism, a chain lift mechanism, a belt lift mechanism, a rack and pinion lift mechanism, a screw lift mechanism, etc.

[0121] Figure 10 A schematic diagram of the walking platform according to an embodiment of this application is shown. Figure 11 A top view of the sorting system according to an embodiment of this application is shown. Figure 10 and Figure 11 As shown, please refer to the following: Figure 2 The first-level walking platform 11 and the second-level walking platform 12 adopt the grid track shown in the figure. The grid track includes a first track group 101 extending along the X direction and a second track group 102 extending along the Y direction. The first track group 101 and the second track group 102 intersect to form multiple grids. The positions of the multiple grids of the first-level walking platform 11 and the multiple grids of the second-level walking platform 12 are set in a corresponding manner along the vertical direction (Z direction).

[0122] like Figure 11 As shown, please continue reading. Figure 3 The system comprises multiple grids, including a first grid region R1 and a second grid region R2. Multiple storage racks 20 are located below the second grid region R2, and a tunnel 61 is located below the first grid region R1. A first access port 110 is a hole in at least a portion of the grid within the first grid region R1 of the first-level walking platform 11, and a second access port 120 is a hole in at least a portion of the grid within the first grid region R1 of the second-level walking platform 12.

[0123] The dimensions of the carriers 301 of the first transport robot 31 and the second transport robot 32 in each dimension are smaller than or equal to the dimensions of the corresponding dimensions of the holes in the grid, so that when the carrier 301 of the first transport robot 31 descends, it can pass through the holes in the grid of the first walking platform 11, and when the carrier 301 of the second transport robot 32 descends, it can pass through the holes in the grids of the second walking platform 12 and the first walking platform 11 in sequence.

[0124] The first-layer walking platform 11 and the second-layer walking platform 12 adopt the grid track shown in the figure. The track can guide the walking path of the transport robot without worrying about the transport robot deviating from the path. Moreover, the target protrusion that the transport robot needs to move to corresponds to the grid, so the positioning of the target protrusion can be achieved through grid positioning. In this way, the path guidance of the transport robot and the positioning of the target position to be moved to are simple and easy to implement, and the error rate is reduced.

[0125] In another possible implementation, the first-level walking platform 11 and the second-level walking platform 12 are planar, with markings on the planar surface for robot navigation, guiding the walking paths of the first transport robot 31 and the second transport robot 32. The first-level walking platform 11 and the second-level walking platform 12 also have a first downward probe 110 and a second downward probe 120 on their planar surfaces. The positional requirements of the first downward probe 110 and the second downward probe 120 are similar to those in the aforementioned embodiments and will not be repeated here.

[0126] Please continue reading. Figure 1 and Figure 5Along the Y-direction, multiple first sorting positions P1 are provided at both the first and second edges of the first-layer walking platform 11. Figure 1 In the specific embodiment shown, four first sorting positions P1 are respectively provided at the first edge and the second edge of the first-layer walking platform 11, wherein the first edge and the second edge are opposite to each other. Similarly, multiple second sorting positions P2 are provided at both the first edge and the second edge of the second-layer walking platform 12 along the Y direction. Figure 1 In the specific embodiment shown, four second sorting positions P2 are respectively provided at the first and second edges of the second-layer walking platform 12. In this application, the first sorting position P1 and the second sorting position P2 can also be collectively referred to as sorting positions. By providing sorting positions at both edges of the walking platform, sorting efficiency can be improved.

[0127] The work platform 40 is located outside the first sorting station P1 and the second sorting station P2, and the picking personnel 90 is located on the work platform 40. The first handling robot 31 moves to the first sorting station P1 to receive the goods placed by the picking personnel 90, and the second handling robot 32 moves to the second sorting station P2 to receive the goods placed by the picking personnel 90.

[0128] The work platform 40 can also be equipped with a picking device to replace the picking personnel 90. In this case, the first handling robot 31 moves to the first sorting position P1 to receive the goods placed by the picking device, and the second handling robot 32 moves to the second sorting position P2 to receive the goods placed by the picking device. The picking device can be a robotic arm or other equipment with automatic goods gripping function.

[0129] The work platform 40 shown in the figure is only an example. The work platform 40 can also adopt other structures, as long as it can accommodate the picking personnel 90 or set up the picking device, and the picking personnel 90 or the picking device can place the goods to be picked on the handling robot on the work platform.

