sorting system

Abstract

Sorting system comprising a control server (110), a plurality of sorting robots (120) and a sorting area (130); wherein the sorting area (130) is divided into a plurality of sub-areas, each sub-area (131) having at least one feed station (140) and a plurality of feed openings (150), wherein a feed opening (150) corresponds to a path direction and a path direction corresponds to one or more feed openings (150); wherein the control server (110) is configured to determine, based on the path direction information of an article to be sorted, a target delivery opening (150) corresponding to the path direction of the article to be sorted, and to assign a delivery task to a target sorting robot (120) from a plurality of sorting robots (120); wherein the target sorting robot (120) is configured, in response to the delivery task, to pick up the article to be sorted from the feed station (140) at which the article to be sorted is located and to transport the article to be sorted to the target delivery opening (150) in the target sub-area (131) for delivery, wherein the target sub-area is at least one of the plurality of sub-areas (131) and the target sub-area represents an area in which the target delivery opening (150) is located.

Description

[0001] This application is a divisional application of application No. 20854469.2 filed on March 16, 2020, claiming priority to Chinese patent application No. 201910766018.5 filed with the Chinese Patent Office on August 19, 2019, the entire contents of which are incorporated by reference into this application. Technical area

[0002] The embodiments of this application concern the technical field of warehouse logistics and relate, for example, to a sorting system. Background technology

[0003] With the rapid development of the warehouse logistics industry, automation technologies are gradually being introduced into various process steps, such as parcel sorting, enabling intelligent and automated operations.

[0004] During the sorting process, the number of items to be sorted is extremely large. As the sorting areas become increasingly larger, different items must be delivered to different intermediate storage locations. Errors or inaccuracies in positioning during delivery inevitably lead to misclassification of the items. These misclassifications can cause serious deviations in the downstream delivery process and may require re-sorting. Consequently, this would significantly impair the sorting efficiency of the robots. Content of the utility model

[0005] In the embodiments of this application, a sorting system and a sorting method are provided to increase the sorting and delivery efficiency of articles to be sorted.

[0006] In the embodiments of this application, a sorting system is provided, comprising a control server, a plurality of sorting robots, and a sorting area; wherein the sorting area is divided into a plurality of sub-areas, each sub-area having at least one feed station and a plurality of delivery openings, wherein a delivery opening corresponds to a path direction and a path direction corresponds to one or more delivery openings; wherein the control server is configured to determine, based on the path direction information of an article to be sorted, a target delivery opening corresponding to the path direction of the article to be sorted, and to assign a delivery task to a target sorting robot from a plurality of sorting robots; wherein the target sorting robot is configured, in response to the delivery task, to pick up the article to be sorted from the feed station where the article to be sorted is located and to transport the article to be sorted to the target delivery opening in the target sub-area for delivery, wherein the target sub-area is at least one of the plurality of sub-areas and the target sub-area represents an area in which the target delivery opening is located. Illustration of the attached figures

[0007] Throughout the drawings, identical components are identified by identical reference numerals. In the drawings: Fig. 1 shows a schematic representation of the structure of a sorting system provided in the embodiments of this application; Fig. Figure 2 shows a schematic representation of a sorting area with a relatively small footprint provided in the embodiments of this application; Fig. 3 shows a schematic representation of an extended sorting area with a relatively large footprint provided in the embodiments of this application; Fig. 4 shows a schematic representation of the structure of another sorting system provided in the embodiments of this application; Fig. 5 shows a schematic representation of the partial structure of a guide device provided in the embodiments of this application; Fig. 6 is a schematic diagram showing the structure of yet another sorting system provided in the embodiments of this application; Fig. 7 shows a flowchart of a sorting method provided in the embodiments of this application. Specific embodiments

[0008] The present application is explained below with reference to drawings and exemplary embodiments. It should be understood that the specific embodiments described herein serve only to explain the present application and are not intended to limit the application. Furthermore, it should be noted that, to simplify the description, only parts related to the present application are shown in the drawings, not the entire structure.

[0009] First, the general sorting process for items to be sorted (e.g., goods or packages) in this embodiment will be briefly explained. The general sorting process comprises three phases: the feeding phase, the delivery phase, and the collection phase. In this embodiment, the feeding phase realizes the distribution of the items to be sorted from transport devices to feeding stations; the delivery phase enables the delivery of the items to be sorted from the feeding stations to collection containers arranged in the sorting area; and the collection phase causes the collection containers filled with items to be sorted to be transported to collection stations. These three phases complete the sorting process of the items to be sorted.

[0010] The sorting system and sorting method provided in the embodiments of this application are explained below using the following embodiments and their optional solutions.

[0011] Fig. Figure 1 shows a schematic representation of the structure of a sorting system provided in this embodiment. The technical solution of this embodiment can be applied to situations where parcels are sorted and delivered in sorting scenarios. The system can implement any sorting method provided in this application. As shown in Fig. 1, the sorting system 100 provided in this embodiment includes a control server 110, a plurality of sorting robots 120, and a sorting area 130; the sorting area 130 is divided into a plurality of sub-areas 131, each sub-area 131 being equipped with at least one feed station 140 and a plurality of delivery openings 150, each delivery opening 150 corresponding to a path direction.In this embodiment, the control server 110 is configured to determine the target delivery opening 150 corresponding to the travel direction of the articles to be sorted based on the travel direction information of the articles to be sorted, and to determine the target sub-area 131 in which the target delivery opening 150 is located from the plurality of sub-areas 131 of the sorting area 130; and to assign a delivery task to a target sorting robot 120 from among a plurality of sorting robots 120; the target sorting robot 120 is configured, in response to the delivery task, to pick up the article to be sorted from the feed station 140 where the article to be sorted is located and to transport the article to be sorted to the target delivery opening 150 in the target sub-area 131 to deliver it.

[0012] In this embodiment, the sorting method of this application can perform the sorting process for the items to be sorted in a floor sorting scenario or in a steel platform sorting scenario. In the floor sorting scenario, the sorting robot 120 moves on the floor, and the aforementioned delivery openings 150 are container openings of collection containers placed on the floor (e.g., cage carts); in the steel platform sorting scenario, the sorting robot 120 moves on a steel platform structure, and the aforementioned delivery openings 150 are grid openings arranged in the steel platform.

[0013] In this embodiment, with reference to Fig. 1, it is described that the control server 110 can establish a communication link with the sorting robots 120 to realize the control and allocation of the sorting robots 120 in the sorting system. The control server 110 refers to a software and / or hardware system with data information storage and processing capabilities that can communicate with the sorting robots 120 and other hardware devices or software systems in the sorting system via wired or wireless connections. The control server 110 can issue control commands to various types of robots in the sorting system, send tasks to other hardware devices or software systems, statistically record the sorting situation of the items to be sorted, record the working status of the sorting system, and forward information to personnel.

