Cargo sorting system and method using a robot capable of identifying cargo shelf transfer

Abstract

A cargo sorting system and a sorting method are provided that utilize a robot capable of identifying cargo shelf transfer. The sorting system includes a movable cargo shelf (2), a sorting robot (1), a sorting robot positioning device, an introduction device, an unloading robot (5), a detection device (4), and a server. A plurality of cargo boxes (21) used for unloading cargo are installed on the movable cargo shelf (2). Identifiable means (3) are fixed to the movable cargo shelf (2), and the movable cargo shelf (2) is movable to any vacant unloading area. A plurality of sorting robots (1) are arranged and configured to travel on a sorting platform (11) and transport the received cargo to a specified unloading area and unload it. The unloading robot (5) is configured to receive the cargo to be unloaded by the sorting robot (1) and unload the cargo into a predetermined vacant cargo box on the movable cargo shelf. The detection device (4) is configured to collect information on the identified means (3). The server is wirelessly connected to the control means of the sorting robot (1), and is wired or wirelessly connected to the control means, the detection device (4) and the introduction device of the unloading robot (5). The present invention has the beneficial effects of a compact structure, a large sorting capacity, full utilization of space, and high sorting efficiency.

Description

[Technical field]

[0001] The present application relates to a cargo sorting system and a cargo sorting method that utilizes a robot capable of identifying cargo shelving.

[0002] CROSS REFERENCE TO RELATED APPLICATIONS This application claims priority based on a Chinese application bearing application number 202110478895.X and entitled "Cargo sorting system and sorting method using a robot capable of identifying cargo shelf transfers" filed with the China National Intellectual Property Office on April 30, 2021, the entire contents of which are incorporated herein by reference. [Background technology]

[0003] Sorting and unloading of cargo using a sorting robot, i.e., an automatic guided vehicle, is widely used. In the prior art, cargo is generally unloaded to a predetermined exit according to requirements, for example, cargo is unloaded to different exits according to region, and cargo from the same exit is packed and shipped. There is a need to unload cargo into a specific cargo box on a cargo shelf, in which case, multiple cargo boxes can be installed on one cargo shelf, so that when the cargo shelf is transported to a packing location, all the cargo can be easily transported to a packing location in another area for packing. In order to further improve the capacity of handling cargo, it is necessary to sort using multiple cargo shelves at the same time. Summary of the Invention

[0004] SUMMARY OF THE PRESENT EMBODIMENTS In response to the above demand, the present application provides a cargo sorting system and method that utilizes a robot capable of identifying cargo shelving.

[0005] The technical proposal of this application is as follows:

[0006] A cargo sorting system utilizing a robot capable of identifying cargo shelf transfers includes a movable cargo shelf, a sorting robot, a sorting robot positioning device, an introduction device, an unloading robot, a detection device, and a server, a plurality of movable cargo shelves are installed, a plurality of cargo boxes used for unloading cargo are installed on each of the movable cargo shelves, an identifiable means is fixed to the movable cargo shelves, the movable cargo shelves are movable to any vacant unloading area, the movable cargo shelves are arranged in parallel, a plurality of sorting robots are arranged, and are configured to travel on a sorting platform and transport received cargo to a specified unloading area for unloading, and the sorting robot positioning device measures the sorting robot. the introduction device is installed at a cargo entrance of the sorting platform and configured to identify and introduce cargo; the unloading robot is configured to receive the cargo unloaded by the sorting robot and unload the cargo into a predetermined vacant cargo box on the movable cargo shelf; the detection device is fixed to the ground in the unloading area or to an immovable fixed member of the unloading robot; the detection device is configured to collect information of the identified means and to collect the spatial position; and the server is wirelessly connected to the control means of the sorting robot and is wired or wirelessly connected to each of the control means, the detection device and the introduction device of the unloading robot.