[0130] Before sorting begins, the first empty transport robot 31 queues at the first sorting position P1 and the position behind it on the first-level walking platform 11, while the second empty empty transport robot 32 queues at the second sorting position P2 and the position behind it on the second-level walking platform 12, forming separate transport robot queues. After sorting begins, transport robots that have completed a sorting task return to the end of their queues to continue queuing for the next sorting task. Since it takes time for a transport robot in the queue to move to the sorting position, to improve efficiency, as shown in the figure, one picker 90 corresponds to two transport robot queues on the walking platform. After the picker 90 places goods into one of the transport robot queues, while the transport robot in that queue is moving to the sorting position, the picker 90 can place goods into the other transport robot queue without waiting. In this way, the picker 90 can take turns placing goods into the transport robots in the two queues, improving the efficiency of goods placement.

[0131] The following describes the goods sorting process. Sorting system 1 also includes a control device, which can be an electronic device such as a server, on which sorting control software is installed to control the handling robot to perform the sorting task corresponding to the received order.

[0132] Figure 12 This application illustrates a flowchart of the workflow of a control device controlling a first handling robot to deliver goods, as shown in the embodiment of this application. Figure 12 As shown, the control device performs the following steps:

[0133] S101. Based on the first cargo received by the first handling robot, determine the first target storage column and the first target storage layer corresponding to the first cargo.

[0134] Each order received by the control unit includes the type and quantity of goods to be picked. After the goods are placed by the picker onto the first handling robot located at the first sorting port, the picker can obtain the goods information by scanning the graphic code set on the goods with a barcode scanner. The barcode scanner then sends the goods information to the control unit. Based on the goods information, the control unit obtains the target order that includes the goods. The target order can be obtained by selecting an order that has not yet been completed from multiple orders that require that type of goods as the target order, or by identifying the only order that requires that type of goods as the target order.

[0135] After acquiring a target order, the control device determines the target storage column and target storage layer corresponding to the target order. During the first delivery of goods for the target order, the control device can allocate a target storage column and target storage layer to the target order and associate the target order with the target storage column and target storage layer allocated to it, while also associating the first goods with the first handling robot receiving the first goods. During the second and subsequent delivery of goods for the target order, the control device acquires the target storage column and target storage layer already associated with the target order. In this document, the scenario where goods need to be delivered to the target storage column and target storage layer is referred to as the target storage column and target storage layer being hit by the target order.

[0136] S102. Based on the map data of the first-layer walking platform and the positional correspondence data of multiple storage columns with the first-layer walking platform, the first downward probe in the first-layer walking platform adjacent to the first target storage column is determined as the target first downward probe of the first transport robot.

[0137] The control unit stores data used for navigating the transport robot. For example, for Figure 1 The sorting system of the illustrated embodiment includes a control device that stores map data of the first and second walking platforms, as well as data on the positional correspondence between multiple storage columns of the storage rack and the first and second walking platforms. The control device uses this data to navigate the paths of the first and second handling robots and locate the goods placement positions. This data can also be stored in other electronic devices communicatively connected to the control device, and the control device and / or the handling robots can retrieve this data from the electronic devices when needed.

[0138] For example, in step S101, the first target storage column is determined to be C21, and the first target storage layer is L2. Based on the positional correspondence data between multiple storage columns and the first-layer walking platform, the control device determines that the grid corresponding to the first target storage column C21 (i.e., the grid above the first target storage column C21) in the first-layer walking platform is G81. Then, it determines that the first downward probe adjacent to grid G81 in the first-layer walking platform is G71. The first downward probe G71 is also the first downward probe adjacent to the first target storage column C21. Finally, the first downward probe G71 is determined as the target first downward probe of the first handling robot, which can then place goods into the first target storage column C21 through the first downward probe G71.

[0139] In this article, the scenario in which the transport robot delivers goods to the target storage layer of the target storage column through the target access port will be referred to as the target access port being hit by the transport robot.

[0140] S103, Control the first transport robot to move to the target first lower opening.

[0141] After determining the first target lower opening, the movement path of the first handling robot on the first-level walking platform can be determined. In one implementation, the control device determines the movement path of the first handling robot on the first-level walking platform based on map data, and controls the first handling robot to move to the target lower opening according to the determined movement path. As mentioned earlier, the control device has previously associated the first cargo and the first handling robot receiving the first cargo. In this step, the control device can send the movement path and the information of the first target storage layer to the first handling robot associated with the first cargo, so that the first handling robot moves according to the movement path and further lowers the carrier according to the information of the first target storage layer to complete the cargo delivery.