[0014] In this embodiment, the sorting area refers to a human-designated field area in the warehouse logistics industry used for sorting operations. Sorting areas vary in size—some have a relatively large footprint, while others are comparatively small. Fig. Figure 2 shows a schematic representation of a sorting area with a relatively small footprint according to this embodiment. As in Fig. As shown in Figure 2, the sorting area, with its relatively small footprint, comprises only two feed stations and two collection stations. Due to the small footprint, the delivery routes for sorting and delivering items are also relatively short. The feed stations cover the entire sorting area, so that items picked up from there can be delivered anywhere within the sorting area without any area restrictions. Since the sorting area is relatively small here, the disadvantage of a significantly increased delivery distance does not arise.

[0015] In practical application scenarios, however, with constantly increasing quantities of items to be sorted and increasing sorting route directions, as well as a simultaneous significant increase in the sorting area, the delivery routes for the items are becoming increasingly complex. Fig. Figure 3 shows a schematic representation of an expanded sorting area with a relatively large footprint according to this embodiment. As shown in Fig. 3, when delivering the items in such a large sorting area, the sorting routes become extremely complex and the sorting area becomes very large. If an item from the feed station 1 in the lower left corner of Fig. 3 is delivered from the delivery opening corresponding to the collection container 1 in the lower left corner, the generated delivery distance remains relatively small, which does not affect the delivery efficiency. However, if the feeding station 1 in the lower left corner of Fig. 3 is delivered from the delivery opening corresponding to the collection container 2 in the upper right corner, the delivery distance inevitably increases considerably, which leads to a significant reduction in delivery efficiency.

[0016] Given the above-mentioned disadvantages, as in Fig. 1, the sorting area 130 of the sorting system can be logically divided in advance into a plurality of sub-areas 131. Each sub-area 131 within the sorting area 130 corresponds to one or more feed stations 140; and in each sub-area 131, a plurality of delivery openings 150 are arranged, thereby ensuring that an article to be sorted, which has been picked up by the feed station 140, may only be delivered via the delivery opening 150 of the corresponding sub-area 131, but not via a delivery opening 150 of another sub-area 131.This ensures that articles to be sorted, which have been picked up from different feed stations, can be sorted and delivered undisturbed in their respective sub-areas via the delivery openings there, whereby the crossing of sub-areas when delivering the articles to be sorted is minimized as far as possible in order to avoid as far as possible a significant increase in the delivery distance of the articles to be sorted during the sorting process.

[0017] For example, when dividing the sorting area 130, according to the spatial expansion area of ​​a city indicated by the route direction, it may be divided into multiple sub-areas, so that each sub-area corresponds to a spatial expansion area. For example, the spatial expansion area may include "North China," "East China," "Central China," "South China," or "Northwest China." Then, based on the cities included in each spatial expansion area, the delivery ports of each sub-area may be further divided to ensure that each delivery port corresponds to a route direction, that is, each delivery port corresponds to a city.

[0018] In the following, with reference to the schematic structural drawing of the Fig. 1, the operation of the sorting system described in this embodiment will be explained.

[0019] In this embodiment, it is optionally provided for each sub-area 131 within the sorting area 130 that a delivery opening 150 corresponds only to one path direction, thereby ensuring that only articles to be sorted that belong to the path direction corresponding to the delivery opening 150 may be delivered via this delivery opening 150, but not articles to be sorted in other path directions via the same delivery opening 150.In this embodiment, "one delivery opening 150 corresponds only to one path direction" does not mean that only one delivery opening 150 is assigned to one path direction, but rather that one delivery opening 150 corresponds only to one path direction, wherein a plurality of delivery openings 150 can be assigned to one path direction, so that it is possible for an article to be sorted in a specific path direction to be delivered via any delivery opening 150 from the plurality of delivery openings 150 assigned to this path direction.

[0020] In this embodiment, the route direction information of the article to be sorted includes the city information of the recipient address of the article to be sorted, that is, the city information to be delivered. As shown in Fig. As shown in Figure 1, the control server 110 can determine the target delivery opening corresponding to the path direction of the article to be sorted based on the path direction information of the article to be sorted. At the same time, based on the above-described division of the sorting area 130 and the delivery openings 150 of each sub-area 131, the corresponding sub-area 131 of the target delivery opening can be determined, and this sub-area 131 is set as the target sub-area. This method can ensure that the article to be sorted is guided to the target sub-area of ​​the sorting area to be sorted and delivered via the target delivery opening, thereby ensuring that the articles to be sorted can be delivered in an orderly manner according to their path direction.

[0021] For example, a case where the route direction information of the article to be sorted indicates the city of Tianjin as the destination city will be explained. Based on the route direction information of the article to be sorted, the control server 110 can determine the delivery ports in the sorting area to which the route direction "Tianjin" is assigned and set this delivery port as the destination delivery port. At the same time, Tianjin geographically belongs to the North China region, so the sub-area in which the destination delivery port is located corresponds to the sub-area assigned to the "North China region." In this case, the sub-area assigned to the "North China region" can be set as the destination sub-area, and then deliver the article to be sorted via the destination delivery port of the destination sub-area.

[0022] In an optional aspect of this embodiment, the control server 110 stores configuration information of multiple path directions regarding the delivery openings, wherein each path direction in this configuration information is assigned to at least one delivery opening 150. The control server 110 can compare the path direction indicated by the path direction information of the article to be sorted with the pre-stored configuration information of the delivery openings for multiple path directions; and, based on the comparison result, determine the target delivery opening corresponding to the path direction of the article to be sorted from the multiple delivery openings 150, wherein the configuration information of the delivery openings for multiple path directions can be pre-stored.

[0023] In this embodiment, by dividing the sorting area 130 into a plurality of sub-areas 131 and establishing the assignment relationship between different path directions and the delivery openings 150 in the plurality of sub-areas 131, it is ensured that each path direction is assigned to at least one delivery opening 150. The control server 110 can then store the assignment relationship between the path directions and the delivery openings 150 in the form of delivery opening configuration information. Thus, the delivery opening configuration information contains the delivery opening configurations for a plurality of path directions. This means that each path direction is assigned to one or more delivery openings 150 in the sorting area.The control server 110 can determine the target delivery port corresponding to the route direction specified by the route direction information of the article to be sorted based on the mapping relationship between multiple route directions and multiple delivery ports 150 in the sorting area, as contained in the delivery port configuration information. For example, if the route direction specified by the route direction information of the article to be sorted is the city of "Tianjin," then the delivery port 150 assigned to the city of "Tianjin" is set as the target delivery port. At the same time, Tianjin geographically belongs to the North China region, so the delivery port 150 assigned to the city of "Tianjin" is set in the sub-area 131 corresponding to the "North China region." In this case, the sub-area 131 corresponding to the "North China region" can be set as the target sub-area.