[0007] Optionally, the unloading robot includes a vertical moving device, two horizontal moving devices installed in parallel, and a rotating device, and the horizontal moving device includes a hollow bar, a first timing pulley and a second timing pulley, a timing belt, a servo motor, and a slide block. The hollow bar is fixed to the ground by a supporter and is horizontally mounted. The hollow bar has an open end, and two outer surfaces of the hollow bar are provided with grooves. The first timing pulley and the second timing pulley are respectively rotatable at both ends in the hollow bar. The timing belt is connected to the first and second timing pulleys, the housing of the servo motor is fixed to the hollow bar, and the rotating shaft is fixed to the central shaft of the first timing pulley or the central shaft of the second timing pulley, the servo motor is electrically connected to the control means of the lowering robot, the slide block includes a protruding block and two slide rails, the protruding block is inserted into the open end of the hollow bar and is fixed to the timing belt, the slide rails can only move back and forth along the grooves, and cannot move vertically. The moving device has the same structure as the horizontal moving device, the hollow bar of the vertical moving device is installed vertically, and both ends of the hollow bar of the vertical moving device are fixed to the slide blocks of the two horizontal moving devices, the rotating device includes a conveying supporter, a first reducer, a rotating motor, a rotating supporter, a rotating tray, a second reducer, a swinging motor, and a swinging bar, the conveying supporter is fixed to the slide blocks of the vertical moving device, the swinging motor has its housing fixed to the housing of the first reducer and its rotating shaft fixed to the input shaft of the first reducer, and the swinging motor is the rotating supporter is electrically connected to the control means of the unloading robot, the rotating tray is fixed to the rotating supporter and is used for storing or unloading cargo, the second reducer has its housing fixed to the transport supporter, the swing motor has its housing fixed to the housing of the second reducer and its rotating shaft fixed to the input shaft of the second reducer, the swing motor is electrically connected to the control means of the unloading robot, one end of the swing bar is fixed to the output shaft of the second reducer and the other end is fixed to the housing of the first reducer,The rotation of the swing motor drives a rotating tray on which cargo is stored to swing from the outside of the movable cargo shelf to above a specific cargo box, and the rotation of the swing motor allows the cargo to be lowered into the cargo box.

[0008] Optionally, the two lateral movement devices installed in parallel are configured to control the vertical movement device to move along the longitudinal direction of the movable cargo shelf.

[0009] Optionally, the longitudinal movement device is configured to control the pivot device to move along a height direction of the movable cargo shelf.

[0010] Optionally, the pivoting device can control the cargo to move along a circular trajectory in a horizontal direction and can pivot to unload the cargo.

[0011] Optionally, the pivot device includes two of the swing bars, the two swing bars being located on the top and bottom surfaces of the housing of the first reducer, respectively.

[0012] Optionally, the movable cargo shelf is installed in multiple layers, with multiple cargo boxes respectively installed in each layer, with the multiple cargo boxes in the multiple layers being arranged in a matrix, and each cargo box being removably installed.

[0013] Optionally, the rotating tray is capable of depositing cargo onto any one of the movable cargo shelves on either side.

[0014] Optionally, two detection devices are provided in each of the unloading areas, and two identified means are provided correspondingly on each movable cargo shelf, so that the movable cargo shelf is precisely positioned when the two detection devices are aligned with the two identified means, respectively.

[0015] Optionally, the identified means is a two-dimensional code or a barcode, and the detection device is a camera; alternatively, the identified means is an RFID electronic tag, and the detection device is a card reader.

[0016] Optionally, the detection device is fixed to the sorting station or to a non-movable fixed member on the unloading robot.

[0017] The cargo sorting method using a robot capable of identifying cargo shelf transfer uses a cargo sorting system using a robot capable of identifying cargo shelf transfer. The sorting method includes steps of: selecting a movable cargo shelf, determining that at least one or more cargo boxes in the movable cargo shelf are vacant cargo boxes with no cargo accommodated therein, moving the movable cargo shelf to an arbitrary vacant unloading area to wait for cargo unloading; reading an identified means of the movable cargo shelf in the unloading area by a detection device fixed to the unloading area; and acquiring information on the vacant cargo boxes in the movable cargo shelf, unloaded cargo, and cargo waiting to be unloaded by the identified means, and scheduling the cargo sorting by a server. The method includes step S3 of starting a ring; step S4 of transporting the cargo sorted by the sorting robot to the vicinity of the unloading area if the cargo sorted by the sorting robot is to be unloaded into the vacant cargo box; step S5 of an unloading robot in the unloading area receiving the cargo unloaded by the sorting robot and unloading the cargo into a predetermined vacant cargo box; and step S6 of the movable cargo shelf moving to another packing area for packing after all the predetermined cargo has been loaded into the vacant cargo box on the movable cargo shelf.