[0142] In another implementation, the first handling robot determines its own movement path. The control device sends information about the target first lower opening and the first target storage layer to the first handling robot associated with the first cargo. The first handling robot determines its movement path on the first walking platform based on the map data of the first walking platform stored in the control device or other electronic devices, and moves to the target first lower opening according to the determined movement path.

[0143] After the first handling robot moves to the first target lower opening, it uses a lifting device to move the carrier down to the height corresponding to the first target storage layer (i.e., the height at which goods can be placed into the target storage layer), and controls the carrier to place the first goods into the first target storage layer of the first target storage column.

[0144] In some embodiments, the control device is further configured to: lock the target first lower opening in the map data of the first-level walking platform during the period from when the first handling robot moves to the target first lower opening until it leaves the target first lower opening after completing the transfer of the first cargo, so that the movement paths of other first handling robots avoid the target first lower opening. After the first handling robot leaves the target first lower opening, unlock the target first lower opening in the map data of the first-level walking platform. In this way, when the first handling robot on the first-level walking platform places cargo at the target first lower opening, it locks the target first lower opening on the first-level walking platform. When the target first lower opening is locked, other first handling robots on the first-level walking platform do not pass through the lower opening, thus avoiding collisions between the first handling robots.

[0145] The first target bottom point can be locked by setting an identifier for it. A locked bottom point cannot be included in the planned motion path. Correspondingly, removing the identifier set on the first target bottom point unlocks it. In another implementation, a field can be set for each bottom point to indicate whether it is available; a value of 0 indicates the bottom point is locked, and a value of 1 indicates it is unlocked.

[0146] In some embodiments, the control device is further configured to: while the target first lower opening is locked, if the target first lower opening is identified as the target first lower opening of another first handling robot, control the other first handling robot to wait at other positions on the first-level walking platform. After the target first lower opening is unlocked, control the other first handling robot to move to the target first lower opening. In this way, if the target first lower opening is successively hit by different first handling robots, when the first first handling robot puts goods into the target first lower opening, the target first lower opening is locked, and the subsequent first handling robot is controlled to wait at other positions on the first-level walking platform and cannot move to the target first lower opening until the previous first handling robot leaves the target first lower opening and the target first lower opening is unlocked, so as to avoid collisions between the first handling robots during this period. The aforementioned other positions can be any position on the first-layer walking platform, preferably a position adjacent to or separated from the target first lower opening by only one grid in the determined movement path of the subsequent first transport robot, so that after the previous first transport robot leaves the target first lower opening, the subsequent first transport robot can move to the target first lower opening in a short time, thereby saving time and improving delivery efficiency.

[0147] Figure 13 This application illustrates a flowchart of the workflow of a control device controlling a second handling robot to deliver goods, as shown in the embodiment of this application. Figure 13 As shown, the control device performs the following steps:

[0148] S201. Based on the second goods received by the second handling robot, determine the second target storage column and the second target storage layer corresponding to the second goods.

[0149] The method for determining the second target storage column and the second target storage layer is similar to step S101, and will not be repeated here.

[0150] S202. Based on the map data of the second-layer walking platform and the positional correspondence data between multiple storage columns and the second-layer walking platform, the second downward probe in the second-layer walking platform that is adjacent to the second target storage column is determined as the target second downward probe of the second transport robot.

[0151] The method for determining the second lower probe of the target is similar to step S102, and will not be repeated here.

[0152] S203. Control the second transport robot to move to the target second lower opening and lock the first lower opening located on the first walking platform corresponding to the target second lower opening.

[0153] Because the second transport robot needs to occupy the space between the first and second walking platforms below the target second lower opening when lowering its carrier, as well as the aisle space below the first walking platform corresponding to the target second lower opening, the first transport robot cannot drop goods through the first lower opening below the target second lower opening, nor can it pass through that first lower opening, when the second transport robot moves to the target second lower opening. Therefore, after the second transport robot moves to the target second lower opening, the first lower opening corresponding to the target second lower opening on the first walking platform (i.e., the first lower opening vertically below the target second lower opening) is locked to prevent the first transport robot from obstructing the second transport robot's delivery of goods through the target second lower opening.