[0024] In this embodiment, one delivery opening is optionally usually only authorized to deliver one article to be sorted in a single route direction. However, in the sorting and delivery process there are some route directions in which the number of articles to be sorted is small, i.e. the number of articles to be sorted that are delivered via a specific delivery opening is relatively small. In order to save on delivery openings and to ensure efficient use of the delivery openings, not too many delivery openings are required in such cases. For such route directions, it can therefore be provided that only one delivery opening is assigned to the relevant route direction. Alternatively, there can also be route directions in the sorting and delivery process in which the number of articles to be sorted is particularly high, i.e. the number of articles to be sorted that are delivered via a specific delivery opening is particularly large.If the number of delivery openings available for this route direction is low, this may result in the items to be sorted not being delivered smoothly. Therefore, more delivery openings are required for such route directions to deliver the items to be sorted in this route direction. For such route directions, it may be possible to assign multiple delivery openings in the sorting area to the relevant route direction.Against this background, when comparing the delivery openings assigned to the path direction of the article to be sorted based on the configuration information of the delivery openings, the following applies: If, based on the sorting result, only one delivery opening of the multiple delivery openings in the sorting area is assigned to the path direction of the article to be sorted, then this delivery opening is set as the target delivery opening of the article to be sorted; however, if it is determined that at least two delivery openings are assigned to the path direction of the article to be sorted, then the delivery opening whose distance from the article to be sorted is the shortest from these at least two delivery openings is selected and set as the target delivery opening.

[0025] In an optional aspect of this embodiment, in the logical subdivision of the sorting area 130 into a plurality of sub-areas 131, the path directions to which the plurality of delivery openings 150 of at least one sub-area 131 are assigned are adjacent in terms of their spatial location. In one embodiment, the determination that the path directions of the plurality of delivery openings 150 of at least one sub-area 131 are adjacent in terms of their spatial location can be understood to mean that the distance between the physical positions of the path directions corresponding to any two of the plurality of delivery openings 150 in at least one sub-area 131 is smaller than a predefined distance threshold.In an optional example, at least one sub-area 131 exists in the sorting area 130, in which at least some of the delivery openings 150 are located among the multiple delivery openings 150 that may be used exclusively for sorting and delivering articles to be sorted with the same or similar route directions. For example, if the route direction information for one article to be sorted indicates the city of Beijing as the recipient city, and the route direction information for another article to be sorted indicates the city of Tianjin as the recipient city, then both Beijing and Tianjin geographically belong to the North China region. Thus, the route directions of these two articles to be sorted are adjacent in terms of their geographical position and both lie in the "North China region." Therefore, the delivery openings 150 to which the route directions "Tianjin" and "Beijing" are assigned can be arranged within the same sub-area 131.In this case, the two items to be sorted can be delivered to the same sub-area 131. Since each delivery opening 150 corresponds to a specific path direction, the two items to be sorted can be delivered via different delivery openings 150 of the same sub-area 131.

[0026] In an optional aspect of this embodiment, it is taken into account that articles to be sorted with the same path direction may occur at different feed stations 140. To avoid the delivery distance being increased by a delivery in a different sub-area, in the logical division of the sorting area 130 into several sub-areas 131, at least some delivery openings 150 in different sub-areas 131 can have the same path direction. As a result, the articles to be sorted with identical path directions can each be delivered from different feed stations 140 to the delivery openings 150 of their assigned sub-area 131 without requiring delivery in another sub-area. Long-distance delivery can thus be avoided and delivery efficiency increased.

[0027] In this embodiment, as in Fig. 1, several sorting robots 120 are located in the sorting area 130, which are either in maintenance mode or in work mode. The control server 110 can select a target sorting robot 120 from the multiple sorting robots 120 in the sorting area 130 and assign it a delivery task for an article to be sorted. At the same time, an article to be sorted is located at the feed station 140. The target sorting robot located in the sorting area 130 can receive the delivery task sent by the control server 110 and respond by picking up the article to be sorted from the feed station 140 where it is located and then transporting it to the target sub-area to deliver it there via the target delivery opening. The article to be sorted is delivered to the corresponding collection container via this target delivery opening.

[0028] In an optional aspect of this embodiment, in the case of a floor sorting scenario, the bin opening of each collection bin placed in the sorting area can serve as the delivery opening; in the case of a steel platform scenario, the grid opening on the steel platform structure can be used as the delivery opening, with a collection bin located at this grid opening on the underside of the steel platform. Optionally, upon receiving the delivery task sent from the control server 110, the target sorting robot can also receive the delivery route for the item to be sorted, sent from the control server 110 and calculated based on the position of the target delivery opening.The target sorting robot can then move along this delivery path to the target sub-area and deliver the article to be sorted to the target delivery opening there, inserting it into the corresponding collection container, thus completing the sorting and delivery process of the article to be sorted. In this embodiment, each delivery opening 150 in the sorting area 130 corresponds to a separate collection container, with multiple collection containers arranged in an array in the sorting area.

[0029] In this embodiment, one or more articles to be sorted are already present at the feed station 140, awaiting the subsequent sorting and delivery operation. Also mounted at the feed station 140 is a reader (a first reader) for the path direction information of the article to be sorted, with the aid of which the path direction information of the article to be sorted can be scanned and read and transmitted to the control server 110 so that the control server 110 can determine the target delivery opening corresponding to the path direction of the article to be sorted based on this path direction information.Optionally, a sorting worker or sorting device can be provided at each feed station 140, which places the article to be sorted from the feed station 140 onto the sorting robot 120. For example, the sorting worker can place the articles to be sorted onto the sorting robot 120 at the feed station 140, or the sorting device can place the articles to be sorted onto the sorting robot 120 at the feed station 140, or the sorting worker can place the articles to be sorted onto the sorting device at the feed station 140, with the sorting device placing the articles to be sorted onto the sorting robot; alternatively, the sorting robot 120 can pick up the article to be sorted directly from the feed station 140. Optionally, the sorting worker or the sorting robot arm can be located to the left, right, or in front of the feed station 140.

[0030] In an optional form of this embodiment, the multiple sub-areas 131 are each assigned to different sorting robots 120 from the group of multiple sorting robots 120, with at least one sorting robot being assigned to each sub-area 131. The control server 110 can then, based on the target sub-area corresponding to the article to be sorted, select a target sorting robot from the at least one sorting robot 120 assigned to this target sub-area and assign this target sorting robot a delivery task for the article to be sorted. In this way, it can be ensured that within each sub-area 131 of the sorting area 130, there is at least one sorting robot 120 assigned to it, so that the sorting robot 120 of each sub-area 131 operates within its own sub-area 131 and, if possible, no deliveries are made outside of its own sub-area.