[0018] Optionally, in step S1, at least one of the multiple cargo boxes on the movable cargo shelf is an empty cargo box that does not contain any cargo, which indicates that no cargo has been stored on the movable cargo shelf so far, or that the movable cargo shelf has unloaded cargo and is waiting for another cargo unloading, or that the movable cargo shelf has loaded cargo but was interrupted while loading the cargo and needs to continue unloading the cargo using another unloading area and unloading robot.

[0019] Optionally, when one unloading robot needs to be suspended, the server executes rescheduling to have an adjacent unloading robot unload the cargo onto the movable cargo shelf.

[0020] Compared with the prior art, the present application has at least the following advantages: The sorting robot can circulate to load and unload cargo in sequence, and there are many exits provided, so sorting efficiency is high; The sorting platform can be installed in one layer or multiple layers, so the sorting capacity is large; The movable cargo shelf can accommodate more cargo, the space efficiency of the movable cargo shelf is high, and the movable cargo shelf can be moved, which is very free and space efficient; The unloading robot takes up less space, and the requirements for the positioning accuracy of the unloading robot are not high, which is favorable for reducing costs; If the unloading robot breaks down, it can be quickly resolved; The packaging area can be freely installed, so it does not affect sorting at the sorting station.

[0021] The present application has the beneficial effects of compact structure, large sorting capacity, full utilization of space, and high sorting efficiency. [Brief description of the drawings]

[0022] [Figure 1] FIG. 1 is a schematic diagram showing the overall structure of the invention according to the present application. [Diagram 2] FIG. 2 is a schematic diagram of the main structure of the unloading robot and the movable cargo shelf according to the present application. [Diagram 3] FIG. 2 is a schematic configuration diagram of a rotation device according to the present application. [Figure 4] FIG. 2 is a schematic configuration diagram of a rotation device according to the present application. [Diagram 5] 2A and 2B are schematic configuration diagrams of hollow bars of a vertical movement device and a horizontal movement device according to the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] The present application will now be further described with reference to the drawings.

[0024] As shown in Figure 1, a cargo sorting system that uses a robot capable of identifying cargo shelf transfers includes a movable cargo shelf 2, a sorting robot 1, a sorting robot positioning device, an introduction device, an unloading robot 5, a detection device 4, and a server.

[0025] A plurality of movable cargo shelves 2 are installed, and a plurality of cargo boxes 21 used for unloading cargo are installed on each movable cargo shelf 2. In this embodiment, the cargo boxes 21 are installed in a plurality of layers, and a plurality of cargo boxes 21 are installed on each layer and arranged in a regular matrix. Identification means 3 is fixed to the movable cargo shelf 2, and the movable cargo shelf 2 can be moved to any vacant unloading area. As shown in FIG. 1 showing this embodiment, a plurality of movable cargo shelves 2 are arranged in parallel, but in actual use, a plurality of movable cargo shelves 2 may be installed to surround the sorting platform 11 to further improve space efficiency.

[0026] To facilitate the removal of cargo, two horizontal rails 22 are installed in parallel on each layer of the movable cargo shelf 2, and two flange portions are provided on the cargo box 21 corresponding thereto, so that the two flange portions of the cargo box 21 can be hung on the two horizontal rails 22.

[0027] A plurality of sorting robots 1 are arranged and configured to travel on the sorting platform 11 and transport cargo received at the cargo entrance to a designated unloading area for unloading. The sorting robot 1 generally employs an automatic guided vehicle, which circulates along the sorting platform 11 to transport the cargo. The cargo exit is generally installed at the edge of the sorting platform 11, and when the sorting robot 1 unloads the cargo, the cargo can be unloaded by rotating a rotating plate, and the sorting platform 11 generally has a certain height. The sorting platform 11 may be installed in a plurality of layers, and a sorting robot 1 may be arranged on each sorting platform 11 in each layer.

[0028] The sorting robot positioning device is configured to perform positioning for the sorting robot 1. Positioning may be performed using a wireless positioning system, or a two-dimensional code, barcode, or the like may be attached to the sorting platform 11, and a camera that collects position information from the two-dimensional code or barcode may be attached to the sorting robot 1. Conventional technology can be used for this part.