[0154] Specifically, during the period from when the second transport robot moves to the target second lower opening until it leaves the target second lower opening after completing the transfer of the second cargo, the control device locks the first lower opening corresponding to the target second lower opening on the first walking platform in the map data of the first walking platform, so that the movement path of the first transport robot avoids the first lower opening corresponding to the target second lower opening.

[0155] While the first access port is locked: the first access port needs to be avoided when planning the path for the handling robot; or if the first access port appears in the planned motion path, the motion path is updated to make the new motion path avoid the first access port, or the first handling robot, which is moving according to the motion path, is controlled to wait in another position until the first access port is unlocked.

[0156] In addition, the control device also locks the target second lower opening in the map data of the second-level walking platform so that the movement paths of other second transport robots avoid the target second lower opening and prevent collisions between the second transport robots.

[0157] After the second transport robot leaves the target second lower opening, the control device unlocks the first lower opening corresponding to the target second lower opening in the map data of the first-level walking platform, and unlocks the target second lower opening in the map data of the second-level walking platform.

[0158] In some embodiments, the control device is further configured to: while the first lower opening of the corresponding target second lower opening is locked, if the first lower opening of the corresponding target second lower opening is determined to be the target first lower opening of another first handling robot, control the other first handling robot to wait at another position on the first-level walking platform. After the first lower opening of the corresponding target second lower opening is unlocked, control the other first handling robot to move to the first lower opening of the corresponding target second lower opening. In this manner, the first handling robot is prevented from obstructing the second handling robot's delivery of goods at the target second lower opening.

[0159] In some embodiments, the control device is further configured to: while the target second lower probe is locked, if the target second lower probe is identified as the target second lower probe of another second transport robot, control the other second transport robot to wait at another position on the second-level walking platform. After the target second lower probe is unlocked, control the other second transport robot to move to the target second lower probe. In this manner, collisions between the second transport robots are avoided.

[0160] Because the second transport robot needs to occupy the space between the first and second walking platforms below the target second lower opening when lowering its carrier, as well as the aisle space below the first walking platform corresponding to the target second lower opening, the second transport robot cannot lower its carrier through the target second lower opening to drop goods when the first transport robot is already dropping goods through the first lower opening below the target second lower opening. Otherwise, it will collide with the first transport robot operating at that first lower opening. Therefore, in some embodiments, the control device is further configured to: while the target first lower opening is locked, if the second lower opening on the second walking platform corresponding to the target first lower opening is identified as the target second lower opening for another second transport robot, control the other second transport robot to wait at the corresponding second lower opening of the target first lower opening. After the target first lower opening is unlocked, control the other second transport robot to lower its carrier from the corresponding second lower opening of the target first lower opening. This avoids collisions between the second and first transport robots.

[0161] The sorting system of this application embodiment uses at least two layers of walking platforms, with storage racks located in the accommodating space below the lower walking platform. Each walking platform has a downward access opening. The first downward access opening on the lower walking platform corresponds to the aisle next to the storage rack, allowing the carrier of a first handling robot on the lower walking platform to pass through the first downward access opening and place goods onto the storage rack. At least one first downward access opening is correspondingly located below the second downward access opening on the upper walking platform, allowing the carrier of a second handling robot on the upper walking platform to pass through both the second and first downward access openings sequentially to place goods onto the storage rack. By using at least two walking platforms, multiple handling robots can be arranged on each platform, increasing the number of handling robots that can operate simultaneously and improving order sorting efficiency.

[0162] In some embodiments, more layers of walking platforms may be provided, such as three or four layers, to meet the sorting efficiency requirements of the sorting system.

[0163] This application also provides a sorting method and a control device applied to a sorting system, wherein the sorting system can be... Figures 1 to 11 The sorting system in the embodiment. Figure 14 A flowchart illustrating the sorting method according to an embodiment of this application is shown, as follows: Figure 14 As shown, the method includes:

[0164] S301, control the mobile base of the first handling robot receiving the goods to move to the target first lower protrusion of the first layer walking platform, and use the lifting device to drive the carrier through the target first lower protrusion to descend to the position in the alley corresponding to the target storage layer of the target storage column, and transfer the goods to the storage container on the target storage layer.

[0165] S302, control the mobile base of the second handling robot receiving the goods to move to the target second lower opening of the second layer walking platform, and drive the carrier to pass through the target second lower opening and the corresponding first lower opening of the target second lower opening in sequence through the lifting device, and descend to the position in the alley corresponding to the target storage layer of the target storage column, and transfer the goods to the storage container on the target storage layer.