[0031] According to the sorting solution provided in the embodiments of the present application, the sorting area can be divided into a plurality of sub-areas, wherein one or more feed stations are located at each sub-area and a plurality of delivery openings are provided in each sub-area, wherein each delivery opening corresponds to a path direction. On this basis, the control server can assign different delivery openings for the articles to be sorted with different path directions based on the path direction information of the article to be sorted. Specifically, the control server can determine the target delivery opening that corresponds to the path direction of the article to be sorted based on the path direction information of the article to be sorted and determine the target sub-area in which this target delivery opening is located from the plurality of sub-areas.The sorting robot can then perform delivery based on the determined target delivery opening, ensuring that items with different delivery directions are delivered exclusively via the delivery openings of their respective sub-area. Furthermore, since the area of ​​each sub-area is moderately dimensioned, it can be ensured that multiple items to be sorted are delivered according to their delivery direction during delivery. Since the sorting area is divided into various sub-areas, each corresponding to a delivery direction and the associated delivery openings, another sub-area can be easily added to expand the sorting area if necessary.At the same time, adding an additional sub-area also allows for the introduction of an additional route direction, allowing the expansion of the sorting and delivery routes without reducing the sorting and delivery efficiency of the remaining sub-areas. Thus, the sorting solution according to the utility model can expand the size of the sorting area as needed without significantly impacting the sorting and delivery processes of the remaining sorting and delivery routes, thus providing a very high degree of expandability of the sorting system.

[0032] Fig. Figure 4 shows a schematic structural drawing of another sorting system provided in the embodiments of the present application. This embodiment is explained on the basis of the previous embodiments and can be combined with one or more of the aforementioned optional solutions from the previous embodiments. As shown in Fig. As shown in Figure 4, the sorting system provided in this embodiment, compared to the sorting system of the previous embodiment, additionally comprises: a guide device 160; wherein the guide device 160 has an input, a plurality of outputs, and a transport element connecting the one input to the plurality of outputs.An article to be sorted can enter the guide device 160 via the entrance, be transported by the transport element, and finally exit the guide device 160 via one of the multiple exits; a predetermined assignment relationship exists between the multiple exits and the multiple feed stations 140; the control server 110 is further configured, based on the destination sub-area, to send a guidance instruction for the article to be sorted to the guide device 160; the guide device 160 is configured, based on the guidance instruction, to guide the article to be sorted to the destination exit corresponding to a feed station 140 of the destination sub-area 131.

[0033] In this embodiment, Fig. 5 is a schematic representation of the partial structure of a guide device provided in the embodiments of the present application. As in Fig. As shown in Figure 5, the guide device 160 has an entrance provided for receiving the article to be sorted and a plurality of exits provided for discharging the article to be sorted, as well as a plurality of transport elements 1601 that connect the entrance and the exits. These transport elements 1601 can be conveyor belts, for example. For each exit of the guide device 160, there is an assignment relationship between the exit and one or more feed stations 140 of the respective sub-area 131 of the sorting area.

[0034] In this exemplary embodiment, the control server 110 can determine the target sub-area to which these articles to be sorted are assigned based on the path direction information of a plurality of articles to be sorted, i.e., it is determined to which feed station 140 of the corresponding sub-area 131 the article to be sorted should be guided. After the target sub-area of ​​the article to be sorted has been determined, the control server 110 can send a guidance instruction for the article to be sorted to the guidance device 160 based on the determined target sub-area. In one exemplary embodiment, this guidance instruction contains guidance information indicating that the article to be sorted should be transported in the direction of the feed station 140 corresponding to the target sub-area.Optionally, the control server 110 can establish a communication connection with the guidance device 160 and transmit the guidance instruction to the guidance device 160 wirelessly or by cable.

[0035] In an optional manner of this embodiment, as in Fig. 5, at least one reader 1602 (e.g., a second reader) is arranged at the entry position of the guide device 160, wherein the reader 1602 communicates wirelessly with the control server 110. The reader 1602 is configured to scan the information label of the article to be sorted, read the path direction information contained therein, and then transmit this path direction information to the control server 110.

[0036] In this embodiment, at least one reader 1602 can optionally be installed at the entrance position of the guide device 160; at the same time, readers 1602 can also be mounted along both sides of the channel in which the entrance position of the guide device 160 is embedded, with each reader 1602 being assigned to a specific exit. As soon as an article to be sorted enters the guide device 160, the reader 1602 scans the information label of the article to be sorted, reads the path direction information contained therein, and sends it to the control server 110 so that the control server 110 can perform further operations based on this acquired path direction information. Optionally, the reader 1602 can be an RFID reader, and the information label can be an RFID tag. Alternatively, the reader 1602 can also be a barcode camera, and the information label can be a barcode label.After receiving the path direction information of the article to be sorted, the control server 110 can determine the target delivery opening to which the article to be sorted is assigned, as well as the target sub-area in which this target delivery opening is located.

[0037] In a further optional embodiment of this embodiment, the guiding process of the article to be sorted within the guiding device 160 can proceed as follows: The guiding device 160 receives the guiding instruction sent by the control server 110 and, using the transport element 1601, guides the article to be sorted in accordance with the guiding information contained in the guiding instruction toward the feed station 140 of the target sub-area. As a result, the article to be sorted is ultimately guided to the feed station 140 assigned to the target sub-area. The downstream sorting robot 120 can thus pick up the article to be sorted from this feed station 140 and perform the sorting and delivery process. Optionally, multiple feed stations 140 can be assigned to a target sub-area.To avoid confusion or deviations in the forwarding of the article to be sorted, each exit of the guide device 160 is assigned exactly one feed station 140. This means that an article to be sorted discharged via a specific exit of the guide device 160 may only be transported to the feed station 140 assigned to this exit, but cannot be guided to other stations within the same target sub-area.

[0038] In an optional aspect of this embodiment, a certain distance exists between the exits of the guide device 160 and the corresponding feed stations 140. Therefore, when guiding the article to be sorted based on the received guide instruction, the guide device 160 can guide it further toward the target sub-area using the transport element 1601 and finally guide it into a predetermined guide position of the target sub-area in a sliding chute located there. The article to be sorted can then be picked up from this sliding chute and transported to the feed station 140 corresponding to this target sub-area.

[0039] In this embodiment, an optional example is provided: Since there is also a certain distance between the predetermined guide position of the target sub-area and the feed station 140 corresponding to the target sub-area, for the purpose of increasing sorting and delivery efficiency, a conveyor belt may be installed between the predetermined guide position in the target sub-area and the feed station 140 corresponding to the target sub-area, which is connected to the slide chute. The conveyor belt then transports the article to be sorted that has entered the slide chute at the predetermined guide position to the feed station 140 of the target sub-area. The predetermined guide position within the target sub-area may be provided according to the actual situation, for example, in peripheral areas close to the feed station 140 corresponding to the target sub-area.

[0040] According to the sorting solution provided in the embodiments of the present application, the control server can, based on the path direction information of the article to be sorted, guide the different articles to be sorted with different path directions via the guide device to the feed stations assigned to the different sub-areas of these articles to be sorted. This ensures that the different articles to be sorted with different path directions are only further processed in the feed stations corresponding to their own target sub-area in order to subsequently carry out the sorting and delivery process.In addition, the moderate size of each sub-area ensures that multiple items to be sorted can be sorted and dropped off within their assigned sub-area over short distances, without the need for cross-transport between different sub-areas or even long-distance delivery within the entire sorting area. This reduces the overall delivery distance of the items to be sorted and simultaneously increases delivery efficiency.