[0029] The introduction device may be fixed at the cargo entrance of the sorting platform 11, or an operator may hold the introduction device to identify and introduce the cargo. The introduction device may use a code reading device that can identify the cargo, and a two-dimensional code or a barcode is generally attached to the cargo, and the code reading device is a code reader of a two-dimensional code or a barcode accordingly. Generally, the operator sends the cargo to the code reading device to scan it, and then places the cargo on the sorting robot 1 that has arrived at the cargo entrance. The cargo entrance can be set at any position on the sorting platform 11 other than the exit position. The introduction device may be a robot hand that can transport the cargo to the sorting robot 1, and a server can obtain specific information of the cargo transported by the robot hand, for example, the server can obtain information that the cargo is a brush.

[0030] The unloading robot 5 is configured to receive the cargo unloaded by the sorting robot 1 and to unload the cargo into a predetermined vacant cargo bin 21 on the movable cargo shelf 2. The unloading robot 5 is arranged along the edge of the sorting platform 11.

[0031] The detection device 4 is fixed to the ground in the unloading area or fixed to an immovable fixed member of the unloading robot 5. The detection device 4 is configured to collect information of the identified means 3 and collect the spatial position. In this embodiment, the identified means 3 is a two-dimensional code or a barcode, and correspondingly, the detection device 4 is a camera; or the identified means 3 is a wireless communication RFID electronic tag, and correspondingly, the detection device 4 is a wireless communication card reader.

[0032] The server is wirelessly connected to the control means of the sorting robot 1, and is wired or wirelessly connected to each of the control means of the unloading robot 5, the detection device 4 and the introduction device.

[0033] In this embodiment, the server can sort the cargo based on the attributes of the cargo, for example, the cargo belongs to at least one of a certain client, a certain cargo shelf, a certain supplier, a certain delivery area, and a certain delivery company. Some cargoes of the same client may be sorted into different cargo boxes 21 on the same movable cargo shelf 2, so that the same movable cargo shelf 2 can accommodate cargoes of multiple clients, or some cargoes of the same supplier may be sorted into different cargo boxes 21 on the same movable cargo shelf 2, so that the same movable cargo shelf 2 can accommodate multiple cargoes of the same supplier.

[0034] Optionally, as shown in Figures 2, 3 and 4, the unloading robot 5 includes a vertical moving device 43, two horizontal moving devices 42 installed in parallel, and a rotation device.

[0035] The lateral movement device 42 includes a hollow bar 422 , a first timing pulley 424 and a second timing pulley, a timing belt 423 , a servo motor 421 , and a slide block 425 .

[0036] The hollow bar 422 is fixed to the ground by a supporter and is installed horizontally. The hollow bar 422 has an open end 4222 and two outer surfaces thereof are provided with recesses 4221 .

[0037] A first timing pulley 424 and a second timing pulley are rotatably fixed within hollow bar 422 at opposite ends thereof.

[0038] The timing belt 423 connects the first timing pulley 424 and the second timing pulley.

[0039] The servo motor 421 has its housing fixed to the hollow bar 422, its rotation shaft fixed to the central axis of the first timing pulley 424 or the central axis of the second timing pulley, and the servo motor 421 is electrically connected to the control means of the lowering robot 5.

[0040] The slide block 425 includes a protruding block 4252 and two slide rails 4251. The protruding block 4252 is fitted into the open end 4222 of the hollow bar 422 and fixed to the timing belt 423, so that the slide rails 4251 can only move back and forth along the grooves 4221.

[0041] The vertical movement device 43 has the same structure as the horizontal movement device 42, with the difference being that the hollow bar 422 of the vertical movement device 43 is installed vertically, and both ends of the hollow bar 422 of the vertical movement device 43 are fixed to the slide blocks 425 of the two horizontal movement devices 42.

[0042] By making the vertical movement device 43 and the horizontal movement device 42 have the same structure, the overall structure is simplified and maintenance is easy.

[0043] The rotating device includes a transport supporter 61 , a first reducer 64 , a rotating motor 62 , a rotating supporter 63 , a rotating tray 60 , a second reducer 66 , a swinging motor 67 , and a swinging bar 65 .