[0166] Steps S301 and S302 are not sequential. The control device selects to execute either step S301 or step S302 based on the current receiving robot. If the current receiving robot is the first receiving robot, then step S301 is executed; if the current receiving robot is the second receiving robot, then step S302 is executed.

[0167] In some embodiments, the method further includes:

[0168] Based on the second goods received by the second handling robot, determine the second target storage column and the second target storage layer corresponding to the second goods;

[0169] Based on the map data of the second-layer walking platform and the location correspondence data between multiple storage columns and the second-layer walking platform, the second downward probe in the second-layer walking platform that is adjacent to the second target storage column is determined as the target second downward probe of the second handling robot.

[0170] Control the second transport robot to move to the target second lower opening, and lock the first lower opening located on the first walking platform corresponding to the target second lower opening.

[0171] In some embodiments, the method further includes:

[0172] During the period from when the second transport robot moves to the target second lower opening until it leaves the target second lower opening after completing the transfer of the second cargo, the first lower opening corresponding to the target second lower opening on the first walking platform is locked in the map data of the first walking platform so that the movement path of the first transport robot avoids the first lower opening of the target second lower opening, and the target second lower opening is locked in the map data of the second walking platform so that the movement paths of other second transport robots avoid the target second lower opening;

[0173] After the second transport robot leaves the target's second lower opening, the first lower opening corresponding to the target's second lower opening is unlocked in the map data of the first-level walking platform, and the target's second lower opening is unlocked in the map data of the second-level walking platform.

[0174] In some embodiments, the method further includes:

[0175] Based on the first cargo received by the first handling robot, determine the first target storage column and the first target storage layer corresponding to the first cargo;

[0176] Based on the map data of the first-layer walking platform and the location correspondence data between multiple storage columns and the first-layer walking platform, the first downward probe in the first-layer walking platform that is adjacent to the first target storage column is determined as the target first downward probe of the first handling robot.

[0177] Control the first transport robot to move to the first target lower opening.

[0178] In some embodiments, the method further includes:

[0179] While the first lower probe of the corresponding second lower probe is locked, if the first lower probe of the corresponding second lower probe is determined to be the first lower probe of another first transport robot, control the other first transport robot to wait at other positions on the first layer walking platform;

[0180] After the first lower probe of the corresponding target's second lower probe is unlocked, control the other first transport robots to move to the first lower probe of the corresponding target's second lower probe.

[0181] In some embodiments, the method further includes:

[0182] While the target second lower probe is locked, if the target second lower probe is identified as the target second lower probe of another second transport robot, control the other second transport robot to wait at other positions on the second-level walking platform;

[0183] After the second lower opening of the target is unlocked, control the other second transport robots to move to the second lower opening of the target.

[0184] In some embodiments, the method further includes:

[0185] During the period from when the first handling robot moves to the target first lower opening until it leaves the target first lower opening after completing the transfer of the first cargo, the target first lower opening is locked in the map data of the first layer walking platform so that the movement paths of other first handling robots avoid the target first lower opening.

[0186] After the first transport robot leaves the first target vent, unlock the first target vent in the map data of the first-level walking platform.

[0187] In some embodiments, the method further includes:

[0188] While the first lower probe is locked, if the first lower probe is identified as the first lower probe of another first transport robot, control the other first transport robot to wait at other positions on the first-level walking platform;

[0189] After the first lower opening of the target is unlocked, control the other first transport robots to move to the first lower opening of the target.

[0190] In some embodiments, the method further includes:

[0191] While the first lower probe of the target is locked, if the second lower probe of the target corresponding to the first lower probe of the target is determined to be the second lower probe of another second transport robot on the second walking platform, control the other second transport robot to wait at the second lower probe of the target corresponding to the first lower probe of the target.

[0192] After the first lower opening of the target is unlocked, control the other second transport robots to lower the vehicle from the second lower opening of the corresponding first lower opening of the target.

[0193] This application also provides a control device. Figure 15 A structural block diagram of the control device according to an embodiment of this application is shown, such as... Figure 15As shown, the control device 400 includes a memory 404, a processor 402, and a computer program 406 stored in the memory 404. The processor 402 executes the computer program 406 to implement the sorting method of any of the above embodiments.

[0194] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the sorting method of any of the above embodiments. The computer-readable storage medium is a non-volatile storage medium.

[0195] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the sorting method of any of the above embodiments.