[0041] Fig. Figure 6 shows a schematic structural drawing of another sorting system provided in the embodiments of the present application. This embodiment is explained on the basis of the previously described embodiments. This embodiment can be combined with one or more of the above-mentioned optional solutions from the previous embodiments. As shown in Fig. 6, the sorting system provided in this embodiment additionally comprises, compared to the sorting system of the previous embodiment, an article transfer container 170 and a plurality of container transport devices 180. The article transfer container 170 is arranged at the exit of the guide device 160, and the article transfer container 170 is configured to receive the articles to be sorted emerging from the exit of the guide device 160.

[0042] The control server 110 is further configured, upon determining that the article transfer container 170 satisfies the transport conditions, to select a target feed station from the target sub-area and, based on this target feed station, to assign a container transport order to a target container transport device of the plurality of container transport devices 180; the target container transport device 180 is configured, in response to the container transport order, to pick up the article transfer container at the target exit and transport it to the target feed station 140 corresponding to the target sub-area 131.

[0043] In this exemplary embodiment, there is a certain distance between the predetermined guide position of the target sub-area and the corresponding feed station 140 of this target sub-area. Therefore, in order to increase sorting and delivery efficiency, an article transfer container 170 is arranged at the exit of the guide device 160. This article transfer container is designed to receive the articles to be sorted that have entered the sliding chute from the exit of the guide device 160 and to temporarily store them. In one embodiment, the article transfer container 170 can be a movable container, for example a standard cage trolley. In this exemplary embodiment, the article transfer container 170 also receives subsequent articles to be sorted guided via the guide device 160 and likewise temporarily stores them.

[0044] In this embodiment, upon determining that the article transfer container 170 meets the transfer conditions, the control server 110 performs the following steps: It selects a destination feed station from among the multiple feed stations 140 in the destination sub-area. At the same time, the control server 110 sets the destination feed station as the end point and the current position of the article transfer container 170 as the starting point, plans at least one passable route, and then, taking into account the traffic situation information of the areas containing multiple passable routes, selects the route with the least traffic and the shortest distance as the transfer route of the article transfer container 170 intended for this transfer.Next, the control server 110 generates a transfer instruction for the article transfer container 170 based on the determined transfer route and sends the generated transfer instruction to a container transport device 180 located between the guide device 160 and the destination feed station. Optionally, based on the distances of the multiple container transport devices 180 to the destination feed station, the control server 110 may select a container transport device 180 that is in close proximity and is idle, designate it as the destination container transport device, and send the transfer instruction to it.By the above-mentioned procedure, as many articles to be sorted as possible can be filled into the article transfer container 170 and transported in a bundle, whereby the number of required transfer operations due to the individual transport of individual articles to be sorted can be greatly reduced, the sorting efficiency is increased and also the transport distance of the container transport devices is reduced, which ultimately reduces the transport costs of the container transport devices.

[0045] In this embodiment, it is optional that the above-mentioned transfer condition for the article transfer container 170 includes: that the article transfer container 170 is full and / or the predetermined collection time of the article transfer container 170 has been reached. In an optional example, "article transfer container 170 is full" means that the articles to be sorted accommodated in the article transfer container 170 have already reached the maximum capacity of the article transfer container 170; wherein the maximum fill level of the article transfer container 170 has a certain distance from the upper edge of the article transfer container 170 in order to prevent the articles to be sorted accommodated in the article transfer container 170 from being too full and falling down.In another optional example, the predetermined collection time of the article transfer container 170 may be set based on the characteristics of the articles to be sorted collected in the article transfer container 170 (e.g., the size of that type of article, the frequency of their occurrence, etc.); it may also be manually set according to requirements, and the collection time may be adjusted depending on specific circumstances.

[0046] In an optional manner of this embodiment, the control server 110 determines whether the transfer conditions are met when the article transfer container 170 collects the articles to be sorted by the following optional methods: Method One: When the control server 110 receives a message that the article transfer container 170 is full, which is sent from a sensor, then it is determined that the transfer conditions of the article transfer container 170 are met; and / or Method Two: When the control server 110 determines that the total volume of the articles to be sorted in the article transfer container 170 has reached a predetermined volume threshold, or when the control server 110 determines that the collection time of the article transfer container 170 has reached the predetermined collection time of the article transfer container 170, it is determined that the transfer conditions of the article transfer container 170 are satisfied.

[0047] In this embodiment, with respect to Method One, the sensor is installed on the container conveyor 180 and / or at the container opening of the article transfer container 170. The sensor's detection head is aligned along the path of the top edge of the article transfer container and is configured to detect whether the article transfer container 170 is filled with articles to be sorted; once the sensor detects that the article transfer container 170 is filled with articles to be sorted, it sends the message that the article transfer container 170 is full to the control server 110. For example, an infrared sensor is installed on the front side of the container conveyor 180 or on the edge of the container opening of the article transfer container 170.If the infrared sensor is located at the edge of the container opening, communication with the control server 110 is not possible using the infrared sensor alone, which is why a wireless communication module must also be installed at the edge of the container opening. The detection head of the infrared sensor is directed toward the article transfer container 170 located below the container opening. As soon as the infrared sensor detects that the article transfer container 170 is completely filled with articles to be sorted, it sends the message that the article transfer container 170 is full to the control server 110 via the wireless communication module.

[0048] In this embodiment, regarding Method Two, the control server 110 is configured to estimate the total volume of all articles to be sorted located in the article transfer container 170 based on the volume of each individual article to be sorted that has been fed into the article transfer container 170. The control server 110 then compares this total volume with a predetermined volume threshold of the article transfer container 170. If the total volume of the articles to be sorted located in the article transfer container 170 is greater than or equal to the predetermined volume threshold, it is determined that the transfer conditions for the article transfer container 170 are met. In addition, the control server 110 may also determine whether the transfer conditions are met based on the collection time of the article transfer container 170.For example, the control server 110 begins timing once the article transfer container 170 is placed at a predetermined position on the guide device 160. When the collection time of the article transfer container 170 reaches the predetermined collection time, it is determined that the articles to be sorted collected in the article transfer container 170 meet the transfer conditions.

[0049] In this embodiment, the container transport device 180 has its own intelligent system, can communicate with the control server 110, receive transfer instructions sent from the control server 110, and execute the associated transfer task according to these transfer instructions. As soon as the container transport device 180 receives a transfer instruction from the control server 110, this container transport device 180 moves to the position where the article transfer container 170 is located according to this transfer instruction and then transports the article transfer container 170 to the target feed station of the target sub-area, so that the downstream sorting robot 120 can later pick up the article to be sorted from the feed station 140.