[0044] The transport supporter 61 is fixed to a slide block 425 of the vertical movement device 43 .

[0045] The housing of the rotation motor 62 is fixed to the housing of the first reducer 64, the rotation shaft is fixed to the input shaft of the first reducer 64, and the rotation motor 62 is electrically connected to the control means of the lowering robot 5.

[0046] The rotating supporter 63 is fixed to the output shaft of the first reducer 64, and in this embodiment, two rotating supporters 63 are installed symmetrically to improve stability.

[0047] The rotating tray 60 is fixed to a rotating supporter 63 and is used for storing or unloading cargo.

[0048] The housing of the second reducer 66 is fixed to the transport supporter 61 .

[0049] The housing of the swing motor 67 is fixed to the housing of the second reducer 66, the rotating shaft is fixed to the input shaft of the second reducer 66, and the swing motor 67 is electrically connected to the control means of the lowering robot 5.

[0050] The oscillating bar 65 has one end fixed to the output shaft of the second reducer 66 and the other end fixed to the housing of the first reducer 64. In this embodiment, in order to improve stability, two oscillating bars 65 are installed, located respectively on the top and bottom surfaces of the housing of the first reducer 64.

[0051] By rotating the swing motor 67, the rotating tray 60 on which the cargo is stored can be driven to swing from outside the movable cargo shelf 2 to above a specific cargo box 21, and by rotating the swing motor 62, the cargo can be lowered into the cargo box 21.

[0052] The two lateral movement devices 42 installed in parallel can control the vertical movement device 43 to move along the longitudinal direction of the movable cargo shelf 2, and the vertical movement device 43 can control the rotation device to move along the height direction of the movable cargo shelf 2, and the rotation device can control the cargo to move along a circular trajectory in the horizontal direction and can rotate to unload the cargo.

[0053] The unloading robot 5 adopts an open-loop control method, and the servo motor 421 of the vertical movement device 43 can be controlled by software to move the cargo precisely to a specific layer, and the servo motor 421 of the horizontal movement device 42 can be controlled by software to move the cargo precisely to a specific row. Since the cargo boxes 21 are relatively large, the rotating device can precisely unload the cargo onto a specific cargo box 21, and can also precisely move to the edge of the sorting platform 11 to receive the cargo unloaded by the sorting robot 1. Using this control method can reduce hardware costs and eliminate the need to install sensors on each cargo box 21.

[0054] In order to improve the efficiency of cargo unloading and the utilization rate of the unloading robot 5, the rotating tray 60 can unload cargo onto any one of the movable cargo shelves 2 on either side.

[0055] The movable cargo shelf 2 can be moved by a worker or a transport robot. Two detection devices 4 are installed in each unloading area, and two identified means 3 are installed correspondingly on each movable cargo shelf 2, so that the movable cargo shelf 2 can be accurately positioned. When the two detection devices 4 are aligned with the two identified means 3, respectively, the movable cargo shelf 2 is accurately positioned. The two sets of identified means 3 and detection devices 4 according to the present application have both a function of positioning the movable cargo shelf and a function of reading information on the movable cargo shelf 2.

[0056] Preferably, the detection device 4 is fixed to the sorting station or to a non-movable fixed member of the unloading robot. The detection device 4 may be fixed to a supporter.

[0057] The initial position of each motor according to the present application can be obtained by setting a limit position, or the initial position of the motor is determined by installing an initial position sensor. For example, when the slide block 425 moves to the point where it contacts the first timing pulley 424 or the second timing pulley, it is blocked, and the motor's restraint current becomes large, and the position of the motor at this time is set as the initial position of the motor by the control means, and the movement distance of the slide block 425 in one rotation of the motor is calculated based on this. The initial position of the motor may be obtained by installing an initial position sensor, and the position of the motor when the slide block 425 contacts the initial position sensor is set as the initial position of the motor. Similarly, the initial positions of the rotation motor 62 and the swing motor 67 can also be obtained by setting a limit position or installing an initial position sensor.