[0196] This application also provides a computer program that can be called by a processor to cause an electronic device to execute the sorting method of any of the above embodiments. The electronic device may be a server of a sorting system.

[0197] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, the embodiments of this application are not directed to any particular programming language. It should be understood that the content of this application described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of this application.

[0198] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0199] Similarly, it should be understood that, in order to simplify this application and aid in understanding one or more of the various aspects of the invention, features of the embodiments of this application are sometimes grouped together in a single embodiment, figure, or description thereof in the above description of exemplary embodiments of this application. However, this method of disclosure should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim.

[0200] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0201] It should be noted that the above embodiments are illustrative of this application and not restrictive, and those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A sorting system, characterized in that, The sorting system comprises: a first layer walking platform erected on a support surface, the first layer walking platform and the support surface having a containing space therebetween; a second layer walking platform arranged above the first layer walking platform; a plurality of storage racks arranged in the containing space, at least one side of each of the storage racks being provided with a lane, the storage rack comprising a plurality of storage columns, the storage column having a plurality of storage layers arranged in a vertical direction, and a storage container being placed on the storage layer; a first carrying robot distributed on the first layer walking platform; a second carrying robot distributed on the second layer walking platform; wherein a plurality of first downward openings are formed on the first layer walking platform, the plurality of first downward openings being arranged correspondingly to the lanes, and a plurality of second downward openings are formed on the second layer walking platform, each of the plurality of second downward openings being arranged correspondingly to one of the plurality of first downward openings; the first carrying robot and the second carrying robot each comprising a carrier, a moving base and a lifting device, the carrier being used for receiving and delivering goods, the moving base being used for driving the carrier to move on the first layer walking platform or the second layer walking platform, and the lifting device being arranged on the moving base and being used for driving the carrier to lift in the second downward opening and / or the first downward opening.

2. The sorting system of claim 1, wherein, the lifting device is flexibly connected with the carrier; the sorting system further comprises a carrier guide frame arranged in the lane, and the carrier is arranged to ascend and / or descend in the lane along the carrier guide frame.

3. The sorting system of claim 2, wherein, a top of the carrier guide frame is fixed to a bottom of the first layer walking platform, and a bottom of the carrier guide frame has a height less than or equal to a first height, wherein the first height is a height at which the carrier moves the goods to the storage container on the bottommost storage layer of the storage rack.

4. The sorting system of claim 2, wherein, the carrier guide frame comprises a plurality of guide rails extending in a vertical direction, a top end of the guide rail being fixed to the bottom of the first layer walking platform, and a bottom end of the guide rail being fixed to a fixed frame.

5. The sorting system of claim 1, wherein, the lifting device is rigidly connected with the carrier.

6. The sorting system of claim 1, wherein, the first layer walking platform and the second layer walking platform are grid tracks, the grid track comprising a first track group extending in a first direction and a second track group extending in a second direction, the first track group and the second track group being staggered to form a plurality of grids, and the positions of the plurality of grids of the first layer walking platform and the plurality of grids of the second layer walking platform correspondingly arranged in a vertical direction; the plurality of grids comprises a first grid area and a second grid area, the plurality of storage racks being located below the second grid area, and the lane being located below the first grid area; the first downward opening is a hole of a grid in the first grid area in at least part of the first layer walking platform, and the second downward opening is a hole of a grid in the first grid area in at least part of the second layer walking platform.

7. The sorting system of claim 1, wherein, the first layer walking platform and the second layer walking platform are planes, and the planes are provided with marks for robot navigation.

8. The sorting system of claim 1, wherein, A plurality of first sorting positions are arranged on the first edges and the second edges of the first layer walking platform along the first direction, and a plurality of second sorting positions are arranged on the first edges and the second edges of the second layer walking platform along the first direction, wherein the first edges and the second edges are opposite to each other; A work platform is arranged outside the first sorting positions and the second sorting positions, and is used for accommodating a picker or arranging a picking device; The first carrying robot is used for moving to the first sorting positions, and the second carrying robot is used for moving to the second sorting positions, so as to receive the goods placed by the picker or the picking device.

9. The sorting system of claim 1, wherein, The size of each dimension of the carrier is less than or equal to the size of the corresponding dimension of the first lower opening and the second lower opening.

10. The sorting system of claim 2, wherein, The lifting device comprises a driving component and a rope, the rope is connected with the carrier, and the driving component drives the rope to lift, so as to drive the carrier to lift.

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