[0050] In an optional way of this embodiment, see Fig. if a plurality of feed stations 140 are provided corresponding to each sub-area; the control server 110 is configured to select the target feed station from the target sub-area by calculating the total delivery distance of all articles to be sorted in the article transfer container 170 for different feed stations corresponding to the target sub-area, respectively, wherein the target feed station is selected from the plurality of feed stations 140 of the target sub-area based at least in part on the total delivery distance.

[0051] In this embodiment, each sub-area 131 of the sorting area 130 is associated with a plurality of feed stations 140. In each sub-area 131, the collection containers corresponding to the plurality of delivery openings 150 are arranged in an array. Once it is determined that the article transfer container 170 meets the transfer conditions, the control server 110 can determine, for each individual article to be sorted within the article transfer container 170, the specific delivery opening corresponding to the collection container in the target sub-area that receives the article to be sorted.Optionally, the control server 110 can decide, based on the path direction information of the plurality of articles to be sorted located in the article transfer container 160, through which delivery opening of the target sub-area the respective articles to be sorted should be inserted into the associated collection container, i.e., which delivery opening corresponds to the collection container that should receive the articles to be sorted. As shown in . Fig. 5 and Fig. 6, the path direction information of each individual article to be sorted within the article transfer container 170 can be read by the reader 1602 of the guide device and then transmitted to the control server 110.

[0052] In this embodiment, the total delivery distance is optionally defined as the sum of the travel distances of all sorting robots when each item to be sorted in the article transfer container is transported from the same feed station by the corresponding sorting robot to the corresponding delivery opening. For each item to be sorted in the article transfer container, the delivery distance required by the sorting robot to transport the respective item from the same feed station to the designated delivery opening is determined. In this way, the total travel distance that results when all items to be sorted are delivered from the same feed station can be determined. Subsequently, for each of the several feed stations assigned to the target sub-area, the total travel distance of the sorting robots during delivery from the respective feed stations is calculated.This results in several total delivery distances that correspond to the different feed stations.

[0053] In this embodiment, after the total delivery distances of all articles to be sorted in the article transfer container for the various feed stations of the destination sub-area have been determined, the calculated total delivery distances of the respective feed stations are sorted. Based on the sorting result, the destination feed station is then selected from the multiple feed stations 140 of the destination sub-area for the article transfer container. In this way, it can be ensured that the sum of the delivery distances when delivering multiple articles to be sorted from the destination feed station is the shortest compared to other feed stations. This can significantly reduce the total distance for delivering multiple articles to be sorted. For example, the feed station with the shortest total delivery distance is selected as the destination feed station from the multiple feed stations of the destination sub-area.Optional: If the feed station with the shortest total delivery distance is busy - i.e., if a large number of items to be sorted are already waiting at this station for sorting and delivery - the feed station with the second shortest total delivery distance is selected as the target feed station instead, and so on.

[0054] According to the parcel sorting solution provided in this embodiment of the present application, as many items to be sorted as possible can be placed into the item transfer container and transported in a bundle. This drastically reduces the number of required transfer steps that would otherwise occur with individual transports. At the same time, sorting efficiency is increased and the transport distance of the container transport devices is reduced, which in turn reduces the transport costs of the container transport devices. In addition, the feed station for transporting the items to be sorted is determined based on the total delivery distance that results when the multiple items to be sorted are each delivered into the article transfer container from different feed stations.This reduces the distance that must be covered during the further delivery of the items to be sorted from the infeed station to the delivery opening. This also reduces the further delivery distances of the items to be sorted, increases delivery efficiency, and thus improves overall sorting performance.

[0055] Fig. 6 shows that this embodiment is based on the previously described embodiments and can be combined with one or more optional solutions from these. The sorting system provided in this embodiment includes at least one collection station 190 based on the sorting systems described in the above embodiments. In this embodiment, at least one collection station 190 is provided for each sub-area 131 of the sorting area 130. The control server 110 is further configured to select a destination collection station from the destination sub-area if a collection container corresponding to the destination delivery opening fulfills a transport condition; and to assign a transport task to another destination container transport device of the plurality of container transport devices based on this destination collection station.The destination container transport device 180 is also configured to transport the collection container to the destination collection station in response to the transport task.

[0056] In this embodiment, the sorting area 130 is logically divided into a plurality of sub-areas 131, each sub-area 131 containing a plurality of delivery openings 150, and each delivery opening 150 has a corresponding collection container, wherein a plurality of collection containers are arranged in an array. Optionally, the longitudinal and transverse aisles formed by the arrangement of collection containers can serve as travel paths for the container transport devices 180. The relationship between the delivery openings 150 and the collection containers, as well as the function of the longitudinal and transverse aisles formed by the arrangement of collection containers, depends on the actual sorting situation (e.g., floor sorting scenario and steel platform sorting scenario).

[0057] In this embodiment, the transportation condition for collection containers includes: that the collection container is full and / or the predetermined collection time of the collection container has been reached. In an optional example, "collection container full" means that the articles to be sorted contained in it have reached the maximum capacity of the collection container. In another optional example, the predetermined collection time of the collection container may be set based on the characteristics of the articles to be sorted collected in the collection container or manually set as needed. This collection time may be adjusted depending on the situation. It should be understood that the specific methods used by the control server to determine whether a collection container meets the transportation conditions may be modeled on the previously described methods used by the control server to determine whether an article transfer container meets the transfer conditions.This will not be discussed further here.

[0058] In this exemplary embodiment, after the control server 110 has received the information that the collection container is full, it can ensure that the collection container is closed to prevent the sorting robot 120 from inserting further items to be sorted into the collection container via the delivery opening 150. With regard to the target sub-areas, these could correspond to multiple collection stations 190, i.e., multiple collection stations 190 are provided for each sub-area 131. For this purpose, the control server 110 selects a target collection station in the following manner: It calculates the total transport distance for the collection container to various collection stations 190 of the target sub-area and selects a target collection station from the multiple collection stations 190 based at least partially on this total transport distance.Subsequently, the control server 110 can assign a transport task to another target container transport device of the plurality of container transport devices 180 based on the target collection station. The target container transport device can receive the transport task from the control server 110 and responds by transporting the collection container that already meets the transport conditions to the target collection station 190, where the items to be sorted contained therein are bundled and packaged.

[0059] Fig. Figure 7 shows a flowchart of a sorting method provided in the embodiments of the present application. The technical solution of this embodiment can be used in several sorting scenarios to sort packages. This method is applied in the sorting system provided in any embodiment of the present application. As shown in Fig.As shown in Figure 7, the sorting method provided in this embodiment of the present application comprises the following steps: S710. A control server determines, based on path direction information of an article to be sorted, a target delivery opening corresponding to the path direction of the article to be sorted, and determines, from a plurality of sub-areas of a sorting area, the target sub-area in which the target delivery opening is located; and assigns a delivery task to a target sorting robot of a plurality of sorting robots; wherein the sorting area is divided into a plurality of sub-areas, each sub-area having at least one feed station and a plurality of delivery openings, wherein a delivery opening corresponds to a path direction.