[0058] A cargo sorting method using a robot capable of identifying cargo shelving uses a cargo sorting system using a robot capable of identifying cargo shelving. The sorting method includes the following steps:

[0059] S1. Select a movable cargo shelf 2, and at least one or more cargo boxes 21 on the movable cargo shelf 2 are vacant cargo boxes 21 that do not contain cargo. The movable cargo shelf 2 is moved to any vacant unloading area to wait for cargo unloading. Generally, there are three situations. First, no cargo has been stored on the movable cargo shelf 2. Second, the movable cargo shelf 2 is waiting for cargo unloading again after unloading cargo. Third, the movable cargo shelf 2 has loaded cargo, but is interrupted during loading of the cargo, and it is necessary to use another unloading area and unloading robot 5 to continue unloading the cargo. Here, the cause of the interruption may be that the unloading robot 5 breaks down or needs to move to another sorting location.

[0060] S2. The detection device 4 fixed in the unloading area reads the identifiable means 3 of the movable cargo shelf 2 in the unloading area.

[0061] S3. The identification means 3 obtains information on the vacant cargo boxes 21, the unloaded cargo, and the cargo waiting to be unloaded on the movable cargo shelf 2, and the server starts scheduling. For example, according to the original plan, on the first movable cargo shelf 2, the first unloading robot 5 loads three cargo items onto the first cargo box 21, the second cargo box 21, and the third cargo box 21, respectively, but the first unloading robot 5 breaks down and must be interrupted, and at this time, the last cargo item has not yet been loaded onto the third cargo box 21. In this case, one solution is for an operator to move the No. 1 movable cargo shelf 2 to the vacant No. 10 unloading area, and the server obtains the information using the No. 10 detection device 4, and if the server obtains information that the third cargo item is loaded on a certain sorting robot, the third cargo item is transported to the No. 10 unloading area where the No. 10 unloading robot 5 is located, and the No. 10 unloading robot 5 unloads the cargo item into the No. 3 cargo box 21. Another solution is for an adjacent unloading robot, for example the No. 2 unloading robot 5 to unload the cargo item into the No. 3 cargo box 21 on the No. 1 movable cargo shelf 2.

[0062] S4. If the cargo sorted by the sorting robot is to be unloaded into the empty cargo box 21, the sorting robot transports the cargo near the unloading area.

[0063] S5. The unloading robot in the unloading area receives the cargo unloaded by the sorting robot and then unloads the cargo into a predetermined vacant cargo box 21.

[0064] S6: After all the specified cargo is loaded into the vacant cargo boxes 21 on the movable cargo shelf 2, the movable cargo shelf 2 moves to another packing area to perform packing. Of course, the detection devices 4 are also installed at the cargo unloading locations in the other areas, and after the detection devices 4 read the identifiable means 3, the information of each cargo box 21 can be obtained by the server. [Industrial Applicability]

[0065] The present application provides a cargo sorting system and a sorting method that utilize a robot capable of identifying cargo shelf transfer. The sorting system includes a movable cargo shelf, a sorting robot, a sorting robot positioning device, an introduction device, an unloading robot, a detection device, and a server. A plurality of cargo boxes used for unloading cargo are installed on the movable cargo shelf. Identifiable means are fixed to the movable cargo shelf, and the movable cargo shelf can be moved to any vacant unloading area. A plurality of sorting robots are arranged and configured to travel on the sorting platform and transport the received cargo to a designated unloading area and unload it. The unloading robot is configured to receive the cargo to be unloaded by the sorting robot and unload the cargo into a predetermined vacant cargo box on the movable cargo shelf. The detection device is configured to collect information on the identified means. The server is wirelessly connected to the control means of the sorting robot, and is wired or wirelessly connected to each of the control means, detection device, and code reading device of the unloading robot. The invention of the present application has the beneficial effects of compact structure, large sorting capacity, full utilization of space, and high sorting efficiency.

[0066] In addition, the cargo sorting system and sorting method using a robot capable of identifying cargo shelf transfer according to the present application are feasible and can be applied to various industrial applications. For example, the cargo sorting system and sorting method using a robot capable of identifying cargo shelf transfer according to the present application can be applied to technical fields related to cargo sorting using a sorting robot.

Claims

1. The system includes a movable cargo shelf (2), a sorting robot (1), a sorting robot positioning device, an introduction device, an unloading robot (5), a detection device (4), and a server; A plurality of the movable cargo shelves (2) are provided, and a plurality of cargo boxes (21) used for unloading cargo are provided on each of the movable cargo shelves (2). Identification means (3) is fixed to the movable cargo shelves (2). The movable cargo shelves (2) can be moved to any vacant unloading area. The sorting robot (1) is arranged in plurality and configured to travel on a sorting platform (11) and transport the received cargo to a designated unloading area and unload it; The sorting robot positioning device is configured to perform positioning for the sorting robot (1), The introduction device is installed at a cargo entrance of the sorting platform (11) and configured to identify and introduce cargo; the unloading robot (5) is configured to receive the cargo unloaded by the sorting robot (1) and unload the cargo into a predetermined vacant cargo box (21) on the movable cargo shelf (2); the detection device (4) is fixed to the ground of the unloading area or to a non-movable fixed member of the unloading robot (5), the detection device (4) being configured to collect information of the identified means (3); The server is wirelessly connected to the control means of the sorting robot (1), and is wired or wirelessly connected to the control means of the unloading robot (5), the detection device (4), and the introduction device. A cargo sorting system that utilizes a robot capable of identifying cargo shelf transfers.

2. The unloading robot (5) comprises a vertical movement device (43), two horizontal movement devices (42) installed in parallel, and a rotation device; The lateral movement device (42) includes a hollow bar (422), a first timing pulley (424), a second timing pulley, a timing belt (423), a servo motor (421), and a slide block (425); The hollow bar (422) is fixed to the ground by a supporter and is installed horizontally. The hollow bar (422) has an open end (4222), and two outer surfaces of the hollow bar (422) are provided with grooves (4221); The first and second timing pulleys (424) and (422) are rotatably fixed to opposite ends within the hollow bar (422), The timing belt (423) connects the first timing pulley (424) and the second timing pulley, The servo motor (421) has a housing fixed to the hollow bar (422), a rotation axis fixed to the central axis of the first timing pulley (424) or the central axis of the second timing pulley, and the servo motor (421) is electrically connected to a control means of the lowering robot (5); The slide block (425) includes a protruding block (4252) and two slide rails (4251), the protruding block (4252) is inserted into the open end (4222) of the hollow bar (422) and fixed to the timing belt (423), and the slide rails (4251) can only reciprocate along the groove (4221); The vertical movement device (43) has the same structure as the horizontal movement device (42), the hollow bar (422) of the vertical movement device (43) is installed vertically, and both ends of the hollow bar (422) of the vertical movement device (43) are fixed to the slide blocks (425) of the two horizontal movement devices (42); The rotating device includes a conveying supporter (61), a first reducer (64), a rotating motor (62), a rotating supporter (63), a rotating tray (60), a second reducer (66), a swinging motor (67), and a swinging bar (65); The transport supporter (61) is fixed to a slide block (425) of the vertical movement device (43), The rotary motor (62) has a housing fixed to a housing of the first reducer (64), a rotary shaft fixed to an input shaft of the first reducer (64), and the rotary motor (62) is electrically connected to a control means of the lowering robot (5); The rotating supporter (63) is fixed to the output shaft of the first reducer (64), The rotating tray (60) is fixed to the rotating supporter (63) and is used for storing or unloading cargo. The second reducer (66) has a housing fixed to the transport supporter (61), The swing motor (67) has a housing fixed to a housing of the second reducer (66), a rotating shaft fixed to an input shaft of the second reducer (66), and the swing motor (67) is electrically connected to a control means of the lowering robot (5); The swing bar (65) has one end fixed to the output shaft of the second reducer (66) and the other end fixed to the housing of the first reducer (64), By rotating the swing motor (67), the rotating tray (60) on which the cargo is stored can be driven to swing from the outside of the movable cargo shelf (2) to above a specific cargo box (21), and by rotating the rotary motor (62), the cargo can be lowered into the cargo box (21). A cargo sorting system utilizing a robot capable of identifying cargo shelf transfer according to claim 1.

3. The two lateral movement devices installed in parallel are configured to control the vertical movement device to move along the longitudinal direction of the movable cargo shelf. A cargo sorting system utilizing a robot capable of identifying cargo shelf transfer according to claim 2.