[0060] Based on the technical solution of the above-mentioned embodiment, it is optional that the delivery openings between the plurality of sub-areas can have the same path directions.

[0061] Based on the technical solution of the above-mentioned embodiment, it is optional that the path directions corresponding to the plurality of delivery openings within at least one sub-area are physically close to each other.

[0062] In one embodiment, the path directions corresponding to the plurality of delivery openings within at least one sub-area could be understood to be physically close to each other if the distance between the physical positions of the path directions corresponding to any two of the plurality of delivery openings in at least one sub-area is less than a predefined distance threshold.

[0063] Based on the technical solution of the above-mentioned embodiment, it is optional that the assignment of the delivery task to a target sorting robot of the plurality of sorting robots by the control server comprises the following: in the case that each sub-area is assigned to different sorting robots of the plurality of sorting robots and corresponds to at least one sorting robot, assignment of the delivery task to a target sorting robot of the at least one sorting robot corresponding to the target sub-area based on the target sub-area.

[0064] Based on the technical solution of the above-mentioned embodiment, the method further comprises: the control server sends a guidance instruction for the article to be sorted to a guidance device based on the destination sub-area; wherein the guidance device has an entrance, a plurality of exits, and a transport element connecting the one entrance to the plurality of exits, wherein the article to be sorted enters the guidance device through the entrance and is transported by the transport element to one of the plurality of exits to exit the guidance device; wherein a predefined correspondence relationship exists between the plurality of exits and the plurality of feed stations; the guidance device guides the article to be sorted to a destination exit corresponding to a feed station in the destination sub-area based on the guidance instruction.

[0065] Based on the technical solution of the above-mentioned embodiment, it is optional that the method further comprises: a reader scans an information label on the article to be sorted, reads the path direction information contained therein, and sends it to the control server; wherein the reader is arranged at the entrance position of the guide device and communicates wirelessly with the control server.

[0066] Based on the technical solution of the above-mentioned embodiment, it is optional that one output corresponds to one feed station.

[0067] Based on the technical solution of the above-mentioned embodiment, it is optional that the method further comprises: an article transfer container receives the article to be sorted exiting from the exit of the guide device; wherein the article transfer container is arranged at the exit of the guide device.

[0068] Based on the technical solution of the above-mentioned embodiment, it is optional that the method further comprises: in the case where the article transfer container satisfies a transfer condition, the control server selects a target supply station from the target sub-area; and assigning a transport task to a target container transport device of the plurality of container transport devices based on the target supply station; the target container transport device transports the article transfer container at the target exit to the target supply station of the target sub-area in response to the transport task.

[0069] Based on the technical solution of the above-mentioned embodiment, it is optional that the control server selecting a target feed station from the target sub-area comprises: in the case where multiple feed stations are provided in each sub-area, calculating the total delivery distance of all articles to be sorted in the article transfer container for different feed stations of the target sub-area, respectively, and selecting the target feed station from the multiple feed stations of the target sub-area based at least in part on the total delivery distance; wherein the total delivery distance is the sum of the travel distances of all sorting robots when each article to be sorted in the article transfer container is transported from the same feed station by the corresponding sorting robot to the corresponding delivery opening.

[0070] Based on the technical solution of the above-mentioned embodiment, it is optional that the determination of the target delivery opening corresponding to the path direction of the article to be sorted by the control server based on the path direction information of the article to be sorted comprises: matching the path direction information of the article to be sorted with stored configuration information of the delivery openings for a plurality of path directions; and determining the target delivery opening corresponding to the path direction of the article to be sorted from a plurality of delivery openings based on the matching result; wherein the control server stores configuration information of the delivery openings for a plurality of path directions, and each path direction in the configuration information of the delivery openings is linked to at least one delivery opening.

[0071] S720. In response to the delivery task, the destination sorting robot picks up the item to be sorted from the infeed station where the item to be sorted is located and transports the item to be sorted to the destination delivery opening in the destination sub-area for delivery.

[0072] Based on the technical solution of the above-mentioned embodiment, in the case where each sub-area further includes at least one collection station, and in the case where a collection container corresponding to the target delivery opening satisfies a transfer condition, the control server may optionally select a target collection station from the target sub-area; assign a transport task to another target container transport device of the plurality of container transport devices by the control server based on the target collection station; assign a transport task to another target container transport device of the plurality of container transport devices by the control server based on the target collection station; transport the collection container to the target collection station by the other target container transport device in response to the transport task.

[0073] Based on the technical solution of the above-mentioned embodiment, it is optional that the control server selecting a target collection station from the target sub-area comprises: in case multiple collection stations are provided in each sub-area, calculating the total transport distance for the collection container to different collection stations of the target sub-area, and selecting the target collection station from the multiple collection stations of the target sub-area based at least in part on the total transport distance.

[0074] The sorting method described in the embodiments of the present application can be applied to the aforementioned sorting system according to any one of the embodiments of the present application and has the corresponding functions of the sorting system. Technical details not explained in the previously described embodiments can be found in the sorting systems provided in any of the embodiments of the present application.

[0075] In this description, terms such as "one embodiment," "a plurality of embodiments," "example," "concrete example," or "multiple concrete examples" indicate that the specific features, structures, materials, or properties described in connection with the respective embodiment or example are included in at least one embodiment or example of the present utility model. In this description, these terms do not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials, or properties may be combined as appropriate in any one or more of the embodiments or examples.