4. The vertical movement device is configured to control the rotation device to move along the height direction of the movable cargo shelf. A cargo sorting system that utilizes a robot capable of identifying cargo shelf transfer according to claim 2 or 3.

5. The rotating device can control the cargo to move along a circular trajectory in the horizontal direction and can rotate to unload the cargo. A cargo sorting system that utilizes a robot capable of identifying cargo shelf transfers according to any one of claims 2 to 4.

6. The rotating device includes two of the swing bars, and the two swing bars are located on the top and bottom surfaces of the housing of the first reducer, respectively. A cargo sorting system that utilizes a robot capable of identifying cargo shelf transfers according to any one of claims 2 to 5.

7. The movable cargo shelf (2) is installed in a plurality of layers, and a plurality of cargo boxes (21) are installed on each layer. The plurality of cargo boxes (21) on the plurality of layers are arranged in a matrix, and each cargo box (21) is installed removably. A cargo sorting system that utilizes a robot capable of identifying cargo shelf transfers according to any one of claims 1 to 6.

8. The rotating tray (60) is capable of unloading cargo onto any one of the movable cargo shelves (2) on either side. A cargo sorting system utilizing a robot capable of identifying cargo shelf transfer according to claim 2.

9. Two of the detection devices (4) are installed in each of the unloading areas, and two of the identified means (3) are installed in each of the movable cargo shelves (2) correspondingly, and when the two detection devices (4) are aligned with the two identified means (3), respectively, the movable cargo shelves (2) are accurately positioned. A cargo sorting system that utilizes a robot capable of identifying cargo shelf transfers according to any one of claims 1 to 8.

10. The identified means (3) is a two-dimensional code or a barcode, and the detection device (4) is a camera, or the identified means (3) is an RFID electronic tag, and the detection device (4) is a card reader. A cargo sorting system that utilizes a robot capable of identifying cargo shelf transfers according to any one of claims 1 to 9.

11. The detection device (4) is fixed to the sorting station or to a non-movable fixed part of the unloading robot. A cargo sorting system that utilizes a robot capable of identifying cargo shelf transfers according to any one of claims 1 to 10.

12. A cargo sorting method using a robot capable of identifying cargo shelf transfer, comprising the steps of: Step S1: selecting a movable cargo shelf (2), in which at least one or more cargo boxes (21) are vacant cargo boxes (21) that do not contain cargo, and moving the movable cargo shelf (2) to any vacant unloading area to wait for cargo unloading; Step S2, reading the identified means (3) of the movable cargo shelves (2) in the unloading area by a detection device (4) fixed in the unloading area; Step S3: acquiring information on the vacant cargo boxes (21) on the movable cargo shelf (2), the cargo that has been unloaded, and the cargo that is waiting to be unloaded by the identified means (3), and starting scheduling by a server; Step S4: if the cargo sorted by the sorting robot (1) is to be unloaded into the empty cargo box (21), the sorting robot (1) transports the cargo to the vicinity of the unloading area; Step S5: an unloading robot (5) in the unloading area receives the cargo unloaded by the sorting robot (1) and then unloads the cargo into a predetermined empty cargo box (21); and step S6, after all the predetermined cargo is loaded in the vacant cargo boxes (21) on the movable cargo shelf (2), the movable cargo shelf (2) moves to a packing area to perform packing. A cargo sorting method using a robot capable of identifying cargo shelf transfers, characterized by:

13. In step S1, at least one of the multiple cargo boxes (21) on the movable cargo shelf (2) is an empty cargo box (21) that does not contain any cargo, which means that no cargo has been stored on the movable cargo shelf (2), or that the movable cargo shelf (2) has unloaded cargo and is waiting for another cargo unloading, or that the movable cargo shelf (2) has loaded cargo, but loading was interrupted while loading the cargo, and it is necessary to continue unloading the cargo using another unloading area and unloading robot (5). A cargo sorting method utilizing a robot capable of identifying the cargo shelf transfer according to claim 12.

14. When one unloading robot (5) needs to be interrupted, the server executes rescheduling to have one adjacent unloading robot (5) unload the cargo onto the movable cargo shelf (2). A cargo sorting method using a robot capable of identifying the cargo shelf transfer according to claim 12 or 13.

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