Claims

[1] Sorting system comprising a control server (110), a plurality of sorting robots (120) and a sorting area (130); wherein the sorting area (130) is divided into a plurality of sub-areas, each sub-area (131) having at least one feed station (140) and a plurality of feed openings (150), wherein a feed opening (150) corresponds to a path direction and a path direction corresponds to one or more feed openings (150); wherein the control server (110) is configured to determine, based on the path direction information of an article to be sorted, a target delivery opening (150) corresponding to the path direction of the article to be sorted, and to assign a delivery task to a target sorting robot (120) from a plurality of sorting robots (120); wherein the target sorting robot (120) is configured, in response to the delivery task, to pick up the article to be sorted from the feed station (140) at which the article to be sorted is located and to transport the article to be sorted to the target delivery opening (150) in the target sub-area (131) for delivery, wherein the target sub-area is at least one of the plurality of sub-areas (131) and the target sub-area represents an area in which the target delivery opening (150) is located. [2] System according to claim 1, characterized by that the control server (110) is configured to determine from the plurality of sub-areas (131) of the sorting area (130) the target sub-area (150) in which the target delivery opening (131) is located. [3] System according to claim 1, characterized by that the feed station (140) in which the article to be sorted is located is the feed station (140) arranged in the target sub-area (131). [4] System according to claim 1, characterized by in that the control server (110) stores configuration information of the delivery openings (150) for a plurality of path directions, wherein each path direction in the configuration information of the delivery openings (150) is linked to at least one delivery opening (150); wherein the control server (110) is configured to determine a target delivery opening (150) corresponding to the path direction of the article to be sorted based on the path direction information of an article to be sorted, in the following way: comparing the path direction information of the article to be sorted with the configuration information of the delivery openings (150) for a plurality of path directions; and determining the target delivery opening corresponding to the path direction of the article to be sorted from a plurality of delivery openings (150) based on the comparison result. [5] System according to claim 1, characterized byin that the sorting system comprises a first reader, wherein the first reader is configured to scan and read the path direction information of the article to be sorted and to transmit it to the control server (110) so that the control server (110) can determine the target delivery opening (150) corresponding to the path direction of the article to be sorted based on this path direction information of the article to be sorted. [6] System according to claim 1, characterized byin that the system further comprises a guide device (160) having an entrance, a plurality of exits and a transport element connecting the one entrance to the plurality of exits, wherein the article to be sorted enters the guide device (160) through the entrance and is transported by the transport element to one of the plurality of exits in order to exit from the guide device (160); wherein a predefined correspondence relationship exists between the plurality of exits and the plurality of feed stations (140). [7] System according to claim 6, characterized byin that the control server (110) is further configured, based on the target sub-area (131), to send a guidance instruction for the article to be sorted to the guidance device (160); wherein the guidance device (160) is configured, based on the guidance instruction, to guide the article to be sorted to a target exit corresponding to a feed station (140) in the target sub-area (131). [8] System according to claim 6, characterized by that the system further comprises at least one second reader (1602) arranged at the input position of the guide device (160) and communicating wirelessly with the control server (110); wherein the second reader (1602) is configured to scan an information label on the article to be sorted, read the path direction information contained therein, and send it to the control server (110). [9] System according to claim 6, characterized bythat one output corresponds to at least one feed station (140). [10] System according to claim 6, characterized by in that the system further comprises a sliding chute; wherein the sliding chute is located in a predetermined guide position of the target sub-area (131) and the transport element is configured to guide the article to be sorted into the sliding chute in order to transport the article to be sorted in the sliding chute to the feed station (140) corresponding to the target sub-area (131). [11] System according to claim 10, characterized bythat a conveyor belt is installed between the predetermined guide position of the target sub-area (131) and the feed station (140) corresponding to the target sub-area, which conveyor belt is connected to the sliding chute; wherein the conveyor belt can take over the transport of the article to be sorted, which has entered the sliding chute in the predetermined guide position, to the feed station (140) of the target sub-area (131). [12] System according to claim 6, characterized by that the system further comprises an article transfer container (170) arranged at the exit of the guide device (160) and configured to receive the article to be sorted emerging from the exit of the guide device (160). [13] System according to claim 12, characterized by that the system further comprises a plurality of container transport devices (180); wherein the control server (110) is further configured to assign a transport task to a target container transport device (180) of the plurality of container transport devices (180) based on the target feed station (140) in the event that the article transfer container (170) satisfies a transfer condition, wherein the target feed station (140) is a feed station (140) corresponding to the target sub-area (131); wherein the destination container transport device (180) is configured to transport the article transfer container (170) at the destination exit to the destination feed station (140) of the destination sub-area (131) in response to the transport task. [14] System according to claim 13, characterized by in that, in the case where a plurality of feed stations (140) are provided in each sub-area (131), the control server (110) is configured to select the target feed station (140) from the target sub-area (131) in the following manner: Calculating the total delivery distance of all articles to be sorted in the article transfer container (170) for different feed stations (140) of the target sub-area, respectively, wherein the target feed station (140) is selected from the plurality of feed stations (140) of the target sub-area (131) based at least in part on the total delivery distance; wherein the total delivery distance is the sum of the travel distances of all sorting robots (120) when each article to be sorted in the article transfer container (170) is transported from the same feed station (140) by the corresponding sorting robot (120) to the corresponding delivery opening (150). [15] System according to claim 13, characterized by that the transfer condition for the article transfer container (170) comprises: that the article transfer container (170) is full and / or the predetermined collection time of the article transfer container (170) has been reached. [16] System according to claim 15, characterized bythat the sorting system comprises a sensor configured to detect whether the article transfer container 170 is filled with articles to be sorted. [17] System according to claim 16, characterized by that the sensor is installed on the container transport device (180) and / or on the container opening of the article transfer container (170). [18] System according to claim 1, characterized by in that each sub-area (131) is assigned to different sorting robots (120) from the plurality of sorting robots (120) and corresponds to at least one sorting robot; wherein the control server (110) is configured to assign the delivery task to a target sorting robot from the plurality of sorting robots (120) in the following way: based on the target sub-area (131), assign the delivery task to a target sorting robot (120) from the at least one sorting robot (120) that corresponds to the target sub-area (131). [19] System according to claim 1, characterized by that at least some of the delivery openings (150) in the plurality of sub-regions (131) have the same path direction. [20] System according to claim 1, characterized by that the distance between the physical positions of the path directions corresponding to any two of the plurality of delivery openings (150) in at least one sub-area (131) is less than a predefined distance threshold. [21] System according to one of claims 1 to 20, characterized by in that each sub-area (131) further comprises at least one collection station (190); wherein the control server (110) is further configured, in the event that a collection container corresponding to the target delivery opening (150) satisfies a transport condition, to select from the target sub-area (131) a target collection station (190) which is configured to collect the collection container transported from the target sub-area (131). [22] System according to claim 21, characterized by in that the control server (110) is further configured to assign a transport task to another target container transport device (180) of the plurality of container transport devices (180) based on the target collection station (190); wherein the other target container transport device (180) is configured to transport the collection container to the target collection station (190) in response to the transport task. [23] System according to claim 21, characterized byin that, in the event that a plurality of collection stations (190) are provided in each sub-area (131), the control server (110) is configured to select the target collection station (190) from the target sub-area (131) in the following manner: calculating the total transport distance for the collection container to various collection stations (190) of the target sub-area (131), wherein the target collection station (190) is selected from the plurality of collection stations (190) of the target sub-area (131) based at least in part on the total transport distance. [24] System according to claim 21, characterized by that the transport condition for collection containers includes: that the collection container is full and / or the pre-determined collection time of the collection container has been reached. [25] System according to one of claims 1 to 24, characterized bythat a sorting device is provided at the feed station (140) which is configured to place the article to be sorted from the feed station (140) onto the sorting robot (120); or that the sorting robot (120) picks up the article to be sorted directly from the feed station (140). [26] System according to one of claims 1 to 24, characterized by that the sorting robot (120) moves on the floor and the delivery openings (150) are container openings of collection containers placed on the floor; or that the sorting robot (120) moves on a steel platform structure and the delivery openings (150) are grid openings arranged in the steel platform.

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